Nonlinear object control method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a nonlinear object control method and device, equipment and a storage medium. The nonlinear object control method comprises the steps that correction information of a controlled object is determined; receiving a first control parameter output by the controller, wherein the first control parameter is a control instruction sent to the controlled object by the controller; if the correction strategy of the first control parameter exists in the correction information, generating a second control parameter based on the correction strategy; and sending the second control parameter to the controlled object in a manner of replacing the first control parameter. The correction information of the controlled object is determined based on the control characteristics of the controlled object, when the first control parameter sent by the controller is received, the first control parameter is corrected according to the correction information to obtain a second control parameter capable of making up the nonlinear state of the controlled object, and the control parameter is sent to the controlled object. The vibration of the controller during the adjustment of the nonlinear controlled object is effectively reduced, and the adjustment time is shortened, so that the controlled object quickly enters a given state.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of automatic control technology, and in particular to a nonlinear object control method, device, equipment and storage medium. Background Art

[0002] In the field of industrial control, PID controllers (proportional-integral-differential controllers) are widely used in various application scenarios to control a variety of controlled objects, including motors, electronic valves, steering gears and other equipment. Because PID controllers have a simple structure and convenient parameter adjustment, they can meet the control requirements of most controlled objects.

[0003] However, since the PID controller is a linear control scheme, the performance of the traditional PID controller is not ideal when faced with complex nonlinear controlled objects. Its adjustment process may have problems such as oscillation and overshoot, affecting the stability and accuracy of the control system.

[0004] Moreover, in real application scenarios, even linear controlled objects will become nonlinear as their service life wears out. In application areas with high precision requirements, when the controlled object suddenly changes from linear control to nonlinear control, large errors may occur in the controlled industrial production system, leading to some major accidents.

[0005] Therefore, an effective solution is urgently needed to solve the above problems. Summary of the invention

[0006] In view of this, an embodiment of this specification provides a nonlinear object control method. One or more embodiments of this specification also relate to a nonlinear object control device, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0007] According to a first aspect of an embodiment of this specification, a nonlinear object control method is provided, comprising: Determine the correction information of the controlled object; Receiving a first control parameter output by the controller, where the first control parameter is a control instruction sent by the controller to the controlled object; If the correction information contains a correction strategy for the first control parameter, generating a second control parameter based on the correction strategy; The second control parameter is sent to the controlled object in a manner of replacing the first control parameter.

[0008] In some embodiments of this specification, the correction information includes a correction function, and determining the correction information of the controlled object includes: Generate an operation instruction set based on an input range of the operation instruction of the controlled object, and input the operation instruction in the operation instruction set to the controlled object to determine a controlled quantity feedback value corresponding to each operation instruction in the operation instruction set; Sort the controlled quantity feedback values ​​corresponding to the operation instructions in the operation instruction set based on the magnitude of the controlled quantity feedback values, and determine the maximum controlled quantity feedback value and the minimum controlled quantity feedback value of the operation instructions in the operation instruction set; A mapping relationship is established between a controlled quantity feedback value between a maximum controlled quantity feedback value and a minimum controlled quantity feedback value and a first control parameter of the controller, so that any first control parameter output by the controller has a corresponding controlled quantity feedback value through the mapping relationship; For any first control parameter output by the controller, a controlled quantity feedback value corresponding to the first control parameter is determined, and an operation instruction corresponding to the controlled quantity feedback value is used as a target operation instruction of the first control parameter; A correction function is constructed by taking the first control parameter output by the controller as an independent variable and the target operation instruction corresponding to the first control parameter as a dependent variable, and the correction function is used as correction information of the controlled object.

[0009] In some embodiments of the present specification, if the correction information contains a correction strategy for the first control parameter, generating the second control parameter based on the correction strategy includes: A target operation instruction of the first control parameter is determined based on the correction function, and the target operation instruction is used as the second control parameter.

[0010] In some embodiments of this specification, the correction information includes an abnormal information correction set, and determining the correction information of the controlled object includes: Determine a first control parameter set output by the controller based on a controlled variable given value, wherein each first control parameter in the first control parameter set corresponds to a controlled variable given value; Sending each first control parameter in the first control parameter set to the controlled object to determine a controlled variable feedback value of each first control parameter in the first control parameter set; Determine a first difference between a controlled variable set value and a controlled variable feedback value corresponding to each first control parameter in the first control parameter set, and add the first control parameter whose difference satisfies the first preset condition as an abnormal parameter to the abnormal information correction set; For any abnormal parameter in the abnormal information correction set, the controlled variable given value of the abnormal parameter is used as the target value; Determine a second difference between a controlled variable feedback value and a target value of each first control parameter in the first control parameter set, and use the first control parameter with the smallest second difference as the second control parameter corresponding to the abnormal parameter; The second control parameter corresponding to each abnormal parameter in the abnormal information correction set is determined based on the controlled variable set values ​​of all abnormal parameters.

[0011] In some embodiments of the present specification, if the correction information contains a correction strategy for the first control parameter, generating the second control parameter based on the correction strategy includes: Determine whether there is an abnormal parameter in the abnormal information correction set that is the same as the first control parameter or satisfies a second preset condition; If there is an abnormal parameter, the second control parameter corresponding to the abnormal parameter is used as the second control parameter of the first control parameter.

[0012] In some embodiments of this specification, the second control parameter is sent to the controlled object in a manner of replacing the first control parameter, including: Taking the difference between the first control parameter and the second control parameter as a correction difference; Generate an attenuation value of the correction difference according to a preset attenuation strategy, and the attenuation value gradually decays over time; The attenuation value is superimposed on the second control parameter and then sent to the controlled object.

[0013] In some embodiments of the present specification, sending the second control parameter to the controlled object instead of the first control parameter includes: The first control parameter is converted into a control signal according to the basic control parameter of the controlled object and sent to the controlled object.

[0014] According to a second aspect of an embodiment of this specification, a nonlinear object control device is provided, comprising: A correction information determination module, used to determine the correction information of the controlled object; A control instruction interception module, used for receiving a first control parameter output by the controller, where the first control parameter is a control instruction sent by the controller to the controlled object; a control instruction generating module, configured to generate a second control parameter based on a correction strategy for the first control parameter if the correction information contains a correction strategy for the first control parameter; The control instruction sending module is used to send the second control parameter to the controlled object in a manner of replacing the first control parameter.

[0015] According to a third aspect of an embodiment of this specification, a computing device is provided, including: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the nonlinear object control method are implemented.

[0016] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned nonlinear object control method are implemented.

[0017] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned nonlinear object control method.

[0018] An embodiment of the present specification implements a nonlinear object control method, which determines correction information of a controlled object based on its control characteristics, and when receiving a first control parameter sent by a controller, corrects the first control parameter according to the correction information to obtain a second control parameter that can compensate for the nonlinear state of the controlled object, and sends the control parameter to the controlled object. The controller effectively reduces the oscillation when adjusting the nonlinear controlled object, reduces the adjustment time, and enables the controlled object to quickly enter a given state. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flowchart of a nonlinear object control method provided by an embodiment of this specification; Figure 2 is a schematic diagram of a modified output control provided by an embodiment of the present specification; Figure 3 is a schematic diagram of the structure of a nonlinear object control device provided by an embodiment of this specification; Figure 4 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0020] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0021] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0022] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0023] The present invention aims to solve the problems of oscillation, overshoot, etc. generated by a traditional PID controller when regulating a nonlinear controlled object.

[0024] like Figure 1 As shown, according to a first aspect of an embodiment of this specification, a nonlinear object control method is provided, comprising: Step S1, determining correction information of the controlled object; Step S2, receiving a first control parameter output by the controller, where the first control parameter is a control instruction sent by the controller to the controlled object; Step S3: if the correction information contains a correction strategy for the first control parameter, generating a second control parameter based on the correction strategy; Step S4: Send the second control parameter to the controlled object in a manner of replacing the first control parameter.

[0025] In the embodiments of this specification, the controlled object refers to industrial equipment controlled by a PID controller; Correction information refers to a set of correction strategies used to correct the control effect of the PID controller on the controlled object, which is determined according to the current state of the controlled object; The correction strategy refers to the strategy of transforming each linear control parameter output by the PID controller into a control parameter that better conforms to the nonlinear characteristics of the controlled object; The first control parameter refers to a control parameter used to adjust or control the state of the controlled object based on the corresponding controlled quantity given value output under the normal working state of PID; The second control parameter refers to a control parameter determined based on the first control parameter of the PID and used to make the state of the controlled object closer to the given value of the controlled quantity.

[0026] In step S1, the correction information of the controlled object is first determined based on the input and output characteristics of the controlled object. The correction information refers to the relationship information of the second control parameter corresponding to the linear first control parameter for switching the controlled object to a state close to the controlled quantity when the controlled object does not meet the linear control signal. In some embodiments of the present specification, the correction information is a relationship table between the first control parameter and the second control parameter.

[0027] In step S2, a first control parameter output by the PID controller is received so that the first control parameter is not directly sent to the controlled object.

[0028] In step S3, for the received first control parameter output by the PID controller, it is determined whether there is a corresponding correction strategy in the correction information. If there is a corresponding correction strategy, a corresponding second control parameter is generated based on the corresponding correction strategy.

[0029] In step S4, the second control parameter is sent to the controlled object instead of the first control parameter issued by the PID.

[0030] In some embodiments of this specification, the correction information includes a correction function, and determining the correction information of the controlled object includes: Generate an operation instruction set based on an input range of the operation instruction of the controlled object, and input the operation instruction in the operation instruction set to the controlled object to determine a controlled quantity feedback value corresponding to each operation instruction in the operation instruction set; Sort the controlled quantity feedback values ​​corresponding to the operation instructions in the operation instruction set based on the magnitude of the controlled quantity feedback values, and determine the maximum controlled quantity feedback value and the minimum controlled quantity feedback value of the operation instructions in the operation instruction set; A mapping relationship is established between a controlled quantity feedback value between a maximum controlled quantity feedback value and a minimum controlled quantity feedback value and a first control parameter of the controller, so that any first control parameter output by the controller has a corresponding controlled quantity feedback value through the mapping relationship; For any first control parameter output by the controller, a controlled quantity feedback value corresponding to the first control parameter is determined, and an operation instruction corresponding to the controlled quantity feedback value is used as a target operation instruction of the first control parameter; A correction function is constructed by taking the first control parameter output by the controller as an independent variable and the target operation instruction corresponding to the first control parameter as a dependent variable, and the correction function is used as correction information of the controlled object.

[0031] In this embodiment, the operation instruction is the output data of the PID controller in percentage. When input to the controlled object, it will be converted into a corresponding input signal according to the value range of the input signal of the controlled object; The operation instruction set refers to the set of all operation instructions that can control the state of the controlled object; The controlled variable feedback value refers to the feedback value that is fed back to the PID controller or control end to represent the performance status of the controlled object after the performance of the controlled object is changed by the input operation instruction.

[0032] Specifically, in this embodiment, all operation instructions that can control the controlled object are first determined, and a corresponding operation instruction set is generated. Then, each operation instruction in the operation instruction set is sent to the controlled object, and after a certain delay, when the state of the controlled object is stable, the controlled quantity feedback value of the controlled object is obtained. Then, the controlled quantity feedback value is used as the corresponding input and input into the target operation instruction of the controlled object, indicating that if the state of the controlled object is to be controlled to be the same as the controlled quantity feedback value, it is only necessary to send the target operation instruction to the controlled object.

[0033] It should be noted that, since the controlled object is not a linear control object, even if the operation instructions in the operation instruction set satisfy linearly increasing data, after being input into the controlled object, the control of the state of the controlled object is not linear.

[0034] Furthermore, after determining the controlled quantity feedback value corresponding to each operation instruction in the operation instruction set, all the controlled quantity feedback values ​​are sorted, and the maximum controlled quantity feedback value and the minimum controlled quantity feedback value are determined. The maximum controlled quantity feedback value indicates that the control of the controlled object reaches the maximum limit of the performance of the controlled object. For example, if the controlled object is an electric valve, the maximum controlled quantity feedback value is the maximum opening of the electric valve, that is, the rated 100% opening of the electric valve. Similarly, the minimum controlled quantity feedback value indicates the minimum opening of the electric valve, that is, the closed state.

[0035] Then, a mapping relationship is established between the sorted controlled quantity feedback value and the output first control parameter of the PID controller, that is, the output value of 0%~100% of the PID controller is mapped to the minimum controlled quantity feedback value and the maximum controlled quantity feedback value. This allows any first control parameter output by the PID to have a corresponding controlled quantity feedback value. This means that a corresponding relationship is established between the first control parameter whose output is linear and the sorted controlled quantity feedback value. When the PID controller outputs a first control parameter, the state of the controlled object to be regulated by the first control parameter can be determined based on the law of its linear output according to its corresponding controlled quantity feedback value (not the controlled quantity feedback value fed back by the controlled object after the first control parameter is input into the controlled object).

[0036] Further, after determining the controlled quantity feedback value corresponding to the first control parameter output by the PID controller, the operation instruction corresponding to the feedback value is used as the target operation instruction of the corresponding first control parameter. As before, since the target operation instruction corresponds to a controlled quantity feedback value, and the controlled quantity feedback value has a mapping relationship with the first control parameter (corresponding the originally nonlinear controlled quantity feedback value to the linear first control parameter), the state of the controlled object to be determined by the first control parameter can be directly and accurately determined through the target operation instruction, so that linearity and nonlinearity are bound.

[0037] Further, after determining the target operation instruction corresponding to the first control parameter, a corresponding correction function is generated with the first control parameter as an independent variable and the target operation instruction corresponding to the first control parameter as a dependent variable. In this way, when the first control parameter output by the PID controller is received, the first control parameter is input into the correction function, and the corresponding target operation instruction is obtained through the correction function.

[0038] In some embodiments of the present specification, the correction function can be generated dynamically, that is, the controlled quantity given by the PID controller is collected, and before the next controlled quantity given value comes, if the PID controller outputs the first control parameter multiple times to make the controlled object in a stable state, then the last first control parameter corresponding to the stable state is used as the target operation instruction, that is, the corresponding dependent variable, and the first first control parameter output by the PID controller is used as the independent variable as a set of data to generate the corresponding correction function. The generation of the correction function can be in the form of a piecewise function to form different correction functions for control parameters with different control characteristics.

[0039] In some embodiments of the present specification, the timing of dynamic generation of the correction function can be determined by monitoring the frequency of the first control parameter output by the PID controller over a period of time, and the oscillation amplitude of the corresponding controlled quantity feedback value. When the frequency exceeds a certain value, or the oscillation amplitude exceeds a certain value, it is considered that the performance of the controlled object has changed, and the corresponding correction function needs to be re-determined. In this way, the performance changes of the controlled object due to the use and loss of the equipment can be timely perceived and the corresponding control strategy can be adjusted. At the same time, for similar controlled objects, the corresponding correction function can be adaptively generated according to the performance characteristics of each controlled object, reducing the time of manual debugging and improving the overall stability of the industrial system, especially in application scenarios with strict control requirements.

[0040] In some embodiments of the present specification, if the correction information contains a correction strategy for the first control parameter, generating the second control parameter based on the correction strategy includes: A target operation instruction of the first control parameter is determined based on the correction function, and the target operation instruction is used as the second control parameter.

[0041] In this embodiment, as before, after receiving the first control parameter output by the PID controller, the first control parameter is input into the correction function to obtain the target operation instruction output by the correction function, and the target operation instruction is used as the second control parameter.

[0042] In some embodiments of this specification, the correction information includes an abnormal information correction set, and determining the correction information of the controlled object includes: Determine a first control parameter set output by the controller based on a controlled variable given value, wherein each first control parameter in the first control parameter set corresponds to a controlled variable given value; Sending each first control parameter in the first control parameter set to the controlled object to determine a controlled variable feedback value of each first control parameter in the first control parameter set; Determine a first difference between a controlled variable set value and a controlled variable feedback value corresponding to each first control parameter in the first control parameter set, and add the first control parameter whose difference satisfies the first preset condition as an abnormal parameter to the abnormal information correction set; For any abnormal parameter in the abnormal information correction set, the controlled variable given value of the abnormal parameter is used as the target value; Determine a second difference between a controlled variable feedback value and a target value of each first control parameter in the first control parameter set, and use the first control parameter with the smallest second difference as the second control parameter corresponding to the abnormal parameter; The second control parameter corresponding to each abnormal parameter in the abnormal information correction set is determined based on the controlled variable set values ​​of all abnormal parameters.

[0043] In this embodiment, when the controlled object is normal, the value range of the first control parameter output by the PID controller can be determined by collecting historical data to construct a first control parameter set. Then, each first control parameter in the first control parameter set is sent to the controlled object, and the controlled quantity feedback value returned by the controlled object is received.

[0044] Further, determine the given value of the controlled quantity when the PID controller outputs the first control parameter, and then calculate the difference between the controlled quantity feedback value corresponding to the first control parameter and the controlled quantity feedback value corresponding to the first control parameter after the first control parameter is input to the controlled object. If the difference exceeds the corresponding reference threshold, the feedback of the controlled object does not meet the given state after being regulated by the PID controller. That is, the first control parameter output by the PID controller is an abnormal parameter. Taking the controlled object as a valve as an example, assuming that the valve is a nonlinear controlled object, if you want to control the valve opening at 10%~49% to be linear control, that is, if you give 10%~50% of the valve input reference voltage (need to be multiplied by 50% and converted into an electrical signal input to the valve), the PID controller can accurately control the change in valve opening. However, at 50%~60%, the change in valve opening becomes nonlinear, and the valve opening can only reach 50% when the control parameter output by the PID controller to the valve is 55%. Then the first control parameter with a value of 50% of the PID output is taken as an abnormal parameter. Based on this principle, all abnormal parameters are determined to construct an abnormal parameter set.

[0045] Further, the controlled quantity given value of the first control parameter in the abnormal parameter set is taken as the target value. Then the corresponding controlled quantity feedback values ​​of all the first control parameters in the first control parameter set are determined, and the difference between the target value and the corresponding controlled quantity feedback values ​​of all the first control parameters is calculated, and the first control parameter with the smallest difference in the controlled quantity feedback value is taken as the second control parameter corresponding to the abnormal parameter. Specifically, as in the above example, assuming that the value range of the first control parameter is 1%~100% for a total of 100, after being input into the controlled object, 100 controlled quantity feedback values ​​will correspond. If the first control parameter with a value of 50% is an abnormal parameter, that is, the controlled quantity feedback value corresponding to the value is not 50%. Then calculate the difference between all the controlled quantity feedback values ​​and 50%, which represents the difference between the corresponding controlled quantity feedback value and the controlled quantity given value of the first control parameter with a value of 50%. The first control parameter corresponding to the controlled quantity feedback value with the smallest difference is taken as the second control parameter with a value of 50% of the first control parameter. That is, in the above example, when the control parameter output by PID to the valve is 55%, the corresponding controlled quantity feedback value is exactly 55%. This means that when the controlled quantity given value is 50%, PID should output 55% to make the valve opening reach 50%. Then 55% is directly used as the second control parameter of the abnormal first control parameter with a value of 50%. In this way, the second control parameters of all abnormal first control parameters are determined to construct the corresponding abnormal information correction set.

[0046] In some embodiments of the present specification, if the correction information contains a correction strategy for the first control parameter, generating the second control parameter based on the correction strategy includes: Determine whether there is an abnormal parameter in the abnormal information correction set that is the same as the first control parameter or satisfies a second preset condition; If there is an abnormal parameter, the second control parameter corresponding to the abnormal parameter is used as the second control parameter of the first control parameter.

[0047] In this embodiment, as before, after receiving the first control parameter of the PID controller, it is determined whether the first control parameter has a corresponding record in the abnormal information table. If so, the second control parameter of the abnormal parameter corresponding to the abnormal information correction set is used as the second control parameter of the first control parameter. Specifically, as in the above example, if the first control parameter of the PID output is 50%, this value happens to be recorded as an abnormal parameter in the abnormal information correction set. Then 55% corresponding to the abnormal information correction set is directly used as the second control parameter for the controlled object. This can effectively avoid the linear output of the PID, which can only be achieved by adjusting the first control parameter of the PID output multiple times until the output first control parameter is 55%. This process will cause the valve opening to be in an oscillating state, and it will take multiple adjustments to find the appropriate first control parameter. In this process, the change in the valve opening will cause the number of industrial objects controlled by the valve to be too much or too little, thereby affecting the overall industrial system.

[0048] In addition, in some embodiments of the present specification, the above-mentioned abnormal information correction set can be applied to the control scenario of linear objects. In this way, for the originally linear controlled object, when the control effect is poor due to the attenuation of the service life, the abnormal information correction set can be timely discovered and generated for correction. The risk of system failure caused by the loss of control accuracy of the controlled object is further reduced. At the same time, for the controlled object with deteriorated performance, precise control can still be achieved based on the correction function, which increases the service life of the equipment of the controlled object and reduces the cost of equipment replacement.

[0049] In some embodiments of this specification, the second control parameter is sent to the controlled object in a manner of replacing the first control parameter, including: Taking the difference between the first control parameter and the second control parameter as a correction difference; Generate an attenuation value of the correction difference according to a preset attenuation strategy, and the attenuation value gradually decays over time; The attenuation value is superimposed on the second control parameter and then sent to the controlled object.

[0050] In this embodiment, in the traditional implementation, there is no correction information to correct the output of PID. In the traditional implementation, when using the PID controller, there will be a situation of manually debugging the controlled object, that is, the manual state. The solution proposed in the embodiment of this specification is compatible with the traditional implementation method, but the correction information is introduced to correct the first control parameter of PID. When the manual debugging is changed to automatic control, the first control parameter output by PID will be replaced by the correction information and sent to the controlled object as the second control parameter. At this time, assuming that the control state of the controlled object during manual debugging is state 1, the corrected second control parameter corresponds to state 2. If the gap between state 1 and state 2 is large, abnormal regulation may occur on some controlled objects. Because some controlled objects cannot support a large gap in the regulation range. Taking the valve as an example, if the first control parameter output by the PID controller in state 1 is 50%, because it was manually debugged before, the input signal input to the controlled object is 50% of the reference voltage, and there is no correction information correction at this time. However, when the PID control is in the automatic state, the first control parameter with an output value of 50% will be corrected by the correction information. Assuming that the second control parameter is 60% after the correction information is determined, the input signal to the controlled object needs to be 60% of the reference voltage. Switching such a large amplitude modulation in a short time may exceed the regulating capacity of the valve, resulting in valve failure.

[0051] Therefore, in order to solve this problem, the correction difference between the first control parameter and the second control parameter is calculated first, and then a corresponding attenuation value that gradually decreases over time is generated based on the correction difference, and the attenuation value is added to the second control parameter and then transmitted to the controlled object.

[0052] Specifically, as mentioned above, taking the first control parameter as 50% and the second control parameter as 60% as an example, the difference between the first control parameter and the second control parameter is negative 10%, assuming that the decay rate is 20% per second (specifically, the decay rate can be milliseconds, and seconds are just for example), then after switching from manual debugging to automatic state, the value input to the controlled object is 60% + (-10%), which is 50%, that is, the original signal remains unchanged; in the next second, the decay is 20%, and the corresponding difference is negative 8%, then the value input to the controlled object is 60% + (-8%), which is equal to 52%, and so on, until the 5th second, the value input to the controlled object is 60%. This can effectively suppress the problem of the second control parameter being too large after the switch between manual and automatic states after the introduction of correction information.

[0053] Further, if Figure 2 As shown, Figure 2The figure shows the change relationship of the corrected signal input to the controlled object when the manual state is switched to the automatic state. The left part of the curve at the bottom is the control output in the manual state. When switching to the automatic state (when the value of the uppermost curve is switched to 0), the second control parameter is smaller than the first control parameter in value. Taking the inverse of the above example, assuming that the first control parameter is 60% and the second control parameter is 50%. The correction difference between the first control parameter and the second control parameter is a positive 10%. At the beginning, the value input to the controlled object is 50%+10%=60%, that is, the original signal remains unchanged. In the next second, the correction difference is reduced by 20% to 8%, and the corresponding value input to the controlled object is 50%+8%=58%; and so on until it reaches 50%.

[0054] In some embodiments of the present specification, sending the second control parameter to the controlled object instead of the first control parameter includes: The first control parameter is converted into a control signal according to the basic control parameter of the controlled object and sent to the controlled object.

[0055] In this embodiment, if the first control parameter and the second control parameter are in percentage system, when they are input to the controlled object, they need to be converted in combination with the reference electrical signal of the controlled object to obtain data matching the signal input of the controlled object.

[0056] An embodiment of the present specification implements a nonlinear object control method, which determines correction information of a controlled object based on its control characteristics, and when receiving a first control parameter sent by a controller, corrects the first control parameter according to the correction information to obtain a second control parameter that can compensate for the nonlinear state of the controlled object, and sends the control parameter to the controlled object. The controller effectively reduces the oscillation when adjusting the nonlinear controlled object, reduces the adjustment time, and enables the controlled object to quickly enter a given state.

[0057] like Figure 3 As shown, according to a second aspect of the embodiments of this specification, a nonlinear object control device is provided, comprising: A correction information determination module 1, used to determine the correction information of the controlled object; A control instruction interception module 2 is used to receive a first control parameter output by the controller, where the first control parameter is a control instruction sent by the controller to the controlled object; A control instruction generating module 3, configured to generate a second control parameter based on a correction strategy for the first control parameter if the correction information contains the correction strategy; The control instruction sending module 4 is used to send the second control parameter to the controlled object in a manner of replacing the first control parameter.

[0058] The above is a schematic scheme of a nonlinear object control device of this embodiment. It should be noted that the technical scheme of the nonlinear object control device and the technical scheme of the nonlinear object control method described above belong to the same concept, and the details of the technical scheme of the nonlinear object control device that are not described in detail can all be referred to the description of the technical scheme of the nonlinear object control method described above.

[0059] Figure 4 The block diagram of a computing device 400 according to one embodiment of the present specification is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0060] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0061] In one embodiment of the present specification, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0062] The computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 500 may also be a mobile or stationary server.

[0063] The processor 520 is used to execute the following computer executable instructions, which implement the steps of the nonlinear object control method when executed by the processor. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the nonlinear object control method belong to the same concept, and the details of the technical scheme of the computing device that are not described in detail can all refer to the description of the technical scheme of the nonlinear object control method.

[0064] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which can implement the steps of the above-mentioned nonlinear object control method when executed by a processor.

[0065] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the nonlinear object control method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the nonlinear object control method described above.

[0066] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned nonlinear object control method.

[0067] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the nonlinear object control method described above are of the same concept, and the details not described in detail in the technical scheme of the computer program can be found in the description of the technical scheme of the nonlinear object control method described above.

[0068] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] Computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROM), random access memories (RAM), electric carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of computer readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0070] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0071] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can understand and use this specification well. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A nonlinear object control method, characterized in that: include: Determine the correction information of the controlled object; Receiving a first control parameter output by a controller, where the first control parameter is a control instruction sent by the controller to a controlled object; If the correction information contains a correction strategy for the first control parameter, generating a second control parameter based on the correction strategy; The second control parameter is sent to the controlled object in a manner of replacing the first control parameter.

2. The method according to claim 1, characterized in that The correction information includes a correction function, and the determining of the correction information of the controlled object includes: generating an operation instruction set based on an input range of the operation instruction of the controlled object, and inputting the operation instructions in the operation instruction set to the controlled object to determine a controlled variable feedback value corresponding to each operation instruction in the operation instruction set; Sort the controlled quantity feedback values ​​corresponding to the operation instructions in the operation instruction set based on the magnitude of the controlled quantity feedback value, and determine the maximum controlled quantity feedback value and the minimum controlled quantity feedback value of the operation instructions in the operation instruction set; Establishing a mapping relationship between a controlled quantity feedback value between the maximum controlled quantity feedback value and the minimum controlled quantity feedback value and a first control parameter of the controller, so that any first control parameter output by the controller has a corresponding controlled quantity feedback value through the mapping relationship; For any of the first control parameters output by the controller, determining a controlled variable feedback value corresponding to the first control parameter, and using an operation instruction corresponding to the controlled variable feedback value as a target operation instruction of the first control parameter; A correction function is constructed with the first control parameter output by the controller as an independent variable and a target operation instruction corresponding to the first control parameter as a dependent variable, and the correction function is used as correction information of the controlled object.

3. The method according to claim 2, characterized in that If the correction information contains a correction strategy for the first control parameter, generating a second control parameter based on the correction strategy includes: A target operation instruction of the first control parameter is determined based on the correction function, and the target operation instruction is used as the second control parameter.

4. The method according to claim 1, characterized in that: The correction information includes an abnormal information correction set, and the determining of the correction information of the controlled object includes: Determine a first control parameter set output by the controller based on a controlled variable given value, wherein each first control parameter in the first control parameter set corresponds to a controlled variable given value; Sending each of the first control parameters in the first control parameter set to the controlled object to determine a controlled variable feedback value of each of the first control parameters in the first control parameter set; Determine a first difference between a controlled variable set value and a controlled variable feedback value corresponding to each first control parameter in the first control parameter set, and add the first control parameters whose differences meet a first preset condition as abnormal parameters to the abnormal information correction set; For any abnormal parameter in the abnormal information correction set, taking a controlled variable given value of the abnormal parameter as a target value; Determine a second difference between a controlled variable feedback value and the target value of each first control parameter in the first control parameter set, and use the first control parameter with the smallest second difference as the second control parameter corresponding to the abnormal parameter; The second control parameter corresponding to each abnormal parameter in the abnormal information correction set is determined based on the controlled variable set values ​​of all abnormal parameters.

5. The method according to claim 4, characterized in that If the correction information contains a correction strategy for the first control parameter, generating a second control parameter based on the correction strategy includes: Determine whether there is an abnormal parameter in the abnormal information correction set that is the same as the first control parameter or satisfies a second preset condition; If the abnormal parameter exists, the second control parameter corresponding to the abnormal parameter is used as the second control parameter of the first control parameter.

6. The method according to claim 1, characterized in that Sending the second control parameter to the controlled object in a manner of replacing the first control parameter comprises: taking the difference between the first control parameter and the second control parameter as a correction difference; Generate an attenuation value of the correction difference according to a preset attenuation strategy, wherein the attenuation value gradually decays over time; The attenuation value is superimposed on the second control parameter and then sent to the controlled object.

7. The method according to claim 1, characterized in that The sending the second control parameter to the controlled object instead of the first control parameter comprises: The first control parameter is converted into a control signal according to the basic control parameter of the controlled object, and the control signal is sent to the controlled object.

8. A nonlinear object control device, characterized in that: include: A correction information determination module, used to determine the correction information of the controlled object; A control instruction interception module, used for receiving a first control parameter output by a controller, where the first control parameter is a control instruction sent by the controller to a controlled object; a control instruction generating module, configured to generate a second control parameter based on a correction strategy for the first control parameter if the correction information contains the correction strategy; A control instruction sending module is used to send the second control parameter to the controlled object in a manner of replacing the first control parameter.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the nonlinear object control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the steps of the nonlinear object control method according to any one of claims 1 to 7.

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