Controller control correction method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a controller control correction method and device, equipment and a storage medium. The controller control correction method comprises the steps that a controlled quantity feedback value of a controlled object is determined, and a controlled quantity given value input into a controller is determined; determining correction information according to the controlled quantity feedback value and the controlled quantity given value; determining original predetermined parameters of the controller; and determining a target parameter based on the correction information and the original predetermined parameter, replacing the original predetermined parameter with the target parameter, and sending the target parameter to a controller. The correction information of the controller is determined according to the relationship between the controlled quantity feedback value and the controlled quantity given value of the controlled object adjusted by the controller, and the adjustment defect of the controller on the nonlinear controlled object is supplemented according to the correction information, so that the controller can realize accurate control according to the performance characteristics of the controlled object.

Description

Technical Field

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

[0002] In industrial control applications, the PI (Proportional Integral) controller is a commonly used controller with a simple structure and convenient calculation, which can meet the needs of most linear control systems. Since the PI controller is a linear controller, when facing nonlinear control objects or time-varying control objects, the fixed parameters of the traditional PI controller cannot adapt to their changes because the dynamic characteristics of these control objects are complex and the parameters are highly time-varying, which may cause large control errors, system oscillations, or even instability. This makes the performance of the PI controller often unsatisfactory.

[0003] Therefore, in the traditional line of sight method, in order to improve the adaptability of the PI controller to nonlinear or time-varying control objects, manual parameter adjustment or the introduction of adaptive control, fuzzy control and other methods are often used. However, these implementation methods usually have the following main problems: First, manual parameter adjustment requires rich experience and a lot of experiments, which is time-consuming and not real-time. Second, the adaptive control and fuzzy control algorithms are complex and difficult to implement in actual systems. They also increase the computational burden of the system and place higher demands on resource-constrained control systems.

[0004] Therefore, an effective method is urgently needed to solve the above problems. Summary of the invention

[0005] In view of this, an embodiment of this specification provides a controller control correction method. One or more embodiments of this specification also involve a controller control correction device, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0006] According to a first aspect of an embodiment of this specification, a controller control correction is provided, including: Determine the controlled variable feedback value of the controlled object and determine the controlled variable given value input to the controller; Determine correction information according to the controlled variable feedback value and the controlled variable given value; determining original predetermined parameters of the controller; A target parameter is determined based on the correction information and the original predetermined parameter, and the target parameter is sent to the controller instead of the original predetermined parameter.

[0007] In some implementations of this specification, determining a controlled variable feedback value of a controlled object includes: Determine sampling values ​​of a previous controlled variable feedback value and a current controlled variable feedback value of the controlled object; The controlled variable feedback value of the controlled object is determined based on the sampling values ​​of the previous controlled variable feedback value and the current controlled variable feedback value through a low-pass filtering algorithm.

[0008] In some implementations of this specification, determining correction information according to the controlled variable feedback value and the controlled variable given value includes: Determine the preset ratio value space; According to the value range of the controlled quantity feedback value, the controlled quantity is fed back to normalize to the proportional value space to obtain a controlled quantity feedback proportional value of the controlled quantity feedback value in the proportional value space; and According to the value range of the controlled quantity given value, the controlled quantity given value is normalized to the proportional value space to obtain a controlled quantity given proportional value of the controlled quantity given value in the proportional value space; A proportional correction coefficient is determined according to the controlled variable feedback proportional value and the controlled variable given proportional value, and the proportional correction coefficient is used as correction information.

[0009] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining a proportional fixed value of the controller, and determining a target proportional parameter based on the proportional correction coefficient and the proportional fixed value; The target scale parameter is sent to the controller instead of the scale customization.

[0010] In some implementations of this specification, determining correction information according to the controlled variable feedback value and the controlled variable given value includes: The difference between the controlled variable feedback value and the controlled variable given value is determined, an integral correction coefficient of the controller is determined based on the difference, and the correction coefficient is used as the correction information.

[0011] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining an integral constant of the controller, and determining the target integral parameter based on the integral correction coefficient and the integral constant; The target integral parameter is sent to the controller instead of the integral constant.

[0012] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, further includes: The target integral parameter is sent to the controller in place of the integral setting, and the target proportional parameter is sent to the controller in place of the proportional setting.

[0013] According to a second aspect of the embodiments of this specification, a controller-controlled correction device is provided, characterized in that it includes: A controlled object data determination module is used to determine a controlled quantity feedback value of the controlled object and to determine a controlled quantity given value input to the controller; A correction information generating module, used for determining correction information according to the feedback value of the controlled quantity and the given value of the controlled quantity; A controller parameter determination module, used to determine original predetermined parameters of the controller; The controller parameter correction module is used to determine the target parameter based on the correction information and the original predetermined parameter, and send the target parameter to the controller instead of the original predetermined parameter.

[0014] 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 controller control correction method are implemented.

[0015] 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 controller control correction method are implemented.

[0016] 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 controller control correction method.

[0017] An embodiment of the present specification implements a controller control correction method, which determines the correction information of the controller through the relationship between the controlled quantity feedback value of the controlled object adjusted by the controller and the controlled quantity given value, and supplements the adjustment defects of the controller for the nonlinear controlled object based on the correction information, so that the controller can achieve accurate control according to the performance characteristics of the controlled object. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a schematic diagram comparing the effects of a traditional implementation method and an implementation method of the present invention provided in an embodiment of this specification; Figure 2 is a flow chart of a controller control correction method provided by an embodiment of this specification; Figure 3 It is a structural schematic diagram of a controller controlling a correction 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

[0019] 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.

[0020] 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.

[0021] 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".

[0022] The present invention aims to solve the problem that the traditional PI controller cannot accurately adapt the control characteristics of the controlled object when controlling a nonlinear object. In the traditional implementation method, the control effect of the PI controller when controlling a nonlinear object is as follows: Figure 1As shown by the green dotted line in the figure, it is in a state of constant oscillation. The reason is that when the PI controller outputs a control parameter to the controlled object, due to the nonlinear characteristics of the controlled object, the control parameter output by the PI controller cannot accurately find the change law of the controlled object. Specifically, the change of the controlled quantity feedback value transmitted by the controlled object is irregular. Therefore, when the PI controller repeatedly adjusts according to the difference between the controlled quantity feedback value and the controlled quantity given value, it cannot find the change law of the controlled object. Figure 1 The oscillation phenomenon shown.

[0023] like Figure 2 As shown, in order to solve the above problems, the first aspect of this specification proposes a controller control correction method, comprising: Step S1, determining a controlled variable feedback value of a controlled object, and determining a controlled variable given value input to a controller; Step S2, determining correction information according to the controlled variable feedback value and the controlled variable given value; Step S3, determining the original predetermined parameters of the controller; Step S4: determine target parameters based on the correction information and the original predetermined parameters, and send the target parameters to the controller instead of the original predetermined parameters.

[0024] In the embodiments of this specification, the controller is a PI controller, which is a linear controller that forms a control deviation based on a given value and an actual output value, forms a control quantity by linearly combining the proportion and integral of the control deviation, and controls the controlled object; the controlled object is an electronic device controlled by the controller; The controlled variable given value is the data input to the controller to specify the control state of the controlled object; The feedback value of the controlled quantity is the data fed back to the controller after the controlled object makes corresponding actions based on the control signal of the controller, which is used to indicate the control status of the controller; Correction information refers to data generated based on a given value of a controlled quantity and a feedback value of a controlled quantity, and is used to correct the control effect of a controller when the controller controls a nonlinear object.

[0025] The original predetermined parameters refer to the preset control parameters of the controller (PI controller). In some embodiments of the specification, the original predetermined parameters include integral parameters and proportional parameters.

[0026] In step S1, firstly, a controlled variable given value given to the controller and a controlled variable feedback value fed back to the controller by the controlled object are obtained.

[0027] In step S2, the difference between the given value of the controlled variable and the feedback value of the controlled object is calculated, and the difference is used as correction information.

[0028] In step S3, when the controller is a PI controller, an original predetermined parameter for controlling the output of the PI controller is determined.

[0029] In step S4, the correction information is converted into data with the same value range as the original predetermined parameter and used as the target parameter. The target parameter is sent to the PI controller for controlling the output of the PI controller through the target parameter.

[0030] In some implementations of this specification, determining a controlled variable feedback value of a controlled object includes: Determine sampling values ​​of a previous controlled variable feedback value and a current controlled variable feedback value of the controlled object; The controlled variable feedback value of the controlled object is determined based on the sampling values ​​of the previous controlled variable feedback value and the current controlled variable feedback value through a low-pass filtering algorithm.

[0031] In this embodiment, when determining the controlled quantity feedback value of the controlled object, it is necessary to determine the previously obtained controlled quantity feedback value and the sampling value of the current controlled quantity feedback value, where the sampling value refers to the current data fed back from the controlled object. Then, through the low-pass filtering algorithm, based on the previously obtained controlled quantity feedback value and the sampling value of the current controlled quantity feedback value, the controlled quantity feedback value at the current moment is calculated. And the controlled quantity feedback value is input to the controller.

[0032] In some implementations of this specification, determining correction information according to the controlled variable feedback value and the controlled variable given value includes: Determine the preset ratio value space; According to the value range of the controlled quantity feedback value, the controlled quantity is fed back to normalize to the proportional value space to obtain a controlled quantity feedback proportional value of the controlled quantity feedback value in the proportional value space; and According to the value range of the controlled quantity given value, the controlled quantity given value is normalized to the proportional value space to obtain a controlled quantity given proportional value of the controlled quantity given value in the proportional value space; A proportional correction coefficient is determined according to the controlled variable feedback proportional value and the controlled variable given proportional value, and the proportional correction coefficient is used as correction information.

[0033] In this embodiment, the proportional value space is a data value range of the same data value range used to normalize the controlled quantity feedback value and the controlled quantity given value. For example, the value is a decimal between 0 and 1. Specifically, for the controlled quantity feedback value, the value range of the controlled quantity feedback value is first determined, and then the proportion of the controlled quantity feedback value in the value range is mapped to the proportional value space. For example, assuming that the value range of the controlled quantity feedback value is 1 to 10, and the controlled quantity feedback value is 7, the corresponding controlled quantity feedback proportion value is 0.7.

[0034] Furthermore, for the given value of the controlled quantity, based on its value range, the corresponding given proportional value of the controlled quantity is normalized to between 0 and 1 to obtain the corresponding given proportional value of the controlled quantity. For example, assuming that the given value of the controlled quantity is 8 and its value range is also 1 to 10, the corresponding given proportional value of the controlled quantity should be 0.8.

[0035] Further, after the controlled quantity feedback proportional value and the controlled quantity given proportional value are determined, the difference between the controlled quantity feedback proportional value and the controlled quantity given proportional value is calculated, and the difference is the proportional correction coefficient, which serves as the corresponding correction information.

[0036] In some embodiments of the present specification, the determination of the proportional correction coefficient can also be achieved by taking the controlled quantity feedback proportional value and the controlled quantity given proportional value as the input of another PI controller. That is, the controlled quantity feedback proportional value is taken as the controlled quantity feedback value of the PI controller output instruction, and the controlled quantity given proportional value is taken as the given value of the PI controller, so as to use the control algorithm of the PI controller to obtain the corresponding proportional correction coefficient based on the difference between the controlled quantity feedback proportional value and the controlled quantity given proportional value.

[0037] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining a proportional fixed value of the controller, and determining a target proportional parameter based on the proportional correction coefficient and the proportional fixed value; The target scale parameter is sent to the controller instead of the scale customization.

[0038] As mentioned above, in this embodiment, if the correction information is a proportional correction coefficient. Then determine the proportional customization of the controller, which is a preset parameter of the PI controller. Multiply the proportional correction coefficient by the proportional setting of the controller, and use the result of the multiplication as the target parameter. Further, send the target parameter to the proportional customization input interface of the controller for replacement. In this way, when the feedback value of the controlled quantity deviates greatly from the given value of the controlled quantity and the adjustment is slow, the value of the corresponding proportional correction coefficient will increase. As mentioned above, the proportional correction coefficient is determined by the difference between the feedback proportional value of the controlled quantity and the given proportional value of the controlled quantity. Therefore, the greater the deviation between the feedback proportional value of the controlled quantity and the given proportional value of the controlled quantity, the higher the value of the proportional correction coefficient. After being input into the PI controller, its corresponding regulation ability is stronger, which further increases the PI controller's output instruction's ability to compensate for nonlinearity relative to traditional designs, prompting the controlled quantity of the controlled object to approach the given calibration value more quickly to meet the control requirements. This solves the problem of the PI controller controlling nonlinear objects. Figure 1 The oscillation problem is shown by the green dashed line.

[0039] In some implementations of this specification, determining correction information according to the controlled variable feedback value and the controlled variable given value includes: An integral correction coefficient of the controller is determined according to the controlled variable feedback value and the controlled variable given value, and the correction coefficient is used as the correction information.

[0040] In this embodiment, the difference between the controlled variable feedback value and the controlled variable given value is calculated first, a corresponding integral correction coefficient is generated according to the difference, and the integral correction coefficient is used as correction information.

[0041] In some embodiments of the present specification, the integral correction coefficient can also be determined by using a PI control algorithm, that is, the controlled quantity feedback value of the controlled object is used as the feedback value of another PI controller, and then the controlled quantity given value is used as the given value of another PI controller. The PI controller can be used to determine the corresponding proportional integral correction coefficient according to the difference between the controlled quantity feedback value and the controlled quantity given value.

[0042] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining an integral constant of the controller, and determining the target integral parameter based on the integral correction coefficient and the integral constant; Sending the target integral parameter to the controller replaces sending the integral setting to the controller.

[0043] In this embodiment, as described above, if the correction information is an integral correction coefficient, the corresponding integral setting of the controller is determined. The product of the integral setting and the integral correction coefficient is used as the target integral parameter, and the target integral parameter is sent to the controller as a new integral setting to replace the original integral setting.

[0044] Furthermore, after the next control instruction is generated, the integral constant of the controller is still the original integral constant. When calculating the corresponding target integral parameter, it will still be multiplied by the corresponding integral correction coefficient and the multiplication result will be used as the new target integral parameter.

[0045] In some embodiments of the present specification, determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, further includes: The target integral parameter is sent to the controller in place of the integral setting, and the target proportional parameter is sent to the controller in place of the proportional setting.

[0046] In this embodiment, if the correction information includes a target proportional parameter and a target integral parameter, the target proportional parameter is sent to the controller to replace the original proportional constant. At the same time, the target integral parameter is sent to the controller to replace the original integral constant, so as to adjust the control parameters of the controller.

[0047] Furthermore, in some embodiments of the present specification, the generation of the target proportional parameter is implemented using an additional PI controller, which is referred to as a proportional parameter PI controller; similarly, the target integral parameter is also implemented using an additional PI controller, which is referred to as an integral correction PI controller. It should be noted that the PI controller in the present embodiment refers to the corresponding PI control algorithm implementation, and the specific implementation method can adopt a hardware PI or software PI algorithm according to the specific implementation needs. It does not mean that the "controller" is a hardware device, but a traditional term for the PI control algorithm.

[0048] Furthermore, if the feedback value of the controlled quantity deviates greatly from the given value of the controlled quantity and adjusts slowly, the deviation of the proportional parameter PI controller and the integral correction PI controller will also be large and change slowly. At this time, the proportional parameter PI controller and the integral correction PI controller increase the proportional correction coefficient output by the proportional parameter PI controller and reduce the integral correction coefficient output by the integral correction PI controller according to the PI control algorithm, which is equivalent to increasing the proportional coefficient of the PI controller (the PI controller that controls the controlled object) and reducing the integral time constant of the PI controller, further making the PI controller (the PI controller that controls the controlled object) quickly increase its output command, so that the controlled quantity approaches the set feedback value of the controlled quantity more quickly to meet the control requirements).

[0049] Furthermore, the controlled given value and the controlled quantity feedback value are normalized to the same value space, so that the parameter adjustment of the proportional parameter PI controller and the integral correction PI controller can be directly used in different control systems without having to adapt to different data dimensions for adjustment. At the same time, since the correction information corresponding to the parameters of the PI controller is calculated, the proportional parameter PI controller and the integral correction PI controller do not need to perform a large amount of parameter adjustment work. Even in the control system with the same time scale, the parameters of the proportional parameter PI controller and the integral correction PI controller can be applied uniformly. The effect is as follows: Figure 1 As shown by the red dotted line in the middle, it effectively solves the vibration problem when the PI controller controls the nonlinear control object.

[0050] An embodiment of the present specification implements a controller control correction method, which determines the correction information of the controller through the relationship between the controlled quantity feedback value of the controlled object adjusted by the controller and the controlled quantity given value, and supplements the adjustment defects of the controller for the nonlinear controlled object based on the correction information, so that the controller can achieve accurate control according to the performance characteristics of the controlled object.

[0051] like Figure 3 As shown, according to a second aspect of the embodiments of this specification, a controller-controlled correction device is provided, comprising: The controlled object data determination module 1 is used to determine the controlled variable feedback value of the controlled object and determine the controlled variable given value input to the controller; A correction information generating module 2, used for determining correction information according to the feedback value of the controlled quantity and the given value of the controlled quantity; A controller parameter determination module 3, used to determine the original predetermined parameters of the controller; The controller parameter correction module 4 is used to determine the target parameter based on the correction information and the original predetermined parameter, and send the target parameter to the controller instead of the original predetermined parameter.

[0052] The above is a schematic scheme of a controller-controlled correction device of this embodiment. It should be noted that the technical scheme of the controller-controlled correction device and the technical scheme of the controller-controlled correction method described above belong to the same concept, and the details of the technical scheme of the controller-controlled correction device that are not described in detail can all be referred to the description of the technical scheme of the controller-controlled correction method described above.

[0053] 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.

[0054] 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 440 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).

[0055] 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.

[0056] The computing device 400 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 400 may also be a mobile or stationary server.

[0057] The processor 420 is used to execute the following computer executable instructions, which implement the steps of the controller control correction 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 controller control correction method belong to the same concept. For details not described in detail in the technical scheme of the computing device, please refer to the description of the technical scheme of the controller control correction method.

[0058] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the controller control correction method.

[0059] 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 controller control correction method mentioned above belong to 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 controller control correction method mentioned above.

[0060] 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 controller control correction method described above.

[0061] 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 controller control correction method mentioned above belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the controller control correction method mentioned above.

[0062] 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.

[0063] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium 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.

[0064] 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.

[0065] 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.

[0066] 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 the specific implementation methods described. 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 technicians in the relevant technical field can understand and use this specification well. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A controller control correction method, characterized in that: include: Determine the controlled variable feedback value of the controlled object and determine the controlled variable given value input to the controller; Determine correction information according to the controlled variable feedback value and the controlled variable given value; determining original predetermined parameters of the controller; A target parameter is determined based on the correction information and the original predetermined parameter, and the target parameter is sent to the controller instead of the original predetermined parameter.

2. The method according to claim 1, characterized in that The step of determining a controlled variable feedback value of the controlled object comprises: Determine sampling values ​​of a previous controlled variable feedback value and a current controlled variable feedback value of the controlled object; The controlled variable feedback value of the controlled object is determined based on the sampling values ​​of the previous controlled variable feedback value and the current controlled variable feedback value through a low-pass filtering algorithm.

3. The method according to claim 2, characterized in that The determining of correction information according to the controlled variable feedback value and the controlled variable given value comprises: Determine the preset ratio value space; According to the value range of the controlled quantity feedback value, the controlled quantity is fed back to normalize to the proportional value space to obtain a controlled quantity feedback proportional value of the controlled quantity feedback value in the proportional value space; and According to the value range of the controlled quantity given value, the controlled quantity given value is normalized to the proportional value space to obtain a controlled quantity given proportional value of the controlled quantity given value in the proportional value space; A proportional correction coefficient is determined according to the controlled variable feedback proportional value and the controlled variable given proportional value, and the proportional correction coefficient is used as correction information.

4. The method according to claim 3, characterized in that The step of determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining a proportional fixed value of the controller, and determining a target proportional parameter based on the proportional correction coefficient and the proportional fixed value; The target scale parameter is sent to the controller instead of the scale customization.

5. The method according to claim 1, characterized in that The determining of correction information according to the controlled variable feedback value and the controlled variable given value comprises: The difference between the controlled variable feedback value and the controlled variable given value is determined, an integral correction coefficient of the controller is determined based on the difference, and the correction coefficient is used as the correction information.

6. The method according to claim 5, characterized in that The step of determining a target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, comprises: Determining an integral constant of the controller, and determining the target integral parameter based on the integral correction coefficient and the integral constant; The target integral parameter is sent to the controller instead of the integral constant.

7. The method according to claims 4 and 6, characterized in that The determining of the target parameter based on the correction information and the original predetermined parameter, and sending the target parameter to the controller instead of the original predetermined parameter, further comprises: The target integral parameter is sent to the controller in place of the integral setting, and the target proportional parameter is sent to the controller in place of the proportional setting.

8. A controller controlled correction device, characterized in that: include: A controlled object data determination module is used to determine a controlled quantity feedback value of the controlled object and to determine a controlled quantity given value input to the controller; A correction information generating module, used for determining correction information according to the feedback value of the controlled quantity and the given value of the controlled quantity; A controller parameter determination module, used to determine original predetermined parameters of the controller; The controller parameter correction module is used to determine the target parameter based on the correction information and the original predetermined parameter, and send the target parameter to the controller instead of the original predetermined 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 controller control correction method described in 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 controller control correction method according to any one of claims 1 to 7.

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