Motion control method, system and equipment for electric vehicle door and medium

Abstract

The invention discloses a motion control method, system and device for an electric vehicle door and a medium, and the method comprises the steps that the target motion speed and the actual motion speed of a target vehicle door are obtained; the target movement speed and the actual movement speed are input into an auto-disturbance rejection controller with set parameters for self-adaptive variable generation, the vehicle door control quantity is obtained, and the vehicle door control quantity is used for representing the control quantity of the target vehicle door under internal and external total interference. The internal and external total interference is used for representing the sum of internal and external environment interference influencing the motion state of the target vehicle door; and performing motion control on the target vehicle door according to the vehicle door control quantity. According to the method, the accuracy and smoothness of vehicle door motion control can be effectively improved, and the user experience can be improved. The invention relates to the technical field of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a motion control method, system, equipment and medium for an electric door. Background Art

[0002] As a convenient means of transportation, vehicles have brought great convenience to people's lives. The opening and closing of car doors are the core scenes of user experience, and the motion control of car doors has become one of the key focuses of people's attention.

[0003] At present, the existing door motion control methods usually determine the torque direction and output torque value required for the door to perform a preset action based on the gravity acting on the door and the external environmental interference, so as to achieve the opening or closing of the door. This method often cannot accurately obtain all external interferences, resulting in poor accuracy and smoothness of door motion control and unsatisfactory user experience.

[0004] Therefore, the problems existing in the prior art still need to be solved and optimized. Summary of the invention

[0005] The purpose of the present invention is to solve one of the technical problems existing in the related art to at least a certain extent.

[0006] To this end, an object of an embodiment of the present invention is to provide a motion control method, system, device and medium for an electric door, wherein the method can effectively improve the accuracy and smoothness of the door motion control, which is conducive to improving the user experience.

[0007] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present application include:

[0008] In a first aspect, an embodiment of the present application provides a motion control method for an electric door, comprising:

[0009] Obtain the target movement speed and actual movement speed of the target door;

[0010] The target motion speed and the actual motion speed are input into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and a door control amount is obtained, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door;

[0011] The target door is motion controlled according to the door control amount.

[0012] In addition, the method according to the above embodiment of the present application may also have the following additional technical features:

[0013] Further, in one embodiment of the present application, the active disturbance rejection controller includes a tracking differential unit, a nonlinear state error feedback unit and an extended state observation unit, and the target motion speed and the actual motion speed are input into the active disturbance rejection controller with set parameters to generate adaptive variables to obtain the door control amount, including:

[0014] Inputting the target motion speed into the tracking differential unit for state tracking to obtain a tracking signal and a differential signal;

[0015] The actual movement speed is input into the expansion state observation unit for internal and external disturbance observation to obtain a first observation value, a second observation value and a third observation value, wherein the first observation value is used to characterize the predicted movement speed of the target door, the second observation value is used to characterize the movement speed change of the target door, and the third observation value is used to characterize the total internal and external disturbance amount to which the target door is subjected;

[0016] Inputting the tracking signal, the differential signal, the first observation value and the second observation value into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control value, wherein the intermediate control value is used to characterize the control value of the target door under non-internal and external total interference;

[0017] According to the third observation value, the internal and external disturbance correction is performed on the intermediate control value to obtain the door control value.

[0018] Further, in one embodiment of the present application, the actual motion speed is input into the expansion state observation unit to observe the internal and external disturbances to obtain the first observation value, the second observation value and the third observation value, including:

[0019] Acquire a fourth observation value, a fifth observation value, and a sixth observation value, and a compensation coefficient of the expanded state observation unit, wherein the fourth observation value is a historical observation value corresponding to the first observation value, the fifth observation value is a historical observation value corresponding to the second observation value, and the sixth observation value is a historical observation value corresponding to the third observation value;

[0020] According to the fourth observation amount, performing interference calculation on the actual motion speed to obtain an intermediate interference amount;

[0021] Performing a first expansion update on the fourth observation value according to the intermediate interference amount and the fifth observation value to obtain the first observation value;

[0022] Performing a second expansion update on the fifth observation value according to the compensation coefficient, the sixth observation value and the intermediate interference value to obtain the second observation value;

[0023] According to the intermediate interference amount, a third expansion update is performed on the sixth observation value to obtain the third observation value.

[0024] Further, in one embodiment of the present application, the step of inputting the tracking signal, the differential signal, the first observation amount, and the second observation amount into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control amount includes:

[0025] According to the first observation amount, performing a first state error estimation on the tracking signal to obtain a first error amount;

[0026] According to the second observation amount, performing a second state error estimation on the differential signal to obtain a second error amount;

[0027] The first error amount and the second error amount are input into the nonlinear state error feedback unit for error feedback to obtain the intermediate control amount.

[0028] Further, in one embodiment of the present application, the active disturbance rejection controller with adjusted parameters is obtained by the following steps:

[0029] Acquire a plurality of first ink droplets and a first fitness of each of the first ink droplets, wherein each of the first ink droplets is used to characterize a set of parameters to be tuned of the active disturbance rejection controller;

[0030] Performing ink diffusion optimization update on all the first ink droplets to obtain a second ink droplet corresponding to each of the first ink droplets and a second fitness of each of the second ink droplets;

[0031] According to all the first fitness and the second fitness, all third ink droplets are fitness screened to obtain a plurality of fourth ink droplets; the third ink droplet is the first ink droplet or the second ink droplet; the fourth ink droplet is a third ink droplet with a higher fitness value among all the third ink droplets;

[0032] According to all the fourth ink droplets, the parameters of the initial auto-disturbance rejection controller are adjusted and updated to obtain the auto-disturbance rejection controller with adjusted parameters.

[0033] Further, in one embodiment of the present application, performing ink diffusion optimization update on all the first ink drops to obtain second ink drops corresponding to the first ink drops includes:

[0034] Dividing the first ink droplets into type groups to obtain a first molecular group, a second molecular group and a third molecular group;

[0035] Performing molecular Brownian motion update on the first molecular group to obtain a plurality of the Brownian molecules;

[0036] Performing molecular diffusion motion update on the second molecular group to obtain a plurality of the diffused molecules;

[0037] Performing molecular random motion update on the third molecular group to obtain a plurality of random molecules;

[0038] The second ink droplet is obtained according to all the Brownian molecules, the diffuse molecules and the random molecules.

[0039] Further, in one embodiment of the present application, performing molecular diffusion motion update on the ink droplet molecules in the second molecular group to obtain the diffused molecules includes:

[0040] Acquire the ink droplet concentration of the first ink droplet in the second molecular group;

[0041] Performing diffusion calculation on the ink drop concentration to obtain a diffusion step length and direction of the first ink drop, wherein the ink drop concentration is negatively correlated with the diffusion step length;

[0042] Diffusion-updating the ink droplet molecules of the second molecular group according to the diffusion step length and the diffusion direction to obtain the diffused molecules;

[0043] Performing molecular random motion update on the first ink droplet in the third molecular group to obtain the random molecule includes:

[0044] According to the diffusion step length, obtaining a random disturbance vector of the third molecular group;

[0045] According to the random perturbation vector, the ink drop molecules in the third molecule group are randomly updated to obtain the random molecules.

[0046] In a second aspect, an embodiment of the present application provides a motion control system for an electric door, comprising:

[0047] A first processing unit, used for obtaining a target moving speed and an actual moving speed of a target door;

[0048] A second processing unit is used to input the target motion speed and the actual motion speed into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and obtain a door control amount, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door;

[0049] The third processing unit is used to perform motion control on the target door according to the door control amount.

[0050] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0051] at least one processor;

[0052] at least one memory for storing at least one program;

[0053] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0054] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a program executable by a processor, and the program executable by the processor is used to implement the above method when executed by the processor.

[0055] The advantages and benefits of the present application will be partially given in the following description, and partially become apparent from the following description, or be understood through the practice of the present application:

[0056] The embodiment of the present application discloses a motion control method, system, device and medium for an electric door, wherein the method obtains a target motion speed and an actual motion speed of a target door; the target motion speed and the actual motion speed are input into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and a door control quantity is obtained, wherein the door control quantity is used to characterize the control quantity of the target door under total internal and external interference, and the total internal and external interference is used to characterize the sum of internal and external environmental interferences that affect the motion state of the target door; and the target door is motion-controlled according to the door control quantity. The method generates a door control quantity that fully considers internal and external environmental interferences through an auto-disturbance rejection controller, and controls the door motion based on the door control quantity, which can effectively improve the accuracy and smoothness of the door motion control, and is conducive to improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the embodiments of the present application or the drawings of the related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly expressing some embodiments of the technical solutions of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 A schematic flow chart of a motion control method for an electric door provided in an embodiment of the present application;

[0059] Figure 2 A schematic diagram of the structural framework of a motion control system for an electric door provided in an embodiment of the present application;

[0060] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limitations on the present application. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0063] At present, the existing door motion control method usually determines the torque direction and output torque value required for the door to perform a preset action based on the gravity acting on the door and the external environment interference, so as to realize the opening or closing of the door.

[0064] However, in actual applications, due to the different slopes of the vehicle and the different openings of the doors, this method will cause different components of the gravity on the doors in the direction of movement. In order to achieve smooth opening and closing of the doors, the vehicle needs the door motion control system to accurately calculate the magnitude of the force under various working conditions, which is heavily dependent on the precise modeling of the door motion control system, and re-modeling is required when opening or closing doors in different positions. It is difficult to achieve door motion control, resulting in poor accuracy and smoothness of door motion control and unsatisfactory user experience.

[0065] In addition, this method usually requires the acquisition of external interference (such as wind field disturbance, etc.) by direct measurement. In actual applications, the form of external interference may not be single, and limited measurement methods are difficult to cover all working conditions. Specifically, during the movement of the door, external interference includes the effect of the wind field, the lifting and lowering of the window glass, the mass of the object in the door storage box, etc. In order to obtain as comprehensive external interference as possible, the complexity of the door motion control system is often high, and the limitations of direct measurement often make it difficult to accurately obtain all external interference, which in turn makes the accuracy and smoothness of the door motion control poor, and the user experience is unsatisfactory.

[0066] In addition, in actual applications, the door motion control system will change with the increase of usage time, and these changes will often bring internal interference to the door motion control system. Specifically, the internal interference includes wear of the mechanical structure, changes in the friction coefficient of the mechanical structure, changes in the motor performance, etc.; since this method only considers the working conditions of external interference, the door movement actions it executes often still have a certain deviation from the actual demand situation, and the adaptability of the door movement actions to the actual demand situation is relatively limited, which makes the accuracy and smoothness of the door motion control poor and the user experience unsatisfactory.

[0067] In view of this, an embodiment of the present invention provides a motion control method, system, device and medium for an electric door, wherein the method generates a door control quantity that fully considers internal and external environmental interference through an anti-disturbance controller with adjusted parameters, and controls the motion of the door based on the door control quantity, so that the method does not need to accurately model the controlled object, reduces the difficulty of door motion control, and is conducive to improving the accuracy and smoothness of door motion control.

[0068] In addition, compared with the prior art, which realizes the motion control of the door by obtaining as comprehensive external interference as possible, this method proposes another control idea, specifically by taking the internal and external interference of the door motion control system as a whole, and observing the internal and external interference of the door control system based on the extended state observation unit in the anti-disturbance controller, which can fully consider the total internal and external interference without relying on external sensors and other equipment, and has high comprehensiveness, which is conducive to improving the accuracy and smoothness of the door motion control, as well as improving the user experience and reducing the complexity of the door motion control system.

[0069] In addition, by performing parameter tuning on the ADRC, this method can select a set of excellent tuning parameters for the ADRC, which can effectively improve the accuracy of the door control quantity generated by the ADRC, and is beneficial to improving the accuracy and smoothness of the door motion control.

[0070] Reference Figure 1 In an embodiment of the present application, a motion control method for an electric door includes:

[0071] Step 110, obtaining the target movement speed and actual movement speed of the target door;

[0072] In an embodiment of the present application, the target door may be an electric door of a vehicle, and the target movement speed may be a preset movement speed of the target door, and the actual movement speed may be the real-time movement speed of the target door, specifically the movement speed of the target door at the current moment.

[0073] Step 120: Input the target motion speed and the actual motion speed into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and obtain a door control amount, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door;

[0074] In an embodiment of the present application, the target movement speed and actual movement speed of the target door can be input into the self-disturbance rejection controller with set parameters in real time to generate adaptive variables. The self-disturbance rejection controller observes and evaluates the total internal and external interferences that affect the actual movement speed of the target door and generates a corresponding door control amount, wherein the door control amount is the control amount of the target door in the next time step under the total internal and external interferences in the current time step; and the total internal and external interference is the sum of the internal and external environmental interferences that affect the movement of the target door. The specific internal environmental interference may be the wear of the mechanical structure, the change of the friction coefficient of the mechanical structure, the change of the motor performance, etc.; and the external environmental interference may be the effect of gravity, the effect of the wind field, the lifting of the window glass, the mass of the object in the door storage box, etc. The present application does not enumerate all types of internal and external environmental interferences. The examples of internal and external environmental interferences in the present application are only for illustration, and are not intended to limit the present application.

[0075] In some embodiments, the active disturbance rejection controller includes a tracking differential unit, a nonlinear state error feedback unit and an extended state observation unit. The step 120 of inputting the target motion speed and the actual motion speed into the active disturbance rejection controller with set parameters to generate adaptive variables and obtain the door control quantity includes:

[0076] A1, inputting the target motion speed into the tracking differential unit for state tracking, and obtaining a tracking signal and a differential signal;

[0077] In the embodiment of the present application, the tracking differential unit is used to follow the target motion speed signal, and specifically can provide a transition tracking signal and a differential signal for the target motion speed signal. Specifically, in the door motion control system, the state space expression of the tracking differential unit of the active disturbance rejection controller in the embodiment of the present application can be:

[0078]

[0079] Among them, x1(k+1) is the tracking signal of time step k+1; x1(k) is the tracking signal of time step k; x2(k+1) is the differential signal of time step k+1; x2(k) is the differential signal of time step k; fh is the fhan comprehensive function; h is the integration step of the comprehensive function fhan.

[0080] The comprehensive function fhan can be expressed as:

[0081] fh=fhan(x1(k)-v(k),x2(k),r,h0)

[0082] Among them, v(k) is the signal of the target motion speed; r is the adjustable speed factor of the tracking differential unit, and the adjustable speed factor is used to affect the tracking speed of the tracking differential unit; h0 is the filter factor of the tracking differential unit.

[0083] A2, inputting the actual movement speed into the expanded state observation unit for internal and external disturbance observation, obtaining a first observation value, a second observation value and a third observation value, wherein the first observation value is used to characterize the predicted movement speed of the target door, the second observation value is used to characterize the movement speed change of the target door, and the third observation value is used to characterize the total internal and external disturbance amount to which the target door is subjected;

[0084] Furthermore, the step A2, inputting the actual motion speed into the expansion state observation unit to observe internal and external disturbances to obtain a first observation value, a second observation value and a third observation value, includes:

[0085] A21, acquiring a fourth observation value, a fifth observation value, and a sixth observation value, and a compensation coefficient of the expanded state observation unit, wherein the fourth observation value is a historical observation value corresponding to the first observation value, the fifth observation value is a historical observation value corresponding to the second observation value, and the sixth observation value is a historical observation value corresponding to the third observation value;

[0086] A22. Perform interference calculation on the actual motion speed according to the fourth observation amount to obtain an intermediate interference amount;

[0087] A23. Performing a first expansion update on the fourth observation value according to the intermediate interference value and the fifth observation value to obtain the first observation value;

[0088] A24, performing a second expansion update on the fifth observation value according to the compensation coefficient, the sixth observation value and the intermediate interference value to obtain the second observation value;

[0089] A25. Perform a third expansion update on the sixth observation value according to the intermediate interference value to obtain the third observation value.

[0090] In an embodiment of the present application, the actual running speed of the target door at the current time step can be input into an expanded state observation unit, and the total internal and external disturbances of the door motion control system can be observed and estimated through the expanded state observation unit. It is unnecessary to understand and measure each internal disturbance or external disturbance, so as to obtain the first observation value, the second observation value and the third observation value.

[0091] It can be understood that the fourth observation value, the fifth observation value and the sixth observation value can be observation values ​​with the same time step as the actual running speed. In the embodiment of the present application, if the first observation value is the observation value of time step k+1, the corresponding fourth observation value can be the observation value of time step k, that is, the fourth observation value is the historical observation value of the first observation value; and the contents of the second observation value and the fifth observation value, as well as the third observation value and the sixth observation value are similar to the contents of the aforementioned first observation value and the fourth observation value, and can be simply deduced by analogy.

[0092] It should be noted that the interference calculation of step A22 can be to calculate the signal difference between the fourth observation value and the actual movement speed signal, so as to obtain the intermediate interference value; the expansion update of steps A23 to A25 can be based on the parameters of the expansion state observation unit, and the fourth observation value, the fifth observation value and the fifth observation value are updated respectively, so as to obtain the corresponding first observation value, second observation value and third observation value respectively, wherein the first observation value is used to characterize the movement speed estimate (i.e., the predicted movement speed of the target door) obtained by the door motion control system for predicting the target door at the next time step; the second observation value is the derivative of the first observation value, which is used to characterize the rate of change of the movement speed of the target door from the current time step to the next time step (i.e., the change in the movement speed of the target door); and the third observation value is the overall representation of the internal and external disturbances of the door motion control system. Exemplarily, the expansion state observation unit of the embodiment of the present application can be expressed as:

[0093]

[0094] Among them, e(k) is the intermediate interference; z1(k) is the observation at time step k, that is, the fourth observation; y(k) is the actual movement speed at time step k; z1(k+1) is the observation at time step k+1, that is, the first observation; z2(k) is the observation at time step k, that is, the fifth observation; β 01 , β 02 , β 03 , α1, α2, α3, δ, δ1 are all configurable parameters of the extended state observation unit; z2(k+1) is the observation at time step k+1, that is, the second observation; z3(k) is the observation at time step k, that is, the sixth observation; z3(k+1) is the observation at time step k+1, that is, the third observation; b0 is the intermediate interference; u(k) is the door control quantity at time step k.

[0095] A3, inputting the tracking signal, the differential signal, the first observation value and the second observation value into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control value, wherein the intermediate control value is used to characterize the control value of the target door under non-internal and external total interference;

[0096] Furthermore, the step A3, inputting the tracking signal, the differential signal, the first observation value, and the second observation value into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control value, includes:

[0097] A31. Estimating a first state error of the tracking signal according to the first observation amount to obtain a first error amount;

[0098] A32. Estimating a second state error of the differential signal according to the second observation value to obtain a second error value;

[0099] A33. Input the first error amount and the second error amount into the nonlinear state error feedback unit for error feedback to obtain the intermediate control amount.

[0100] In an embodiment of the present application, the nonlinear state error feedback unit is used to generate a preliminary control quantity of the door motion control system based on the estimation of each state variable of the door motion control system input (such as the first error quantity and the second error quantity).

[0101] It can be understood that the state error estimation of step A31 can be to calculate the difference between the tracking signal and the first observation value, thereby obtaining the variable estimation of the target door in the tracking state and obtaining the first error value; step A32 is similar to the content of the aforementioned step A31 and can be simply derived by analogy. Step A33 can be to input the first error value and the second error value into the nonlinear state error feedback unit together to obtain the intermediate control value, which can be expressed as:

[0102] u0=β1fal(e1(k),α4,δ2)+β2fal(e2(k),α5,δ3)

[0103] Among them, u0 is the intermediate control variable; β1, β2, α4, α5, δ2 and δ3 are all configurable parameters of the nonlinear state error feedback unit; fal(·) is the fal reliability function.

[0104] A4. According to the third observation value, perform internal and external disturbance correction on the intermediate control value to obtain the door control value.

[0105] In an embodiment of the present application, step A4 may first calculate the ratio of the third observed quantity to the compensation coefficient, and then add the ratio as a nonlinear negative feedback gain to the intermediate control quantity, so as to obtain the door control quantity that characterizes the target door under the total internal and external interference. The door control quantity can specifically be the voltage value of the motor in the door motion control system.

[0106] Step 130: Control the movement of the target door according to the door control amount.

[0107] In the embodiment of the present application, after obtaining the door control amount, the door motion control system can control the motion of the target door based on the door control amount at the next time step, so as to achieve smooth movement of the door. Specifically, the door motion control system may include a motor, a transmission mechanism, and an electronic control unit ECU, etc. After obtaining the door control amount, the door motion control system can adjust the current and voltage of the motor based on the door control amount through the ECU, and then the motor transmits the force to the door through the transmission mechanism, so as to achieve smooth opening, closing or stopping of the door at a certain position.

[0108] In some embodiments, the parameter-tuned active disturbance rejection controller is obtained by the following steps:

[0109] B1. Acquire a plurality of first ink droplets and a first fitness of each of the first ink droplets, wherein each of the first ink droplets is used to characterize a set of parameters to be set of the active disturbance rejection controller;

[0110] In the embodiment of the present application, each parameter to be adjusted of the initial ADRC can be adjusted to obtain an ADRC with adjusted parameters. Specifically, the present application proposes a new ink diffusion optimization algorithm, which constructs an N-dimensional space based on all parameters to be adjusted of the ADRC. Each type of parameter to be adjusted corresponds to a dimension of the N-dimensional space. The domain of the space in each dimension is determined by the value range of the corresponding parameter to be adjusted. The specific value of each parameter to be adjusted corresponds to a dimensional coordinate in the space.

[0111] Specifically, a random value can be selected and combined within the value range of each parameter to be adjusted in the ADRC to obtain several groups of parameters to be adjusted, each group of parameters to be adjusted corresponds to a first ink droplet in the N-dimensional space. The first fitness of each first ink droplet can be calculated by the fitness function of the ink droplet, which can be specifically expressed as:

[0112]

[0113] Among them, J is the fitness function; t is time; e(t) is the difference between the control target quantity at time t and the actual performance quantity of the system. The control target quantity can specifically be the target movement speed of the target door, and the actual performance quantity of the system can specifically be the actual movement speed.

[0114] B2. performing ink diffusion optimization update on all the first ink droplets to obtain a second ink droplet corresponding to each first ink droplet and a second fitness of each second ink droplet;

[0115] Furthermore, the step B2, performing ink diffusion optimization update on the first ink droplet to obtain a second ink droplet corresponding to the first ink droplet, includes:

[0116] B21, dividing the first ink droplets into type groups to obtain a first molecular group, a second molecular group and a third molecular group;

[0117] B22, performing molecular Brownian motion update on the first molecular group to obtain a plurality of the Brownian molecules;

[0118] In the embodiment of the present application, each first ink droplet can be respectively updated by ink diffusion optimization, so as to obtain a second ink droplet corresponding to each first ink droplet. Specifically, corresponding to a first ink droplet, the first ink droplet includes a plurality of ink droplet molecules, and step B21 can be based on the molecular motion type, and all the ink droplet molecules of the first ink droplet are divided to obtain a first molecule group, a second molecule group, and a third molecule group, wherein the ink droplet molecules in the first molecule group are used to simulate the Brownian motion of the molecules, the ink droplet molecules in the second molecule group are used to simulate the diffusion motion of the molecules, and the ink droplet molecules in the third molecule group are used to simulate the random motion of the molecules.

[0119] It can be understood that step B22 can be to perform Brownian motion on each ink drop molecule in the first molecule group. Specifically, for a certain ink drop molecule in the first molecule group, the molecular Brownian motion update can be to randomly change the position of the ink drop molecule in the entire space, that is, the movement direction and speed of the ink drop molecule are random, so as to obtain the Brownian molecule corresponding to the ink drop molecule. The same is true for the remaining ink drop molecules in the first molecule group, which can be simply deduced. For example, for a certain Brownian molecule, its coordinate position in a certain dimension in N-dimensional space can be expressed as:

[0120]

[0121] Among them, x n is the coordinate position of the Brownian molecule in the nth dimension of N-dimensional space; x n0 is the coordinate position of the corresponding ink droplet molecule in the nth dimension of N-dimensional space; Δx n is the displacement of the ink droplet molecule in the nth dimension of the N-dimensional space; D n is the velocity coefficient in the nth dimension of the N-dimensional space; η is a random number used to simulate the noise part of the Brownian motion, which can specifically be any random real number drawn from a normal distribution.

[0122] It should be noted that, during the Brownian motion of the ink droplet molecules of the first molecular group, there is a situation where the ink droplet molecules collide with the wall of the N-dimensional space container, that is, the coordinate position x of the ink droplet molecule in the nth dimension of the N-dimensional space is n0 , and the displacement x nThe sum exceeds the domain of definition of dimension n; at this time, when the ink droplet molecule hits the container wall, the current displacement of the ink droplet molecule in dimension n is reversed, so that the ink droplet molecule bounces off the container wall to other positions inside. The specific implementation method can be that when the ink droplet molecule hits the container wall (that is, the coordinate position of the ink droplet molecule in dimension n reaches the boundary of the definition domain), the remaining displacement of the ink droplet molecule in dimension n is calculated and reversed, and then the movement is continued based on the reversed remaining displacement. The example in this application is for illustration only.

[0123] B23, performing molecular diffusion motion update on the second molecular group to obtain a plurality of the diffused molecules;

[0124] Further, performing molecular diffusion motion update on the ink droplet molecules in the second molecular group to obtain the diffused molecules includes:

[0125] B231, obtaining the ink droplet concentration of the first ink droplet in the second molecular group;

[0126] B232, performing diffusion calculation on the ink droplet concentration to obtain a diffusion step length and direction of the first ink droplet, wherein the ink droplet concentration is negatively correlated with the diffusion step length;

[0127] B233, performing diffusion update on the ink droplet molecules of the second molecular group according to the diffusion step length and the diffusion direction to obtain the diffused molecules;

[0128] In the embodiment of the present application, step B23 may be to perform diffusion motion on each ink droplet of the second molecule group. Specifically, for a certain ink droplet molecule in the second molecule group, the molecular diffusion motion update may first obtain the ink droplet concentration of the first ink droplet, wherein the simulated concentration may be positively correlated with the fitness corresponding to the coordinate position of the first ink droplet, for example, the simulated concentration is equal to the fitness value of the first ink droplet.

[0129] It can be understood that the diffusion calculation in step B231 can specifically be to calculate the gradient direction of the ink droplet concentration of the first ink droplet at the current coordinate position of the first ink droplet, so as to obtain the diffusion direction; and based on the negative correlation between the ink droplet concentration and the diffusion step length, calculate the diffusion step length corresponding to the ink droplet concentration. One of the diffusion step lengths provided in the embodiment of the present application can be expressed as:

[0130]

[0131] Among them, Δs is the diffusion step length; L is the maximum diffusion step length of the first ink droplet of the second molecular group; r is the ink droplet concentration of the first ink droplet, or the current ink droplet concentration ranking value of the first ink droplet; R is the maximum ink droplet concentration, or the total number of first ink droplets in the second molecular group.

[0132] It should be noted that, in the embodiment of the present application, r is the ink droplet concentration ranking value of the first ink droplet, and the corresponding R is the total number of first ink droplets in the second molecular group. After obtaining the ink droplet concentration of each first ink droplet in the second molecular group, the embodiment of the present application can sort the ink droplet concentration of each first ink droplet from small to large, and the sorting group corresponding to the first ink droplet with a larger ink droplet concentration is larger; specifically, if the current ink droplet concentration ranking value of the first ink droplet is larger, the corresponding cosine function value is smaller, and the diffusion step size is smaller, and vice versa.

[0133] Step B233 may be to update the original vector coordinates of the ink droplet molecule based on the diffusion step length and the diffusion direction, so as to obtain the diffusion molecule. Specifically, the diffusion molecule may be expressed as:

[0134]

[0135] in, is the vector coordinate of the diffusing molecule; is the vector coordinate of the corresponding ink droplet molecule; Δs is the diffusion step length; is the ink drop concentration of the corresponding ink drop molecule; is the unit vector in the gradient direction, i.e. the diffusion direction.

[0136] It is worth mentioning that during the diffusion movement of the ink droplet molecules of the second molecular group, there is a situation where some vector coordinates of the ink droplet molecules diffuse to the boundary of the container wall. At this time, the vector coordinates corresponding to the ink droplet molecules can be updated based on the dimensional boundary coordinates corresponding to the boundary of the container wall, which will not be repeated in this application.

[0137] B24. Perform molecular random motion update on the third molecule group to obtain a plurality of random molecules.

[0138] Further, performing molecular random motion update on the first ink droplet in the third molecular group to obtain the random molecule includes:

[0139] B241. Obtaining a random disturbance vector of the third molecular group according to the diffusion step length;

[0140] B242. According to the random disturbance vector, the ink droplet molecules in the third molecule group are randomly updated to obtain the random molecules

[0141] Step B25: Obtain the second ink droplet according to all the Brownian molecules, the diffuse molecules and the random molecules.

[0142] In the embodiment of the present application, step B24 may be to perform a small-range random movement on each first ink droplet in the third molecular group. Specifically, for a first ink droplet in the third molecular group, the directional perturbation of the first ink droplet randomly taken on the N coordinate axes of the N-dimensional space may be obtained based on the diffusion step length, and the value range of each directional perturbation is [0, Δs], thereby obtaining a random perturbation vector, which may be expressed as:

[0143]

[0144] in, is the random perturbation vector; r1, r1 and r N Directional disturbance.

[0145] It can be understood that after obtaining the random perturbation vector, the vector coordinates of the ink droplet molecule can be updated based on the random perturbation vector to obtain a random molecule, which can be expressed as:

[0146]

[0147] in, is the vector coordinate of the random molecule; is the vector coordinate of the corresponding ink droplet molecule.

[0148] It should be noted that after all the ink droplet molecules of the first ink droplet are obtained, a second ink droplet can be obtained based on all the obtained ink droplet molecules, and the second ink droplet is the first ink droplet after the ink diffusion optimization update. In addition, the embodiment of the present application is based on the Brownian motion update, diffusion motion update and random motion update of each ink droplet, wherein the global optimization of the ink droplet in space is realized by the Brownian motion update; the local optimization of the ink droplet in space is realized by the diffusion motion update; and the random motion update is used to perform a small-range random motion on the ink droplet molecules, which expands the direction of ink droplet diffusion on the basis of the ink droplet diffusion motion, and further improves the local optimization capability, which can effectively improve the quality of the setting parameters obtained by optimization, thereby helping to improve the accuracy and smoothness of the door motion control.

[0149] B3. According to all the first fitnesses and the second fitnesses, fitness screening is performed on all third ink droplets to obtain a plurality of fourth ink droplets; the third ink droplet is the first ink droplet or the second ink droplet; the fourth ink droplet is a third ink droplet with a higher fitness value among all the third ink droplets;

[0150] B4. According to all the fourth ink droplets, the parameters of the initial auto-disturbance rejection controller are adjusted and updated to obtain the auto-disturbance rejection controller with adjusted parameters.

[0151] In an embodiment of the present application, in step B3, all intermediate fitnesses may be sorted from large to small, and the intermediate fitnesses may be the first fitnesses or the second fitnesses; then, a fitness table is obtained based on the sorting, and several target fitnesses with higher fitness rankings are determined based on a preset screening number, that is, several target fitnesses with higher fitness values ​​are selected; then, based on the mapping relationship between fitness and ink droplets, the corresponding first ink droplet or second ink droplet is determined based on each target fitness, so as to obtain the fourth ink droplet, and the specific screening number can be set according to actual conditions.

[0152] It can be understood that after obtaining several fourth ink droplets in step 1, the fourth ink droplet with the highest fitness can be selected as the fifth ink droplet, and the final tuning parameters of the auto-disturbance rejection controller can be determined based on the coordinate position of the fifth ink droplet in the N-dimensional space, so as to obtain the auto-disturbance rejection controller with tuned parameters. The parameters to be tuned of the auto-disturbance rejection controller in the embodiment of the present application can specifically be the aforementioned β 01 , β 02 , β 03 , b0, β1 and β2, the example of the parameters to be adjusted in this application is only for illustration, for example, the parameters to be adjusted may also include α1, α2 and α3, etc.

[0153] Alternatively, in another feasible implementation, the parameters of the self-disturbance rejection controller can also be adjusted in a cyclic manner. Specifically, while obtaining several fourth ink droplets in the current cycle process, it is determined whether the number of cycles of the current cycle process reaches a preset cycle threshold or the fitness of at least one fourth ink droplet reaches a preset fitness threshold; then, when the number of cycles is less than the cycle threshold or the fitness of the fourth ink droplet is less than the fitness threshold, the fourth ink droplet of the current cycle process is used as the first ink droplet of the next cycle process; or when the number of cycles reaches the cycle threshold or the fitness of at least one fourth ink droplet reaches the fitness threshold, the parameters of the self-disturbance rejection controller are adjusted and updated according to the fourth ink droplet with the highest fitness in the current cycle process, so as to obtain the self-disturbance rejection controller with adjusted parameters.

[0154] A motion control system for an electric door proposed according to an embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0155] Reference Figure 2 , a motion control system for an electric door proposed in an embodiment of the present application includes:

[0156] The first processing unit 101 is used to obtain a target movement speed and an actual movement speed of a target door;

[0157] The second processing unit 102 is used to input the target motion speed and the actual motion speed into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and obtain a door control amount, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door;

[0158] The third processing unit 103 is used to perform motion control on the target door according to the door control amount.

[0159] Reference Figure 3 , the embodiment of the present application further provides an electronic device, including:

[0160] at least one processor 201;

[0161] At least one memory 202, used to store at least one program;

[0162] When the at least one program is executed by the at least one processor 201, the at least one processor 201 implements the above method embodiment.

[0163] Similarly, it can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0164] The embodiment of the present application further provides a computer-readable storage medium, in which a program executable by the processor 201 is stored. The program executable by the processor 201 is used to implement the above-mentioned method embodiment when executed by the processor 201.

[0165] Similarly, the contents of the above method embodiments are all applicable to the computer-readable storage medium embodiments. The functions specifically implemented by the computer-readable storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0166] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part described as a larger operation is performed independently.

[0167] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present application. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional techniques of the engineer. Therefore, those skilled in the art can implement the present application set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is determined by the full scope of the attached claims and their equivalents.

[0168] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0169] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0170] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0171] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0172] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0173] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0174] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Technical personnel familiar with the field can make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A motion control method for an electric door, characterized in that: include: Obtain the target movement speed and actual movement speed of the target door; The target motion speed and the actual motion speed are input into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and a door control amount is obtained, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door; The target door is motion controlled according to the door control amount.

2. The method according to claim 1, characterized in that The active disturbance rejection controller includes a tracking differential unit, a nonlinear state error feedback unit and an extended state observation unit. The target motion speed and the actual motion speed are input into the active disturbance rejection controller with set parameters to generate adaptive variables, and obtain the door control quantity, including: Inputting the target motion speed into the tracking differential unit for state tracking to obtain a tracking signal and a differential signal; The actual movement speed is input into the expansion state observation unit for internal and external disturbance observation to obtain a first observation value, a second observation value and a third observation value, wherein the first observation value is used to characterize the predicted movement speed of the target door, the second observation value is used to characterize the movement speed change of the target door, and the third observation value is used to characterize the total internal and external disturbance amount to which the target door is subjected; Inputting the tracking signal, the differential signal, the first observation value and the second observation value into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control value, wherein the intermediate control value is used to characterize the control value of the target door under non-internal and external total interference; According to the third observed value, the internal and external disturbance correction is performed on the intermediate control value to obtain the door control value.

3. The method according to claim 2, characterized in that The step of inputting the actual motion speed into the expansion state observation unit to observe internal and external disturbances to obtain a first observation value, a second observation value, and a third observation value includes: Acquire a fourth observation value, a fifth observation value, and a sixth observation value, and a compensation coefficient of the expanded state observation unit, wherein the fourth observation value is a historical observation value corresponding to the first observation value, the fifth observation value is a historical observation value corresponding to the second observation value, and the sixth observation value is a historical observation value corresponding to the third observation value; According to the fourth observation amount, performing interference calculation on the actual motion speed to obtain an intermediate interference amount; Performing a first expansion update on the fourth observation value according to the intermediate interference amount and the fifth observation value to obtain the first observation value; Performing a second expansion update on the fifth observation value according to the compensation coefficient, the sixth observation value and the intermediate interference amount to obtain the second observation value; According to the intermediate interference amount, a third expansion update is performed on the sixth observation value to obtain the third observation value.

4. The method according to claim 2, characterized in that: The step of inputting the tracking signal, the differential signal, the first observation value, and the second observation value into the nonlinear state error feedback unit for nonlinear feedback to obtain an intermediate control value includes: According to the first observation amount, performing a first state error estimation on the tracking signal to obtain a first error amount; According to the second observation amount, performing a second state error estimation on the differential signal to obtain a second error amount; The first error amount and the second error amount are input into the nonlinear state error feedback unit for error feedback to obtain the intermediate control amount.

5. The method according to claim 1, characterized in that The parameter-tuned ADRC is obtained by the following steps: Acquire a plurality of first ink droplets and a first fitness of each of the first ink droplets, wherein each of the first ink droplets is used to characterize a set of parameters to be tuned of the active disturbance rejection controller; Performing ink diffusion optimization update on all the first ink droplets to obtain a second ink droplet corresponding to each of the first ink droplets and a second fitness of each of the second ink droplets; According to all the first fitness and the second fitness, all third ink droplets are fitness screened to obtain a plurality of fourth ink droplets; the third ink droplet is the first ink droplet or the second ink droplet; the fourth ink droplet is a third ink droplet with a higher fitness value among all the third ink droplets; According to all the fourth ink droplets, the parameters of the initial auto-disturbance rejection controller are adjusted and updated to obtain the auto-disturbance rejection controller with adjusted parameters.

6. The method according to claim 5, characterized in that Performing ink diffusion optimization update on the first ink droplet to obtain a second ink droplet corresponding to the first ink droplet includes: Dividing the first ink droplets into type groups to obtain a first molecular group, a second molecular group and a third molecular group; Performing molecular Brownian motion update on the first molecular group to obtain a plurality of the Brownian molecules; Performing molecular diffusion motion update on the second molecular group to obtain a plurality of the diffused molecules; Performing molecular random motion update on the third molecular group to obtain a plurality of random molecules; The second ink droplet is obtained according to all the Brownian molecules, the diffuse molecules and the random molecules.

7. The method according to claim 6, characterized in that Performing molecular diffusion motion update on the ink droplet molecules in the second molecular group to obtain the diffused molecules includes: Acquire the ink droplet concentration of the first ink droplet in the second molecular group; Performing diffusion calculation on the ink drop concentration to obtain a diffusion step length and direction of the first ink drop, wherein the ink drop concentration is negatively correlated with the diffusion step length; Diffusion-updating the ink droplet molecules of the second molecular group according to the diffusion step length and the diffusion direction to obtain the diffused molecules; Performing molecular random motion update on the first ink droplet in the third molecular group to obtain the random molecule includes: According to the diffusion step length, obtaining a random disturbance vector of the third molecular group; According to the random perturbation vector, the ink drop molecules in the third molecule group are randomly updated to obtain the random molecules.

8. A motion control system for an electric door, characterized in that: include: A first processing unit, used for obtaining a target moving speed and an actual moving speed of a target door; A second processing unit is used to input the target motion speed and the actual motion speed into an auto-disturbance rejection controller with set parameters to generate adaptive variables, and obtain a door control amount, wherein the door control amount is used to characterize the control amount of the target door under the total internal and external interference, and the total internal and external interference is used to characterize the sum of the internal and external environmental interferences that affect the motion state of the target door; The third processing unit is used to perform motion control on the target door according to the door control amount.

9. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the method according to any one of claims 1 to 7 when executed by the processor.

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