Industrial automation equipment program control method, system and equipment

Abstract

The invention relates to the technical field of program control, in particular to an industrial automation equipment program control method, system and equipment. The method comprises the following steps: collecting a liquid level sequence and a rotating speed sequence; obtaining water pump power stability based on the difference of the rotating speed sequence; a prediction time period is screened based on water pump power stability, and the liquid level rising and falling amount is obtained according to a liquid level sequence in the prediction time period; a sequence is constructed based on the water pump power stability and the liquid level rising and falling amount, correlation is calculated, the difference condition of liquid level values is judged, and a liquid level sequence of the next control prediction interval at the current moment is obtained according to the difference condition of the liquid level values; and completing automatic control of the water pump through the PLC control system based on the liquid level sequence of the next control prediction interval. According to the invention, the control problem caused by nonlinearity is reduced or eliminated.

Description

Technical Field

[0001] The present application relates to the field of program control technology, and in particular to a method, system and equipment for program control of industrial automation equipment. Background Art

[0002] In industrial automation, industrial automation equipment is widely used in production, manufacturing, process control and other fields. These devices can realize automated operation, improve production efficiency, and ensure product quality and safety through program control. The program control methods of industrial automation equipment are very diverse. Different control technologies and programming languages ​​are used according to different equipment types, control requirements and application scenarios. Common methods include PLC programming, motion control programming, robot control, integrated control of DCS and SCADA systems, etc. In practical applications, these control methods are often combined with each other to achieve efficient coordination and automation in the production process, ensuring production efficiency, quality and safety.

[0003] In the liquid level control system, the use of PLC (programmable logic controller) to control the water pump switch and power adjustment of the water tank in real time can ensure the accuracy of liquid level control and prevent overflow and other problems.

[0004] In the process of controlling the water pump through the PLC system, there will be a data detection delay between the radar level meter and the PLC control system when responding quickly to the liquid level change. Especially when the real-time feedback system needs to respond quickly, this kind of data detection (i.e. real-time liquid level monitoring) delay will cause the pump to start or shut down lags, increasing the risk of overflow or low liquid level. In order to solve this problem, the liquid level is predicted and processed, and the predicted value is input into the PLC for real-time control of the water pump parameters. In the process of control by the predicted value, due to the complexity of the structure of some water reservoirs (such as semi-ellipsoids, etc.), the liquid level value shows nonlinear growth or decrease, resulting in inaccurate prediction results, and the control results at this time will also be biased. Summary of the invention

[0005] In order to solve the technical problem of inaccurate liquid level prediction, the present application provides a method, system and device for program control of industrial automation equipment. The technical solutions adopted are as follows:

[0006] In a first aspect, the present application proposes a method for program control of industrial automation equipment, the method comprising the following steps:

[0007] The liquid level sequence and speed sequence of each control prediction interval are collected based on different sensors;

[0008] The mean of the difference between adjacent speed values ​​in the speed sequence is used as the pump power stability in each control prediction interval; based on the comparison between the pump power stability and the preset power threshold, the prediction time period is selected in the control prediction interval, and the liquid level rise and fall is obtained according to the difference between the liquid level sequence in the prediction time period and the maximum and minimum values;

[0009] The liquid level rise and fall amount and the pump power stability in the preset number of prediction time periods are respectively used to form a rise and fall sequence and a stability sequence; the first-order difference density of the time range is determined according to the correlation between the rise and fall sequence and the stability sequence, and whether the liquid level values ​​of multiple preset time periods need to be differentiated is judged based on the first-order difference density; the liquid level sequence of the next control prediction interval at the current moment is obtained according to the judgment result of whether the liquid level value needs to be differentiated;

[0010] Based on the liquid level sequence of the next control prediction interval, the automatic control of the water pump is completed through the PLC control system.

[0011] In the above scheme, the control result is optimized by predicting the liquid level to eliminate inaccurate control caused by time delay. During the prediction process, due to the complexity of the reservoir structure, a certain nonlinear change in the liquid level occurs. The present invention combines the degree of nonlinearity and performs first-order difference processing to reduce the nonlinearity. In the process of analyzing the degree of nonlinearity, the degree of nonlinearity at the current stage is determined by combining the real-time water pump power and liquid level changes, and then the density of the first-order difference is determined, thereby reducing or eliminating control problems caused by nonlinearity.

[0012] In one embodiment, the control prediction interval is an interval consisting of a preset time length.

[0013] In one embodiment, the method of using the mean of the differences between adjacent speed values ​​in the speed sequence as the pump power stability in each control prediction interval is:

[0014] Δv n It represents the difference between the nth speed value and the n+1th speed value, N represents the number of speed values ​​in the speed sequence, Sta u represents the pump power stability in the u-th control prediction interval.

[0015] In one embodiment, the method for obtaining the liquid level rise and fall amount according to the difference sequence of the liquid level sequence in the prediction time period and the difference between the maximum value and the minimum value is:

[0016] Perform first-order difference on the liquid level sequence to obtain the liquid level difference sequence, calculate the mean of all element values ​​in the liquid level difference sequence, and let the product of the difference between the maximum and minimum values ​​of the liquid level sequence and the mean of all element values ​​in the liquid level difference sequence be used as the liquid level rise and fall amount of the control prediction sequence.

[0017] In one embodiment, the method of forming a rise and fall sequence and a stability sequence by respectively forming the liquid level rise and fall amount and the pump power stability in a preset number of predicted time periods is as follows:

[0018] Selecting a preset number of forecast time periods to form a time range;

[0019] The pump power stability and liquid level rise and fall within each time range are normalized to form two sequences recorded as stability sequence and rise and fall sequence.

[0020] In one embodiment, the Pearson correlation coefficient between the stability sequence and the rising and falling sequence is calculated, and the Pearson correlation coefficient between the stability sequence and the rising and falling sequence is used as the correlation between the stability sequence and the rising and falling sequence.

[0021] In one embodiment, the method for determining the first-order difference density of the time range by forming the correlation between the rising and falling sequence and the stability sequence, and judging whether the liquid level values ​​of multiple preset time periods need to be differentiated based on the first-order difference density is:

[0022] r represents the correlation between the stability series and the rising and falling series, ω represents the adjustment parameter, and s represents the density of first-order differences within the time range;

[0023] The value of ω is 1, and the difference threshold is 0.6. When the first-order difference density is greater than or equal to 0.6, all liquid level values ​​within the time range need to be differentially operated. If the first-order difference density is less than 0.6, the liquid level values ​​within the time range do not need to be differentially operated.

[0024] In one embodiment, the method for obtaining the liquid level sequence of the next control prediction interval at the current moment according to the judgment result of whether the liquid level value needs to be differentiated is:

[0025] If the liquid level values ​​in the time range are differentiated, the differentiated liquid level values ​​are used as the input of the ARI MA model to obtain the differential sequence of the liquid level values ​​in the prediction interval, and the differential sequence of the liquid level values ​​in the prediction interval is restored to obtain the liquid level sequence corresponding to the prediction interval; if the liquid level values ​​in the time range are not differentiated, the liquid level values ​​in the time range are used as the input of the ARI MA model to obtain the liquid level sequence of the prediction interval.

[0026] In a second aspect, an embodiment of the present application further provides an industrial automation equipment program control system, the system comprising:

[0027] A collection module, used to collect the liquid level sequence and speed sequence of each control prediction interval through different sensors;

[0028] A calculation module is used to use the mean value of the difference between adjacent speed values ​​in the speed sequence as the pump power stability in each control prediction interval; based on the comparison between the pump power stability and the preset power threshold, the prediction time period is selected in the control prediction interval, and the liquid level rise and fall amount is obtained according to the difference sequence of the liquid level sequence in the prediction time period and the difference between the maximum value and the minimum value;

[0029] The prediction module forms a rise and fall sequence and a stability sequence with the liquid level rise and fall amount and the pump power stability in the preset number of prediction time periods respectively; determines the first-order difference density of the time range according to the correlation of the rise and fall sequence and the stability sequence, and judges whether the liquid level values ​​in multiple preset time periods need to be differentiated based on the first-order difference density; obtains the liquid level sequence of the next control prediction interval at the current moment according to the judgment result of whether the liquid level value needs to be differentiated;

[0030] The control module is used to complete the automatic control of the water pump through the PLC control system through the liquid level sequence of the next control prediction interval.

[0031] In a third aspect, an embodiment of the present application also provides an industrial automation equipment program control device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above-mentioned industrial automation equipment program control methods when executing the computer program.

[0032] The beneficial effects of this application are:

[0033] The present application optimizes the control results by predicting the liquid level and eliminates the inaccurate control caused by time delay. During the prediction process, due to the complexity of the reservoir structure, certain nonlinear changes in the liquid level occur. The present application combines the degree of nonlinearity and performs first-order difference processing to reduce the nonlinearity. In the process of analyzing the degree of nonlinearity, the degree of nonlinearity at the current stage is determined by combining the real-time water pump power and liquid level changes, and then the density of the first-order difference is determined, thereby reducing or eliminating control problems caused by nonlinearity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flow chart of a program control method for industrial automation equipment provided by one embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the industrial automation equipment program control method, system and equipment proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0037] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0038] An industrial automation equipment program control method, system and equipment embodiment:

[0039] The following is a detailed description of a specific scheme of an industrial automation equipment program control method, system and equipment provided by the present application in conjunction with the accompanying drawings.

[0040] See also Figure 1 , which shows a flow chart of a method for program control of industrial automation equipment provided by an embodiment of the present application, the method comprising the following steps:

[0041] Step S001, collecting the liquid level sequence and the speed sequence of each control prediction interval based on different sensors.

[0042] A radar level meter and a water pump speed sensor are installed in the water reservoir; the radar level meter transmits microwave signals and measures the time difference of the signal reflected from the liquid surface, thereby calculating the height of the liquid level as the liquid level value. The water pump speed sensor detects the rotation speed of the water pump shaft and outputs an electrical signal proportional to the speed, thereby obtaining the speed of the water pump shaft as the speed value.

[0043] The frequency range of the radar level meter is 6-80GHz. The higher the frequency, the higher the measurement accuracy and resolution. The measurement range is 0-30 meters, and the measurement accuracy is ±1mm. It can adapt to high temperature, high humidity, corrosive environment, etc. The speed range of the water pump speed sensor is 0-3600RPM, and the accuracy is ±1RPM.

[0044] In this embodiment, the acquisition frequency of the water pump speed sensor is 5 times / second, and the acquisition frequency of the radar level meter is 1 time / second. The liquid level is predicted every 5 minutes, and control is performed based on the predicted liquid level, so every 5 minutes is used as a control prediction interval.

[0045] All the liquid level values ​​and speed values ​​within the control prediction interval are obtained to form two sequences, which are recorded as liquid level sequence and speed sequence respectively.

[0046] So far, the liquid level sequence and speed sequence of each control prediction interval have been obtained.

[0047] Step S002, obtaining the pump power stability based on the difference in the speed sequence; filtering the predicted time period based on the pump power stability, and obtaining the liquid level rise and fall according to the liquid level sequence in the predicted time period.

[0048] Since the speed of the water pump is directly proportional to its power, the higher the speed, the faster the water injection speed, and the higher the corresponding working power of the water pump. If the speed value remains unchanged, it means that the power of the water pump also remains unchanged. The more stable the speed value, the more stable the power of the water pump. When the power of the water pump remains unchanged, the volume of water injected per unit time is fixed.

[0049] The absolute value of the difference between each speed value and the next speed value in the speed sequence is taken as the difference between the speed values. The power stability of the water pump is obtained based on the difference between the speed values ​​in the speed sequence. The expression is:

[0050] Δv n It represents the difference between the nth speed value and the n+1th speed value, N represents the number of speed values ​​in the speed sequence, Sta u represents the pump power stability in the u-th control prediction interval.

[0051] The greater the difference between the speed values, the greater the change in the speed value of the water pump within the control prediction interval, and the more unstable it is, resulting in the more unstable the power of the water pump and the lower the power stability of the water pump; the smaller the difference between the speed values, the smaller the change in the speed value of the water pump within the control prediction interval, and the more stable it is, resulting in the more stable the power of the water pump and the greater the power stability of the water pump, and the more fixed the volume of water injection per unit time.

[0052] Here, a power threshold is set. When the power stability of the water pump is less than the power threshold, it means that the power stability of the water pump in the control prediction interval is weak and does not meet the prediction conditions. If the power stability of the water pump is greater than the power threshold, this part of the control prediction interval is recorded as the prediction time period. In this embodiment, the power threshold is 0.4.

[0053] For each prediction time period, the liquid level rise and fall of the water tank within each prediction time period is obtained, the first-order difference of the liquid level sequence is performed to obtain the liquid level difference sequence, the mean of all element values ​​in the liquid level difference sequence is calculated, and the liquid level rise and fall is obtained based on the mean of all element values ​​in the liquid level difference sequence and the difference between the maximum liquid level and the minimum liquid level in the liquid level sequence.

[0054] Preferably, in this embodiment, the difference between the maximum liquid level and the minimum liquid level is calculated, and the product of the difference between the maximum liquid level and the minimum liquid level and the mean of all element values ​​in the liquid level difference sequence is used as the liquid level rise and fall amount of the control prediction sequence.

[0055] The greater the liquid level rise and fall, the higher the liquid level rise and fall will be within a forecast period, and the more obvious the liquid level change will be.

[0056] At this point, the control prediction interval is screened to obtain multiple prediction time periods, as well as the pump power stability and liquid level rise and fall corresponding to the prediction time periods.

[0057] Step S003, construct a sequence based on the pump power stability and the liquid level rise and fall, calculate the correlation to determine the difference in liquid level values, and obtain the liquid level sequence of the next control prediction interval at the current moment according to the difference in liquid level values.

[0058] If the power of the water pump is stable, the water injection volume per unit time is constant. At this time, the liquid level can be predicted and analyzed, and the power value of the water pump can be adjusted according to the feedback of the liquid level results. However, in general, the water reservoir has an irregular structure, showing a morphological feature of a small bottom area and a large pool mouth. Therefore, if the power of the water pump is stable, the water pump power remains unchanged, but the area of ​​each layer of the water reservoir is different as the liquid level rises, so the change of the liquid level will show nonlinear characteristics. As the liquid level increases, the unit time growth value of the liquid level will decrease.

[0059] Since the liquid level change is a nonlinear feature, its prediction effect is poor, so it is necessary to express the linear characteristics as much as possible. When the liquid level is different, the linear characteristics of the liquid level sequence are also different. For the prediction time period with poor linear characteristics, the first-order difference of the liquid level is performed to improve its linear characteristics, while for the prediction time period with strong linear characteristics, the difference will affect its own linear characteristics.

[0060] In a reservoir structure, the higher the liquid level, the more likely its cross-sectional area will remain unchanged. At this time, the liquid level rise is more similar in different time periods, and the nonlinearity of the liquid level change is lower. Then, the necessity of performing a first-order difference on the sequence of liquid level values ​​detected in the time period to improve its linear properties is lower.

[0061] Therefore, for the prediction time period, if the pump power stability and the liquid level rise and fall show a stable linear relationship, that is, the liquid level value linear characteristics in this interval are better, because at this time the liquid level change is consistent with the real-time power of the pump.

[0062] Therefore, a preset number of prediction time periods before the current moment are selected for analysis. In this embodiment, 10 are selected, and the preset number of prediction time periods are recorded as the time range. The pump power stability and the liquid level rise and fall in each time range are normalized to form two sequences recorded as the stability sequence and the rise and fall sequence. In this embodiment, the normalization method used is linear normalization, and the implementer can use any normalization method.

[0063] The correlation coefficient of the stability sequence and the rising and falling sequence is analyzed, and the absolute value of the correlation coefficient is used as the correlation between the stability sequence and the rising and falling sequence. The higher the correlation, the better the linear characteristic of the liquid level. The calculation method of the correlation coefficient used in this embodiment is the Pearson correlation coefficient, which is a well-known technology and will not be described in detail in this application.

[0064] The greater the correlation between the stability sequence and the rising and falling sequence, the more highly correlated the two sequences are, and the better the linear characteristics of the liquid level. In this embodiment, a correlation threshold is preset. If the correlation between the stability sequence and the rising and falling sequence is greater than or equal to the correlation threshold, the linear characteristics of the liquid level are better; if the correlation between the stability sequence and the rising and falling sequence is less than the correlation threshold, the linear characteristics of the liquid level are poor.

[0065] Within the time range, when the water pump work increases (or decreases), the rate of increase (or decrease) of the liquid level also changes accordingly and is highly correlated. This shows that within the time range of water injection, the cross-sectional area of ​​the corresponding water injection pool is relatively consistent at different heights. Then the pool structure is relatively regular at this height, and the corresponding nonlinear amount of liquid level change is relatively low.

[0066] In order to avoid losing the original linear characteristics of the liquid level after the first-order difference, the first-order difference density is determined based on the correlation between the stability sequence and the rising and falling sequence. The expression is:

[0067] r represents the correlation between the stability sequence and the rising and falling sequence, ω represents the adjustment parameter, which is used to prevent the denominator from being 0, and s represents the first-order difference density within the time range.

[0068] The larger the first-order difference density is, the less the liquid level sequence within the time range needs to be differentially operated. If the first-order difference density is smaller, the more the liquid level sequence within the time range needs to be differentially operated. In this embodiment, the value of ω is 1, the maximum value of s is less than 1, the minimum value is greater than 0.5, and the differential threshold is 0.6. When the first-order difference density is greater than or equal to 0.6, all liquid level values ​​within the time range need to be differentially operated. If the first-order difference density is less than 0.6, the liquid level values ​​within the time range do not need to be differentially operated.

[0069] The next interval of the control prediction interval corresponding to the current moment is recorded as the prediction interval. A time range corresponding to the current moment is obtained through the above steps. If the liquid level value in the time range is differentiated, the differentiated liquid level value is used as the input of the ARIMA model to obtain the differential sequence of the liquid level value in the prediction interval. The differential sequence of the liquid level value in the prediction interval is restored to obtain the original sequence of the liquid level value corresponding to the prediction interval, that is, the liquid level sequence corresponding to the prediction interval. If the liquid level value in the time range is not differentiated, the liquid level value in the time range is used as the input of the ARIMA model to obtain the liquid level sequence of the prediction interval.

[0070] At this point, the liquid level sequence of the prediction interval is obtained.

[0071] Step S004, completing the automatic control of the water pump through the PLC control system based on the liquid level sequence of the next control prediction interval.

[0072] Thus, the liquid level sequence of the prediction interval is obtained, and the predicted liquid level data is input into the PLC control system. Based on the liquid level sequence, the liquid level change trend of the prediction interval is obtained through the PLC control system; if the predicted liquid level is too low and reaches the lower limit, the system starts the water pump in advance to replenish water. If the predicted liquid level is too high, the system stops the water pump in advance to avoid overflow; adjust the water pump power according to the liquid level change trend, replenish or discharge water smoothly, and avoid the impact caused by sudden start or stop. When the liquid level is close to the full level, reduce the water pump power, and when the liquid level is too low, increase the power. In this embodiment, when the liquid level is lower than 50%, increase the water pump power, and when the liquid level is greater than 90%, reduce the water pump power. Liquid level control through PLC is a prior art and will not be described in detail in this application.

[0073] At this point, the automatic control of the water pump is completed.

[0074] Based on the same inventive concept as the above method, an embodiment of the present invention also provides an industrial automation equipment program control device, wherein the computer device includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned industrial automation equipment program control methods are implemented.

[0075] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0076] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A method for program control of industrial automation equipment, characterized in that: The method comprises the following steps: The liquid level sequence and speed sequence of each control prediction interval are collected based on different sensors; The mean of the difference between adjacent speed values ​​in the speed sequence is used as the pump power stability in each control prediction interval; based on the comparison between the pump power stability and the preset power threshold, the prediction time period is selected in the control prediction interval, and the liquid level rise and fall is obtained according to the difference between the liquid level sequence in the prediction time period and the maximum and minimum values; The liquid level rise and fall amount and the pump power stability in the preset number of prediction time periods are respectively used to form a rise and fall sequence and a stability sequence; the first-order difference density of the time range is determined according to the correlation between the rise and fall sequence and the stability sequence, and whether the liquid level values ​​of multiple preset time periods need to be differentiated is judged based on the first-order difference density; the liquid level sequence of the next control prediction interval at the current moment is obtained according to the judgment result of whether the liquid level value needs to be differentiated; Based on the liquid level sequence of the next control prediction interval, the automatic control of the water pump is completed through the PLC control system.

2. The method for program control of industrial automation equipment according to claim 1, characterized in that: The control prediction interval is an interval consisting of a preset time length.

3. The method for program control of industrial automation equipment according to claim 1, characterized in that: The method of using the mean of the differences between adjacent speed values ​​in the speed sequence as the pump power stability in each control prediction interval is: Δv n It represents the difference between the nth speed value and the n+1th speed value, N represents the number of speed values ​​in the speed sequence, Sta u represents the pump power stability in the u-th control prediction interval.

4. The method for program control of industrial automation equipment according to claim 1, characterized in that: The method for obtaining the liquid level rise and fall amount according to the difference sequence of the liquid level sequence in the prediction time period and the difference between the maximum value and the minimum value is: Perform first-order difference on the liquid level sequence to obtain the liquid level difference sequence, calculate the mean of all element values ​​in the liquid level difference sequence, and let the product of the difference between the maximum and minimum values ​​of the liquid level sequence and the mean of all element values ​​in the liquid level difference sequence be used as the liquid level rise and fall amount of the control prediction sequence.

5. The method for program control of industrial automation equipment according to claim 1, characterized in that: The method of forming a rise and fall sequence and a stability sequence by respectively forming the liquid level rise and fall amount and the pump power stability in a preset number of predicted time periods is as follows: Selecting a preset number of forecast time periods to form a time range; The pump power stability and liquid level rise and fall within each time range are normalized to form two sequences recorded as stability sequence and rise and fall sequence.

6. The method for program control of industrial automation equipment according to claim 1, characterized in that: The Pearson correlation coefficient between the stability sequence and the rising and falling sequence is calculated, and the Pearson correlation coefficient between the stability sequence and the rising and falling sequence is used as the correlation between the stability sequence and the rising and falling sequence.

7. The method for program control of industrial automation equipment according to claim 5, characterized in that: The method of determining the first-order difference density of the time range according to the correlation between the rising and falling sequence and the stability sequence, and judging whether the liquid level values ​​of multiple preset time periods need to be differentiated based on the first-order difference density is: r represents the correlation between the stability series and the rising and falling series, ω represents the adjustment parameter, and s represents the density of first-order differences within the time range; The value of ω is 1, and the difference threshold is 0.

6. When the first-order difference density is greater than or equal to 0.6, all liquid level values ​​within the time range need to be differentially operated. If the first-order difference density is less than 0.6, the liquid level values ​​within the time range do not need to be differentially operated.

8. The method for program control of industrial automation equipment according to claim 5, characterized in that: The method for obtaining the liquid level sequence of the next control prediction interval at the current moment according to the judgment result of whether the liquid level value needs to be differentiated is: If the liquid level values ​​in the time range are differentiated, the differentiated liquid level values ​​are used as the input of the ARIMA model to obtain the differential sequence of the liquid level values ​​in the prediction interval, and the differential sequence of the liquid level values ​​in the prediction interval is restored to obtain the liquid level sequence corresponding to the prediction interval; if the liquid level values ​​in the time range are not differentiated, the liquid level values ​​in the time range are used as the input of the ARIMA model to obtain the liquid level sequence of the prediction interval.

9. An industrial automation equipment program control system, implementing an industrial automation equipment program control method as claimed in claim 1, characterized in that: The system comprises: A collection module, used to collect the liquid level sequence and speed sequence of each control prediction interval through different sensors; A calculation module is used to use the mean value of the difference between adjacent speed values ​​in the speed sequence as the pump power stability in each control prediction interval; based on the comparison between the pump power stability and the preset power threshold, the prediction time period is selected in the control prediction interval, and the liquid level rise and fall amount is obtained according to the difference sequence of the liquid level sequence in the prediction time period and the difference between the maximum value and the minimum value; The prediction module forms a rise and fall sequence and a stability sequence with the liquid level rise and fall amount and the pump power stability in the preset number of prediction time periods respectively; determines the first-order difference density of the time range according to the correlation of the rise and fall sequence and the stability sequence, and judges whether the liquid level values ​​in multiple preset time periods need to be differentiated based on the first-order difference density; obtains the liquid level sequence of the next control prediction interval at the current moment according to the judgment result of whether the liquid level value needs to be differentiated; The control module is used to complete the automatic control of the water pump through the PLC control system through the liquid level sequence of the next control prediction interval.

10. An industrial automation equipment program control device, the device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, an industrial automation equipment program control method as described in any one of claims 1 to 8 is implemented.

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