Industrial system control method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of industrial systems, in particular to a control method and device of an industrial system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a measurement parameter value of a controlled object in the industrial system at a current moment; inputting the measurement parameter value, a preset parameter value of the controlled object at the current moment and a difference value between the preset parameter value and the measurement parameter value into a control coefficient determination model to obtain a control coefficient of the controlled object at the current moment; and under a closed-loop transfer function of a controller established based on a preset condition, determining a control parameter of the controlled object at the current moment according to the control coefficient, so as to control the controlled object based on the control parameter, the preset condition is that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object. According to the invention, the control effect of the lagging link on the industrial system can be eliminated.

Description

Technical Field

[0001] The present invention relates to the field of industrial systems, and in particular to a control method, device, electronic equipment and storage medium for an industrial system. Background Art

[0002] In the industrial production process of chemical, petroleum, metallurgy, pharmaceutical and papermaking, the transfer or conversion of heat, materials and signals requires a certain amount of time, that is, there is a lag in the industrial system. When the lag time is longer than the preset time, the impact of the control action on the process variable is unpredictable, and the control effect is poor because the control command issued by the controller can only reach the target control object after a certain time delay.

[0003] Therefore, how to reduce the impact of lag links on the control effect of industrial systems has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a control method, device, electronic device and storage medium for an industrial system, which can eliminate the control effect of the lag link on the industrial system.

[0005] In a first aspect, an embodiment of the present application provides a control method for an industrial system, the method comprising: Obtain the measured parameter values ​​of the controlled objects in the industrial system at the current moment; Inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; Under the closed-loop transfer function of the controller established based on preset conditions, the control parameters of the controlled object at the current moment are determined according to the control coefficient, so as to control the controlled object based on the control parameters; wherein the controller is combined with a Smith predictor, and the preset conditions are that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

[0006] In a possible implementation manner, inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment includes: Substituting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the following formula, the control coefficient of the controlled object at the current moment is obtained; ; ; in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value, The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

[0007] In a possible implementation manner, determining the control parameter of the controlled object at the current moment according to the control coefficient includes: Obtaining a control parameter of the controlled object at a previous moment corresponding to the current moment, a first preset parameter value at the previous moment, a first measured parameter value at the previous moment, a second preset parameter value at the previous moment corresponding to the previous moment, and a second measured parameter value at the previous moment corresponding to the previous moment; The control parameter of the controlled object at the current moment is calculated according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

[0008] In a possible implementation manner, the control parameter includes a proportionality coefficient , integral coefficient and the differential coefficient .

[0009] In a possible implementation, calculating the control parameter of the controlled object at the current moment according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value, and the second measured parameter value includes: Substituting the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value, and the second measured parameter value into the following formula, the control parameter of the controlled object at the current moment is obtained; ; ; in, is the control parameter at the current time t, is the increment of the current time t, is the control coefficient at the previous moment t-1, is the difference between the preset parameter value at the current time t and the measured parameter value at the current time t, is the difference between the first preset parameter value at the previous moment t-1 and the first measured parameter value at the previous moment t-1, It is the difference between the second preset parameter value corresponding to the previous moment t-2 and the second measured parameter value corresponding to the previous moment t-2.

[0010] In a second aspect, an embodiment of the present application further provides a control device for an industrial system, the device comprising: An acquisition module is used to obtain the measured parameter value of the controlled object in the industrial system at the current moment; An input module, used to input the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; A determination module is used to determine the control parameters of the controlled object at the current moment according to the control coefficient under the closed-loop transfer function of the controller established based on preset conditions, so as to control the controlled object based on the control parameters; wherein a Smith predictor is combined in the controller, and the preset condition is that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

[0011] In a possible implementation manner, the input module is specifically used to substitute the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the following formula to obtain the control coefficient of the controlled object at the current moment; ; ; in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value, The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

[0012] In a possible implementation, the determination module is specifically configured to: Obtaining a control parameter of the controlled object at a previous moment corresponding to the current moment, a first preset parameter value at the previous moment, a first measured parameter value at the previous moment, a second preset parameter value at the previous moment corresponding to the previous moment, and a second measured parameter value at the previous moment corresponding to the previous moment; The control parameter of the controlled object at the current moment is calculated according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

[0013] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the control method of the industrial system as described in any one of the first aspects.

[0014] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the industrial system as described in any one of the first aspects are executed.

[0015] The embodiment of the present application provides a control method, device, electronic device and storage medium for an industrial system, the method comprising: obtaining the measured parameter value of the controlled object in the industrial system at the current moment; inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; under the closed-loop transfer function of the controller established based on the preset conditions, determining the control parameter of the controlled object at the current moment according to the control coefficient, so as to control the controlled object based on the control parameter; wherein the controller is combined with a Smith predictor, and the preset condition is that the transfer function of the non-delay part of the Smith predictor is the same as the transfer function of the non-delay part of the controlled object, and the lag factor of the Smith predictor is the same as the lag factor of the controlled object. The present application can eliminate the control effect of the lag link on the industrial system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flow chart of a control method for an industrial system provided by an embodiment of the present application is shown; Figure 2 A flow chart showing another industrial system control method provided by an embodiment of the present application is shown; Figure 3 A control flow chart of an industrial system provided by an embodiment of the present application is shown; Figure 4 A schematic diagram of the structure of a control device for an industrial system provided in an embodiment of the present application is shown; Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0019] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0020] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with the specific application scenario "industrial system field". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "industrial system field", it should be understood that this is only an exemplary embodiment.

[0021] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0022] A control method for an industrial system provided in an embodiment of the present application is described in detail below.

[0023] Reference Figure 1 As shown, it is a flow chart of a control method of an industrial system provided in an embodiment of the present application. The exemplary steps of the embodiment of the present application are described below: S101. Obtaining a measured parameter value of a controlled object in an industrial system at a current moment.

[0024] In the implementation manner of the present application, the controlled object refers to an object that needs to be controlled in an industrial system, and the measured parameter value refers to the parameter value of the controlled object obtained by measurement.

[0025] S102, inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value at the current moment and the measured parameter value at the current moment into the control coefficient determination model to obtain the control coefficient of the controlled object at the current moment.

[0026] In the implementation manner of the present application, the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value are substituted into the following formula to obtain the control coefficient of the controlled object at the current moment; ; ; in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model Including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

[0027] Among them, the control coefficient determination model is trained based on the measured parameter sample value of the controlled object at the same sample time, the preset parameter sample value, the difference between the preset parameter sample value and the measured parameter sample value, and the measured parameter value after control; the measured parameter value after control refers to the parameter value measured after controlling the measured object through the steps of this method according to the measured parameter sample value of the controlled object at the same time, the preset parameter sample value, the preset parameter value and the measured parameter sample value at the current time.

[0028] Specifically, the construction process of the control coefficient determination model is as follows: (1) Determine the KAN network structure and initialize the network parameters to obtain the untrained control system determination model. Let the number of input nodes in the input layer of the control system determination model be m, the number of intermediate nodes in the intermediate layer of the control system determination model be 2m+1, and the number of output nodes in the output layer be c.

[0029] The controller for the industrial system is an incremental PID (Proportional-Integral-Derivative) controller, and m=3, that is, the input vector for: ; Among them, the control coefficient determines the input vector of the model Including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value. is the preset parameter value at the current time t, is the measured parameter value at the current time t, is the deviation between the preset parameter value at the current time t and the measured parameter value at the current time t (i.e. ).

[0030] (2) The number of intermediate nodes in the intermediate layer is 2m+1=7. The number of output nodes in the output layer is c=3, that is, the output vector for: ; in, is the proportional coefficient of the incremental PID controller, is the integral coefficient of the incremental PID controller, is the differential coefficient of the incremental PID controller.

[0031] Furthermore, the control coefficient determination model constructed above is trained through the following steps, including: inputting the measured parameter sample value, preset parameter sample value, and the difference between the preset parameter sample value and the measured parameter sample value of the controlled object at the same sample time into the control coefficient determination model to obtain the control coefficient of the controlled object at the sample time; under the closed-loop transfer function of the controller established based on preset conditions, determining the control parameter of the controlled object at the sample time according to the control coefficient at the sample time, and controlling the controlled object based on the control parameter at the sample time; after the control is completed, obtaining the measured parameter value of the controlled object after being controlled; calculating the performance index of the control coefficient determination model according to the measured parameter value of the controlled object after being controlled and the preset parameter sample value at the sample time; according to the performance index of the model, using the gradient descent method to update the model parameters of the control coefficient determination model; iterating the above training process multiple times until the preset stop condition is met (such as the number of iterations reaches the preset number of iterations or the performance index reaches the preset performance index, etc.).

[0032] Here, according to the measured parameter value after being controlled of the controlled object and the sample value of the preset parameter at the sample time, the performance index of the control coefficient determination model is calculated, including: substituting the measured parameter value after being controlled of the controlled object and the sample value of the preset parameter at the sample time into the following performance index function to obtain the performance index of the control coefficient determination model; ; in, Determine the performance index of the model for the control coefficient, The sample time The preset parameter sample value and sample time The deviation between the sample values ​​of the measured parameter, The sample time The preset parameter sample values ​​of The sample time The sample values ​​of the measurement parameters.

[0033] S103. Under the closed-loop transfer function of the controller established based on preset conditions, determine the control parameters of the controlled object at the current moment according to the control coefficient, so as to control the controlled object based on the control parameters.

[0034] In an embodiment of the present application, a Smith predictor is combined in the controller, and the preset conditions are that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

[0035] Among them, the control parameters include the proportional coefficient , integral coefficient and the differential coefficient .

[0036] Specifically, refer to Figure 2 As shown, it is a flow chart of the calculation of the control parameters provided in the embodiment of the present application. The exemplary steps of the embodiment of the present application are described below: S201, obtaining the control parameter of the controlled object at the previous moment corresponding to the current moment, the first preset parameter value at the previous moment, the first measured parameter value at the previous moment, the second preset parameter value at the previous moment corresponding to the previous moment, and the second measured parameter value at the previous moment corresponding to the previous moment.

[0037] S202. Calculate the control parameter of the controlled object at the current moment according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

[0038] In an implementation manner of the present application, the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value are substituted into the following formula to obtain the control parameter of the controlled object at the current moment.

[0039] ; ; in, is the control parameter at the current time t, is the increment of the current time t, is the previous moment t-1 Control coefficient, is the difference between the preset parameter value at the current time t and the measured parameter value at the current time t, is the previous moment t-1 The first preset parameter value and the previous time t-1 The difference between the values ​​of the first measured parameter, The previous moment corresponds to the previous moment t-2 The difference between the second preset parameter value and the second measured parameter value at the previous moment corresponding to the previous moment t-2; In addition, the closed-loop transfer function is constructed by the following steps: Step 1: Improve the closed-loop controller structure in the traditional industrial system and add the Smith predictor to form a PID controller combined with the Smith predictor. The closed-loop transfer function of the PID controller combined with the Smith predictor is: ; in, is the PID controller transfer function, For the accused The transfer function of the non-delayed part is, For the accused The delay phase, is the time lag factor of the controlled object, is the transfer function of the non-delayed part of the Smith predictor, is the delay link of the Smith predictor, is the Smith predictor lag factor.

[0040] Step 2: and ; Then the closed-loop transfer function of the PID controller combined with Smith estimation is : ; Reference Figure 3 As shown, it is a control flow chart of the industrial system provided by the embodiment of the present application, and the control parameters act on the controlled object Afterwards, it can be fed back to the PID controller without any delay, which eliminates the influence of the system's large lag characteristics on the control effect.

[0041] Among them, the output result of the Smith estimator at time t .

[0042] The embodiment of the present application provides a control method for an industrial system, the method comprising: obtaining a measured parameter value of a controlled object in the industrial system at the current moment; inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; under a closed-loop transfer function of a controller established based on preset conditions, determining the control parameter of the controlled object at the current moment according to the control coefficient, so as to control the controlled object based on the control parameter; wherein a Smith predictor is combined in the controller, and the preset condition is that the transfer function of the non-delay part of the Smith predictor is the same as the transfer function of the non-delay part of the controlled object, and the lag factor of the Smith predictor is the same as the lag factor of the controlled object. The present application can eliminate the control effect of the lag link on the industrial system.

[0043] Based on the same inventive concept, an embodiment of the present application also provides a control device for an industrial system corresponding to the control method for an industrial system. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the control method for the industrial system in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0044] Reference Figure 4FIG. 1 is a schematic diagram of a control device for an industrial system provided in an embodiment of the present application, wherein the control device for the industrial system includes: The acquisition module 401 is used to acquire the measured parameter value of the controlled object in the industrial system at the current moment; An input module 402 is used to input the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; A determination module 403 is used to determine the control parameters of the controlled object at the current moment according to the control coefficient under the closed-loop transfer function of the controller established based on preset conditions, so as to control the controlled object based on the control parameters; wherein a Smith predictor is combined in the controller, and the preset condition is that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

[0045] In a possible implementation, the input module 402 is specifically used to substitute the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the following formula to obtain the control coefficient of the controlled object at the current moment; ; ; in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value, The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

[0046] In a possible implementation, the determination module 403 is specifically configured to: Obtaining a control parameter of the controlled object at a previous moment corresponding to the current moment, a first preset parameter value at the previous moment, a first measured parameter value at the previous moment, a second preset parameter value at the previous moment corresponding to the previous moment, and a second measured parameter value at the previous moment corresponding to the previous moment; The control parameter of the controlled object at the current moment is calculated according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

[0047] An embodiment of the present application provides a control device for an industrial system, through which the control effect of a lag link on the industrial system can be eliminated.

[0048] like Figure 5 As shown, an electronic device 500 provided in an embodiment of the present application includes: a processor 501, a memory 502 and a bus, wherein the memory 502 stores machine-readable instructions executable by the processor 501. When the electronic device is running, the processor 501 communicates with the memory 502 through the bus, and the processor 501 executes the machine-readable instructions to perform the steps of the control method of the industrial system as described above.

[0049] Specifically, the memory 502 and the processor 501 can be general-purpose memories and processors, which are not specifically limited here. When the processor 501 runs the computer program stored in the memory 502, the control method of the industrial system can be executed.

[0050] Corresponding to the control method of the above industrial system, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the above industrial system are executed.

[0051] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0052] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0053] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0054] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including 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 information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0055] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for an industrial system, characterized in that: The method comprises: Obtain the measured parameter values ​​of the controlled objects in the industrial system at the current moment; Inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; Under the closed-loop transfer function of the controller established based on preset conditions, the control parameters of the controlled object at the current moment are determined according to the control coefficient, so as to control the controlled object based on the control parameters; wherein the controller is combined with a Smith predictor, and the preset conditions are that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

2. The control method of the industrial system according to claim 1, characterized in that: The step of inputting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment includes: Substituting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the following formula, the control coefficient of the controlled object at the current moment is obtained; ； ； in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value, The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

3. The control method of an industrial system according to claim 1 or 2, characterized in that: Determining the control parameter of the controlled object at the current moment according to the control coefficient includes: Obtaining a control parameter of the controlled object at a previous moment corresponding to the current moment, a first preset parameter value at the previous moment, a first measured parameter value at the previous moment, a second preset parameter value at the previous moment corresponding to the previous moment, and a second measured parameter value at the previous moment corresponding to the previous moment; The control parameter of the controlled object at the current moment is calculated according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

4. The control method of the industrial system according to claim 3, characterized in that: The control parameters include a proportionality coefficient , integral coefficient and the differential coefficient .

5. The control method of the industrial system according to claim 4, characterized in that: The calculating the control parameter of the controlled object at the current moment according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value comprises: Substituting the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value, and the second measured parameter value into the following formula, the control parameter of the controlled object at the current moment is obtained; ； ； in, is the control parameter at the current time t, is the increment of the current time t, is the control coefficient at the previous moment t-1, is the difference between the preset parameter value at the current time t and the measured parameter value at the current time t, is the difference between the first preset parameter value at the previous moment t-1 and the first measured parameter value at the previous moment t-1, It is the difference between the second preset parameter value corresponding to the previous moment t-2 and the second measured parameter value corresponding to the previous moment t-2.

6. A control device for an industrial system, characterized in that: The device comprises: An acquisition module is used to obtain the measured parameter value of the controlled object in the industrial system at the current moment; An input module, used to input the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into a control coefficient determination model to obtain the control coefficient of the controlled object at the current moment; A determination module is used to determine the control parameters of the controlled object at the current moment according to the control coefficient under the closed-loop transfer function of the controller established based on preset conditions, so as to control the controlled object based on the control parameters; wherein a Smith predictor is combined in the controller, and the preset condition is that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object.

7. The control device of the industrial system according to claim 6, characterized in that: The input module is specifically used for: Substituting the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value into the following formula, the control coefficient of the controlled object at the current moment is obtained; ； ； in, is the i-th control coefficient output by the i-th output node. The control coefficient determines the input vector of the model including the measured parameter value, the preset parameter value of the controlled object at the current moment, and the difference between the preset parameter value and the measured parameter value, The number of input nodes in the input layer of the model is determined for the control coefficients, The control coefficient determines the unary function between the output vector of the qth intermediate node in the intermediate layer of the model and the input vector of the ith output node, is a unary function between the output vector of the pth input node and the input vector of the qth intermediate node, is the input value of the pth input node, is a univariate function, is the dimension of the output vector of the pth input node or the dimension of the output vector of the qth intermediate node, To preset the grid size, is the jth output value in the output vector of the pth input node or the qth intermediate node, is the first model parameter of the jth output value in the output vector of the pth input node or the qth intermediate node under the nth grid, It is the second model parameter of the j-th output value in the output vector of the p-th input node or the q-th intermediate node under the n-th grid.

8. The control device of the industrial system according to claim 6 or 7, characterized in that: Identify modules, specifically for: Obtaining a control parameter of the controlled object at a previous moment corresponding to the current moment, a first preset parameter value at the previous moment, a first measured parameter value at the previous moment, a second preset parameter value at the previous moment corresponding to the previous moment, and a second measured parameter value at the previous moment corresponding to the previous moment; The control parameter of the controlled object at the current moment is calculated according to the control coefficient at the current moment, the control parameter at the previous moment, the first preset parameter value, the first measured parameter value, the second preset parameter value and the second measured parameter value.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the control method of the industrial system according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method of the industrial system according to any one of claims 1 to 5 are executed.

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