PID (Proportion Integration Differentiation) control method and device for vehicle-mounted static communication, medium and equipment

Abstract

The invention relates to the technical field of PID control, and discloses a PID control method and device for vehicle-mounted static communication, a medium and equipment. The method comprises the following steps: S10, acquiring an actual angle value and a target angle value of an antenna; s20, presetting an upper limit value and a lower limit value of the angle value of the target position; s30, obtaining an error between the target angle value and the actual angle value; s40, the error is processed, and the error after segmentation is obtained; and S50, carrying out PID algorithm processing on the segmented error to obtain a speed value. According to the method, an error between a target angle value and an actual angle value is obtained, and absolute value processing is performed on the error; processing the error to obtain an error after segmentation; by performing PID algorithm processing on the segmented error, a speed value is obtained, and the target angle position is finally reached, so that the time for the target angle to enter a steady state is shortened, the overshoot amplitude is reduced, and the target angle control precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of PID control technology, and in particular to a PID control method, device, medium and equipment for vehicle-mounted static communication. Background Art

[0002] PID control algorithm (Proportion-Integral-Differential) is a classic closed-loop control algorithm, widely used in industrial control, ship autopilot and other fields. The PID algorithm combines the three control links of proportion (P), integration (I) and differentiation (D), and corrects the deviation of the controlled object through the combination of these three links to achieve a stable state. The core of the PID algorithm is to adjust the control input by calculating the proportion, integration and differentiation of the error to achieve the predetermined control target.

[0003] However, in the traditional PID control algorithm, the time it takes for the position angle of the controlled object to enter a steady state is long, the overshoot amplitude is large, the parameters are difficult to adjust, and the control accuracy is low. Summary of the invention

[0004] The main purpose of the present invention is to provide a PID control method, device, medium and equipment for vehicle-mounted static communication, so as to solve the technical problems in the prior art that the position angle of the controlled object of the PID control algorithm takes a long time to enter the steady state, the overshoot amplitude is large, the parameters are difficult to adjust, and the control accuracy is low.

[0005] To achieve the above-mentioned purpose, the present invention provides a PID control method for vehicle-mounted static communication, the method comprising the following steps: S10, obtaining the actual angle value and target angle value of the antenna; S20, presetting the upper and lower limit values ​​of the angle value of the target position; S30, obtaining the error between the target angle value and the actual angle value; S40, processing the error and obtaining the segmented error; S50, processing the segmented error with a PID algorithm to obtain a speed value.

[0006] Optionally, step S30 includes the following steps: S310, if the target angle value is greater than the actual angle value, the error value is e=e 目 -e 实 , and the direction is defined as the positive direction; S320, if the target angle value is less than the actual angle value, the error value is e=e 实 -e 目 , and specify the direction as negative.

[0007] Optionally, step S40 includes the following steps: S410, performing PID segmented processing on the error based on the size of the error value; S420, obtaining a PID output value.

[0008] Optionally, step S50 includes the following steps: S510, performing PID algorithm processing on the segmented error to obtain a PID output value; S520, converting the PID output value into a speed value of the motor.

[0009] Optionally, step S510 includes the following steps: S511, performing PID algorithm processing on the segmented error to obtain the error value between the actual position and the target position of the controlled object in each operation cycle; S512, based on the error value between the actual position and the target position of the controlled object in each operation cycle, obtaining the PID output value of each operation cycle.

[0010] Optionally, the formula of the PID algorithm is as follows: (1) Where: P T is the target position of the controlled object, P A is the actual position of the controlled object, e is the error value between the actual position of the controlled object and the target position in each operation cycle, and d is the positive and negative direction.

[0011] Optionally, the difference between the upper limit value of the target position angle value and the target position angle of the controlled object is within a preset range, and the difference between the lower limit value of the target position angle value and the target position angle of the controlled object is also within a preset range.

[0012] In addition, to achieve the above-mentioned purpose, the embodiment of the present application also provides a PID control device for vehicle-mounted static communication, and the device includes: an angle value acquisition module, used to obtain the actual angle value and target angle value of the antenna; a preset module, used to preset the upper and lower limit values ​​of the angle value of the target position; an error acquisition module, used to obtain the error between the target angle value and the actual angle value; an error processing module, used to process the error and obtain the error after segmentation; a speed acquisition module, used to process the error after segmentation by PID algorithm to obtain the speed value.

[0013] In addition, to achieve the above-mentioned purpose, the embodiments of the present application also provide a computer-readable storage medium, which includes instructions, which, when executed on a computer, enable the computer to execute the PID control method for vehicle-mounted static communication described in any embodiment of the present application.

[0014] In addition, to achieve the above-mentioned purpose, an embodiment of the present application also provides a computing device, which includes: at least one processor, a memory and an input-output unit; wherein the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the PID control method for vehicle-mounted static communication described in any embodiment of the present application.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The PID control method for vehicle-mounted static communication provided in the embodiment of the present application obtains the error between the target angle value and the actual angle value, and performs absolute value processing on the error; obtains the error after segmentation by processing the error; obtains a speed value by performing PID algorithm processing on the error after segmentation, and finally reaches the target angle position, thereby shortening the time for the target angle to enter a steady state, reducing the overshoot amplitude, and improving the control accuracy of the target angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a PID control method for a vehicle-mounted static communication system provided in an embodiment of the present application; Figure 2 Another flow chart of the PID control method for vehicle-mounted static communication provided in an embodiment of the present application; Figure 3 A structural block diagram of a PID control device for vehicle-mounted static communication provided in an embodiment of the present application; Figure 4 A static antenna position response curve diagram provided for an embodiment of the present application; Figure 5 A schematic diagram of the structure of the medium provided in the embodiment of the present application; Figure 6 A schematic diagram of the structure of a computing device provided in an embodiment of the present application.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] In order to solve the above technical problems, the present application provides a PID control method for a vehicle-mounted static communication, which can be executed by a computer, such as Figure 1 , Figure 2 and Figure 4 As shown, the method may include the following steps: S10, obtaining the actual angle value and target angle value of the antenna.

[0020] S20, preset the upper and lower limit values ​​of the target position angle value.

[0021] S30, obtaining an error between the target angle value and the actual angle value.

[0022] In an exemplary embodiment, step S30 may include the following steps: S310, if the target angle value is greater than the actual angle value, the error value is e=e 目 -e 实 , and stipulate that the direction is the positive direction; S320: If the target angle value is smaller than the actual angle value, the error value is e=e 实 -e 目 , and specify the direction as negative.

[0023] S40, processing the error and obtaining the segmented error.

[0024] In an exemplary embodiment, step S40 may include the following steps: S410, based on the size of the error value, performing PID segmented processing on the error; S420, obtain PID output value.

[0025] S50, performing PID algorithm processing on the segmented error to obtain a speed value.

[0026] PID algorithm is a control loop mechanism that uses feedback. The PID algorithm consists of three parts: Proportional, Integral and Differential. These three parts correspond to three parameters of the controller: Proportional coefficient K p , integral coefficient K i and the differential coefficient K d .

[0027] In an exemplary embodiment, step S50 may include the following steps: S510, performing PID algorithm processing on the segmented error to obtain a PID output value; S520: Convert the PID output value into a speed value of the motor.

[0028] In an exemplary embodiment, step S510 may include the following steps: S511, processing the segmented error with a PID algorithm to obtain the error value between the actual position and the target position of the controlled object in each operation cycle; S512, based on the error value between the actual position and the target position of the controlled object in each operation cycle, obtain the PID output value of each operation cycle.

[0029] In an exemplary embodiment, the formula of the PID algorithm is as follows: (1) Where: P T is the target position of the controlled object, P A is the actual position of the controlled object, e is the error value between the actual position of the controlled object and the target position in each operation cycle, and d is the positive and negative direction.

[0030] Furthermore, when e ≥ 65, U n =K p1 *(le)+K i1 *ΣN+K d1 *(e n -e n-1 ); When e≥10 and e<65, U n =V max ; When e≥0.5 and e<10, U n =K p2 *e; When e≥0.02 and e<0.5, U n =K p3 *e+K i3 *ΣN+K d3 *(e n -e n-1 ); When e<0.02, U n =V min .

[0031] Among them, K p1 , K p2 , K p3 All are proportional coefficients; K i1 , K i3 All are integral coefficients; K d1 , K d3 are differential coefficients; l is the position difference (final position - initial position); U n is the antenna speed obtained by the PID control algorithm in each operation cycle; V is the antenna speed; V max is the upper limit of antenna speed; V min is the lower limit of antenna speed; N is the cumulative error sum; e n is the error value between the actual position and the target position of the controlled object; e n-1 It is the error value between the actual position of the controlled object and the target position last time.

[0032] In an exemplary embodiment, the difference between the upper limit value of the target position angle value and the target position angle of the controlled object is within a preset range, and the difference between the lower limit value of the target position angle value and the target position angle of the controlled object is also within a preset range.

[0033] Furthermore, the present application collects the actual angle of the controlled object in real time according to a certain collection frequency, and obtains the speed of the position angle output of each operation cycle according to the improved PID control algorithm provided in the above embodiment, and finally reaches the target angle.

[0034] One or more embodiments of the present application provide a PID control method for vehicle-mounted static communication, which obtains the error between the target angle value and the actual angle value, and performs absolute value processing on the error; obtains the segmented error by processing the error; obtains a speed value by performing PID algorithm processing on the segmented error, and finally reaches the target angle position, shortening the time for the target angle to enter a steady state, reducing the overshoot amplitude, and improving the target angle control accuracy.

[0035] Based on the above embodiments, Figure 3 Another embodiment of the present application further provides a PID control device for vehicle-mounted static communication. The PID control device 300 for vehicle-mounted static communication may include the following modules: Angle value acquisition module 310, used to obtain the actual angle value and target angle value of the antenna; A preset module 320, used to preset upper and lower limit values ​​of the angle value of the target position; An error acquisition module 330 is used to acquire an error between the target angle value and the actual angle value; The error processing module 340 is used to process the error and obtain the segmented error; The speed acquisition module 350 is used to process the segmented error using a PID algorithm to obtain a speed value.

[0036] Based on the above embodiments, the present application also provides a computer-readable storage medium, referring to Figure 5 , the computer-readable storage medium shown is a CD 50, on which a computer program (i.e., a program product) is stored. When the computer program is executed by the processor, each step recorded in the above method implementation will be implemented, for example, S10, obtaining the actual angle value and the target angle value of the antenna; S20, presetting the upper and lower limit values ​​of the angle value of the target position; S30, obtaining the error between the target angle value and the actual angle value; S40, processing the error and obtaining the error after segmentation; S50, processing the error after segmentation by PID algorithm to obtain the speed value. The specific implementation method of each step will not be repeated here.

[0037] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0038] In addition, based on the above embodiments, the present application also provides a computing device, Figure 6 A block diagram of an exemplary computing device 60 suitable for implementing the embodiments of the present application is shown, and the computing device 60 may be a computer system or a server. Figure 6 The computing device 60 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0039] like Figure 6 As shown, the components of the computing device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 connecting different system components (including the system memory 602 and the processing unit 601).

[0040] The computing device 60 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computing device 60, including volatile and non-volatile media, removable and non-removable media.

[0041] The system memory 602 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 6021 and / or cache memory 6022. The computing device 60 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the ROM 6023 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 is not shown in the Figure 6 As shown in FIG. 6 , a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to a bus 603 that connects different system components through one or more data medium interfaces. The system memory 602 may include at least one program product, which has a set (e.g., at least one) of program modules, which are configured to perform the functions of each embodiment of the present application.

[0042] A program / utility 6025 having a set (at least one) of program modules 6024 may be stored, for example, in system memory 602, and such program modules 6024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 6024 generally perform the functions and / or methods of the embodiments described herein.

[0043] The computing device 60 may also communicate with one or more external devices 604 (e.g., a keyboard, a pointing device, a display, etc.). Such communication may be performed via an input / output (I / O) interface 605. Furthermore, the computing device 60 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 606. Figure 6 As shown, the network adapter 606 communicates with other modules (such as the processing unit 601, etc.) of the computing device 60 via the bus 603 that connects different system components. Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with computing device 60.

[0044] The processing unit 601 executes various functional applications and data processing by running the program stored in the system memory 602, for example, S10, obtaining the actual angle value and the target angle value of the antenna; S20, presetting the upper and lower limit values ​​of the angle value of the target position; S30, obtaining the error between the target angle value and the actual angle value; S40, processing the error and obtaining the error after segmentation; S50, processing the error after segmentation by PID algorithm to obtain the speed value. It should be noted that although several units / modules or sub-units / sub-modules of the PID control device for vehicle-mounted static communication are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0045] In the description of this application, it should be noted that the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0047] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units 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, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units 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.

[0049] 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.

[0050] 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 can be executed 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 to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment 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, etc., various media that can store program codes.

[0051] Finally, it should be noted that the above-mentioned embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0052] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

Claims

1. A PID control method for vehicle-mounted static communication, characterized in that ,The method comprises the following steps: S10, obtaining the actual angle value and target angle value of the antenna; S20, presetting the upper and lower limit values ​​of the target position angle value; S30, obtaining an error between the target angle value and the actual angle value; S40, processing the error and obtaining the segmented error; S50, performing PID algorithm processing on the segmented error to obtain a speed value.

2. The PID control method for vehicle-mounted static communication according to claim 1 is characterized in that ,Step S30 includes the following steps: S310, if the target angle value is greater than the actual angle value, the error value is e=e 目 -e 实 , and stipulate that the direction is the positive direction; S320, if the target angle value is smaller than the actual angle value, the error value is e=e 实 -e 目 , and specify the direction as negative.

3. The PID control method for vehicle-mounted static communication according to claim 1 is characterized in that ,Step S40 includes the following steps: S410, based on the size of the error value, performing PID segmented processing on the error; S420, obtain PID output value.

4. The PID control method for vehicle-mounted static communication according to claim 3 is characterized in that ,Step S50 includes the following steps: S510, performing PID algorithm processing on the segmented error to obtain a PID output value; S520: Convert the PID output value into a speed value of the motor.

5. The PID control method for vehicle-mounted static communication according to claim 4 is characterized in that ,Step S510 includes the following steps: S511, processing the segmented error with a PID algorithm to obtain the error value between the actual position and the target position of the controlled object in each operation cycle; S512, based on the error value between the actual position and the target position of the controlled object in each operation cycle, obtain the PID output value of each operation cycle.

6. The PID control method for vehicle-mounted static communication according to claim 1 is characterized in that ,The formula of the PID algorithm is as follows: （1） Where: P T is the target position of the controlled object, P A is the actual position of the controlled object, e is the error value between the actual position of the controlled object and the target position in each operation cycle, and d is the positive and negative direction.

7. The PID control method for vehicle-mounted static communication according to claim 1 is characterized in that ,The difference between the upper limit value of the target position angle and the target position angle of the controlled object is within the preset range, and the difference between the lower limit value of the target position angle and the target position angle of the controlled object is also within the preset range.

8. A PID control device for vehicle-mounted static communication, characterized in that ,include: Angle value acquisition module, used to obtain the actual angle value and target angle value of the antenna; A preset module, used to preset the upper and lower limit values ​​of the angle value of the target position; An error acquisition module, used to obtain the error between the target angle value and the actual angle value; An error processing module, used to process the error and obtain the segmented error; The speed acquisition module is used to process the segmented error using a PID algorithm to obtain a speed value.

9. A computer-readable storage medium, characterized in that , which includes instructions that, when executed on a computer, enable the computer to execute the PID control method for vehicle-mounted static communication as described in any one of claims 1-7.

10. A computing device, characterized in that , the computing device comprises: at least one processor, memory, and input-output unit; Wherein, the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the PID control method for vehicle-mounted static communication described in any one of claims 1-7.

Images