Control method and device, equipment and storage medium

Abstract

The invention provides a control method and device, equipment and a storage medium. The method comprises the steps that parameter information of a to-be-controlled object is acquired; determining a control parameter of the controller based on the parameter information and the control target; and adjusting parameters of the controller based on the control parameters, wherein the parameters of the controller and the parameters of the to-be-controlled object meet a nonlinear control relationship. By adopting the method, the controller realizes finer control processing by introducing nonlinear control feedback.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a control method, device, equipment and storage medium. Background Art

[0002] In the existing control systems of electronic devices, the controller mainly adopts a linear control strategy, but the error variation of the linear control strategy is relatively large, and it is difficult to finely handle the error of the controller, which causes problems such as overshoot oscillation in the controller. Therefore, how to finely handle the error of the controller has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present disclosure provides a control method, device, equipment and storage medium to at least solve the above technical problems existing in the prior art.

[0004] According to a first aspect of the present disclosure, a control method is provided, the method comprising:

[0005] Obtain parameter information of the object to be controlled;

[0006] Determining control parameters of a controller based on the parameter information and the control target;

[0007] The parameters of the controller are adjusted based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

[0008] In one possible implementation manner, the obtaining parameter information of the object to be controlled includes:

[0009] The monitoring data of the target sensor is obtained as the target sensor is used to monitor the target performance parameter of the object to be controlled.

[0010] In one possible implementation manner, the parameter information of the object to be controlled includes at least one of a dynamic characteristic parameter, an external disturbance parameter and an environmental parameter of the object to be controlled.

[0011] In one possible implementation manner, the controller is a PR controller, and the control parameters include a proportional gain and a resonance parameter.

[0012] In one possible implementation, the control parameter includes a transfer function including a nonlinear parameter.

[0013] In one embodiment, after adjusting the parameters of the controller based on the control parameters, the method further includes:

[0014] Acquire current parameter information of the object to be controlled;

[0015] Determining a parameter difference based on current parameter information and the parameter information;

[0016] Based on the parameter difference, a parameter of the controller is adjusted.

[0017] According to a second aspect of the present disclosure, a control device is provided, the device comprising:

[0018] A parameter acquisition module is used to obtain parameter information of the object to be controlled;

[0019] A parameter determination module, used for determining a control parameter of a controller based on the parameter information and a control target;

[0020] A control module is used to adjust the parameters of the controller based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

[0021] In one possible implementation manner, the parameter acquisition module is specifically used to acquire monitoring data of a target sensor, where the target sensor is used to monitor target performance parameters of the object to be controlled.

[0022] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0023] at least one processor; and

[0024] a memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the present disclosure.

[0026] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method described in the present disclosure.

[0027] The control method, device, equipment and storage medium disclosed in the present invention obtain parameter information of the object to be controlled; determine the control parameters of the controller based on the parameter information and the control target; adjust the parameters of the controller based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship. That is, by introducing nonlinear control feedback, the controller can achieve more precise control, avoiding problems such as overshoot oscillation of the controller.

[0028] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0030] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0031] Figure 1 A schematic diagram of a flow chart of a control method provided by an embodiment of the present disclosure is shown;

[0032] Figure 2 A schematic diagram showing the relationship between the transfer function and the control magnification provided by the embodiment of the present disclosure is shown;

[0033] Figure 3 A schematic diagram of the structure of a control device provided by an embodiment of the present disclosure is shown;

[0034] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0035] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0036] Since the error variation of the existing linear control strategy is relatively large, it is difficult to finely process the error of the controller, which causes problems such as overshoot oscillation in the controller. Therefore, in order to finely process the error of the controller, the present disclosure provides a control method, device, equipment and storage medium. The control method provided by the present disclosure can be applied to any electronic device and control system that can perform control feedback, including but not limited to computers, mobile phones and tablet computers.

[0037] The technical solution of the embodiment of the present disclosure will be described below in conjunction with the drawings in the embodiment of the present disclosure.

[0038] Figure 1 A flow chart of a control method provided by an embodiment of the present disclosure is shown. Figure 1 As shown, the method includes:

[0039] S101, obtaining parameter information of an object to be controlled.

[0040] In the present disclosure, the objects to be controlled may include the current and voltage systems of electronic devices such as mobile phones, computers and tablet computers, electronic switches and electronic device components. The objects to be controlled may also include the motors, transmission systems, heaters, coolers and reactors of electronic devices. The objects to be controlled may also include the temperature control systems, pressure control systems and flow control systems of electronic devices.

[0041] In the present disclosure, the parameter information of the object to be controlled may include at least one of the dynamic characteristic parameters, external disturbance parameters and environmental parameters of the object to be controlled. Among them, the external disturbance parameters may include interference signals, such as environmental parameters and load fluctuations that affect the output of the object to be controlled, and the external disturbance parameters may also include random noise parameters in the input and output of the system. Environmental parameters may include parameters such as temperature and pressure that affect the performance of the object to be controlled and external load changes. Dynamic characteristic parameters may include transfer functions, time constants, and delay time parameters for the start of system response, etc.

[0042] In the present disclosure, the parameter information of the object to be controlled may also include input and output characteristic parameters, for example, the effective range of the control input and the acceptable range of the system output of the object to be controlled, such as the device temperature range and the device operating speed range.

[0043] In the present disclosure, the parameter information of the object to be controlled may also include steady-state performance parameters, such as steady-state error and steady-state gain, etc., wherein the steady-state error represents the gap between the output of the object to be controlled and the target value under a given input, and the system gain represents the sensitivity of the input signal change of the object to be controlled.

[0044] In a possible implementation manner, the acquiring parameter information of the object to be controlled includes: acquiring monitoring data of a target sensor as the parameter information of the object to be controlled, wherein the target sensor is used to monitor target performance parameters of the object to be controlled.

[0045] Among them, the target sensor can be a temperature sensor, pressure sensor, position sensor or flow sensor of an electronic device. For example, if the target sensor is a temperature sensor of an electronic device, the target sensor can monitor and record the temperature information of the electronic device in real time, and the control system can obtain the monitored temperature information from the target sensor, and filter and denoise the temperature information, thereby improving the data quality. The denoised temperature information data can be used as the parameter information of the object to be controlled, and the denoised temperature information data can also be analyzed to analyze the temperature change characteristic information, and the temperature change characteristic information can be used as the parameter information of the object to be controlled.

[0046] S102: Determine control parameters of a controller based on the parameter information and the control target.

[0047] The type of control target corresponds to the type of parameter information of the object to be controlled. For example, if the parameter information of the object to be controlled is a temperature parameter, the control target is the ideal temperature range corresponding to the electronic device. The ideal temperature range can be the optimal operating temperature range of the electronic device or a temperature range set by the user.

[0048] In the present disclosure, the controller is a PR controller, and the control parameters include proportional gain and resonance parameters.

[0049] In the present disclosure, the control parameter may include a transfer function including nonlinear parameters. In a possible implementation, the transfer function represented by the following formula may be used as the control parameter C:

[0050]

[0051] in, k p is the proportionality coefficient; k r is the resonance coefficient; ωc is the resonance bandwidth; ω0 is the resonant frequency, and e is the error. The nonlinear parameters in this transfer function are The influence of error e can be reduced, and the influence of surrounding frequencies on this harmonic can also be reduced.

[0052] Figure 2 FIG. 4 is a schematic diagram showing the relationship between the transfer function and the control magnification provided by the embodiment of the present disclosure, such as Figure 2 As shown, the horizontal axis represents the frequency, the vertical axis represents the magnification, and the reference line of the peak represents the reference line with an error of 0, such as Figure 2 As shown, the transfer function provided by the embodiment of the present disclosure has a larger magnification factor when the error is closer to 0, and a smaller magnification factor when the error is larger. In this way, when the error is large, the error can be amplified and transmitted by reducing the magnification factor, thereby reducing the control error of the entire controller, that is, on the one hand, the static tracking error is improved, and on the other hand, when the error is large, the control amount can be appropriately reduced to mitigate the output impact and improve the control accuracy.

[0053] S103: adjusting the parameters of the controller based on the control parameters, wherein the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

[0054] For example, the object to be controlled is the temperature of a mobile phone, and the control target is to keep the temperature of the heating furnace within the set target temperature range, which can be [0°, 200°]. The temperature change of the mobile phone is affected by many factors, including ambient temperature and load power. A PR controller can be used to build a control relationship between the PR controller and the temperature parameters of the mobile phone. For example, the temperature parameters of the mobile phone include the target temperature range, current temperature, ambient temperature and load power. The control parameters of the PR controller include proportional gain and integral gain. The current temperature parameters can be obtained in real time through the temperature sensor, the control error of the controller is calculated, and the proportional gain and integral gain are adjusted according to the current ambient temperature and error. Then, based on the nonlinear control relationship between the control parameters of the controller and the temperature parameters of the mobile phone, the load power is calculated, and the load power of the mobile phone is adjusted through the controller output signal, thereby adjusting the temperature of the mobile phone. By continuously monitoring the temperature of the mobile phone, the control parameters are adjusted in real time according to the nonlinear control relationship between the control parameters of the controller and the temperature parameters of the mobile phone, thereby achieving temperature control.

[0055] By adopting this method, the parameter information of the object to be controlled is obtained; based on the parameter information and the control target, the control parameters of the controller are determined; based on the control parameters, the parameters of the controller are adjusted, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship. That is, by introducing nonlinear control feedback, the controller can achieve more precise control and avoid problems such as overshoot oscillation of the controller.

[0056] In a possible implementation manner, after adjusting the parameters of the controller based on the control parameters, the method may further include steps A1-A3:

[0057] Step A1, obtaining current parameter information of the object to be controlled.

[0058] In the present disclosure, parameter information monitored by the target sensor can be acquired in real time to obtain current parameter information.

[0059] Step A2: determining a parameter difference based on the current parameter information and the parameter information.

[0060] For example, if the parameter is the load power of the electronic device, the difference between the current load power and the load power before the controller parameter is adjusted can be calculated as the parameter difference. Alternatively, the difference between the current load power and the load power corresponding to the control target can be calculated as the parameter difference.

[0061] Step A3: adjusting the parameters of the controller based on the parameter difference.

[0062] The proportional gain or transfer function of the controller may be adjusted according to the parameter difference.

[0063] By providing real-time feedback of control results, the controller parameters can be dynamically adjusted to cope with state changes of the controlled object, thereby maintaining the stability of the controlled object and electronic equipment, and ensuring that the system can respond and adjust in real time.

[0064] Based on the same inventive concept, according to the control method provided in the above embodiment of the present disclosure, correspondingly, another embodiment of the present disclosure further provides a control device, whose structural schematic diagram is shown in FIG. Figure 3 As shown, specifically including:

[0065] The parameter acquisition module 301 is used to acquire parameter information of the object to be controlled;

[0066] A parameter determination module 302, configured to determine a control parameter of a controller based on the parameter information and a control target;

[0067] The control module 303 is used to adjust the parameters of the controller based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

[0068] The device is used to obtain parameter information of the object to be controlled; based on the parameter information and the control target, the control parameters of the controller are determined; based on the control parameters, the parameters of the controller are adjusted, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship. That is, by introducing nonlinear control feedback, the controller can achieve more precise control and avoid problems such as overshoot oscillation of the controller.

[0069] In one possible implementation, the parameter acquisition module 301 is specifically used to acquire monitoring data of a target sensor, where the target sensor is used to monitor the target performance parameter of the object to be controlled.

[0070] In one possible implementation manner, the parameter information of the object to be controlled includes at least one of a dynamic characteristic parameter, an external disturbance parameter and an environmental parameter of the object to be controlled.

[0071] In one possible implementation manner, the controller is a PR controller, and the control parameters include a proportional gain and a resonance parameter.

[0072] In one possible implementation, the control parameter includes a transfer function including a nonlinear parameter.

[0073] In one possible implementation, the control module 303 is further used to obtain current parameter information of the object to be controlled after adjusting the parameters of the controller based on the control parameters; determine a parameter difference based on the current parameter information and the parameter information; and adjust the parameters of the controller based on the parameter difference.

[0074] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0075] Figure 4 A schematic block diagram of an example electronic device 400 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0076] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0077] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0078] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as control methods. For example, in some embodiments, the control method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the control method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the control method in any other appropriate manner (e.g., by means of firmware).

[0079] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0081] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0083] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0084] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0085] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0087] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A control method, characterized in that: The method comprises: Obtain parameter information of the object to be controlled; Determining control parameters of a controller based on the parameter information and the control target; The parameters of the controller are adjusted based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

2. The method according to claim 1, characterized in that The obtaining of parameter information of the object to be controlled includes: The monitoring data of the target sensor is acquired as parameter information of the object to be controlled, and the target sensor is used to monitor the target performance parameters of the object to be controlled.

3. The method according to claim 1, characterized in that The parameter information of the object to be controlled includes at least one of a dynamic characteristic parameter, an external disturbance parameter and an environmental parameter of the object to be controlled.

4. The method according to claim 1, characterized in that: The controller is a PR controller, and the control parameters include proportional gain and resonance parameters.

5. The method according to claim 1, characterized in that: The control parameters include a transfer function including a non-linear parameter.

6. The method according to claim 1, characterized in that After adjusting the parameters of the controller based on the control parameters, the method further includes: Acquire current parameter information of the object to be controlled; Determining a parameter difference based on current parameter information and the parameter information; Based on the parameter difference, a parameter of the controller is adjusted.

7. A control device, characterized in that: The device comprises: A parameter acquisition module is used to obtain parameter information of the object to be controlled; A parameter determination module, used for determining a control parameter of a controller based on the parameter information and a control target; A control module is used to adjust the parameters of the controller based on the control parameters, and the parameters of the controller and the parameters of the object to be controlled satisfy a nonlinear control relationship.

8. The device according to claim 7, characterized in that The parameter acquisition module is specifically used to acquire monitoring data of a target sensor, where the target sensor is used to monitor target performance parameters of the object to be controlled.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to make a computer execute the method according to any one of claims 1-6.

Images