Parameter control method of hydraulic test bed, electronic equipment and storage medium

Abstract

The invention provides a parameter control method and device of a hydraulic test bench, electronic equipment and a storage medium, the method comprises the steps that an initial output value of a controller is determined based on a target value and target control time of a to-be-controlled parameter and an initial PID control parameter, and the PID control parameter comprises a proportional control parameter, an integral control parameter and a differential control parameter; the proportional control parameter, the integral control parameter and the differential control parameter are adjusted in stages, and an adjustment output value of the controller is determined so as to determine whether a control object connected with the execution mechanism accords with the operation state corresponding to the target value or not; if yes, determining a current PID control parameter; if not, returning to execute the step of adjusting the PID control parameters by stages; wherein the controller sends an output value to the execution mechanism so as to control the operation of a control object corresponding to the execution mechanism, and efficient debugging and high-precision control of a PID control system of the hydraulic test bed can be realized through a debugging method of setting parameters in stages.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a parameter control method, electronic equipment, and storage medium for a hydraulic test bench. Background Art

[0002] Hydraulic test platforms are widely used in industrial production and scientific research to test and verify the performance of hydraulic components and systems. PID (Proportional-Integral-Derivative) control, a classic control algorithm, plays a key role in hydraulic test platforms. By adjusting PID parameters, the system can achieve rapid response, stable operation, and precise control.

[0003] In existing technology, debugging of PID control systems on hydraulic test platforms typically involves manual methods or empirical formulas. Manual debugging relies on the engineer's experience and trial and error, gradually adjusting the PID parameters by observing the system response curve. Empirical formulas, based on the system's mathematical model or approximate transfer function, preliminarily determine the PID parameter range through calculation, and then combine manual fine-tuning to achieve the final parameter setting. Both methods require multiple trials and adjustments, are time-consuming, and debugging results are significantly affected by human factors, making it difficult to ensure consistent control accuracy. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a parameter control method, device, electronic device and storage medium for a hydraulic test bench, so as to solve the problem of low efficiency of PID debugging of existing hydraulic test benches.

[0005] In a first aspect, the present invention provides a parameter control method for a hydraulic test bench, the hydraulic test bench including at least a controller and an actuator, the method comprising: Determine the initial output value of the controller based on the target value and target control time of the parameter to be controlled and the initial PID control parameters, where the PID control parameters include proportional control parameters, integral control parameters, and differential control parameters; Adjust the proportional control parameter, integral control parameter and differential control parameter in stages to determine the adjustment output value of the controller to determine whether the control object connected to the actuator meets the operating state corresponding to the target value; If so, the current PID control parameters are determined; If not, return to the step of performing step-by-step adjustment of PID control parameters; The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

[0006] In an optional embodiment, the integral control parameter and the differential control parameter in the initial PID control parameters are 0, and the proportional control parameter, the integral control parameter, and the differential control parameter are adjusted in stages to determine the adjustment output value of the controller, specifically including: Increase the proportional control parameter according to the first step to determine whether the control object connected to the actuator is operating based on the target value; If so, fix the current proportional control parameter, increase the integral control parameter according to the first step, and determine whether the control object connected to the actuator operates based on the target value and whether the overshoot is less than a first preset value; If so, fix the current proportional control parameter and integral control parameter, increase the differential control parameter according to the first step, and determine whether the control object connected to the actuator operates based on the target value, and determine whether the control error value of the control object connected to the actuator is less than the second preset value.

[0007] In an optional embodiment, the hydraulic test bench further comprises a sensor for determining the overshoot in the following manner: Obtain the operating value of the control object collected by the target sensor; Calculate the difference between the currently collected maximum operating value and the target value; The ratio between the difference and the target value is calculated as the overshoot.

[0008] In an optional embodiment, the control error value is determined by: Calculate the absolute value of the difference between the current operating value and the target value as the control error value.

[0009] In an optional embodiment, the method further includes optimizing the determined current PID control parameters to determine an optimized output value.

[0010] In an optional embodiment, the current PID control parameters are optimized by: Determine whether the control object connected to the actuator meets the operating state corresponding to the target value; If not, then determine the optimization mode; Based on the determined optimization mode, one or more of the proportional control parameter, the integral control parameter, and the differential control parameter are progressively adjusted according to a second step size to determine optimized PID control parameters.

[0011] In an optional embodiment, the second step length is smaller than the first step length.

[0012] In a second aspect, the present invention provides a parameter control device for a hydraulic test bench, the hydraulic test bench including at least a controller and an actuator, the device including: An initial module is used to determine the initial output value of the controller based on the target value and target control time of the parameter to be controlled and the initial PID control parameters, where the PID control parameters include proportional control parameters, integral control parameters and differential control parameters; An adjustment module is used to adjust the proportional control parameter, the integral control parameter, and the differential control parameter in stages, and determine the adjustment output value of the controller to determine whether the control object connected to the actuator meets the operating state corresponding to the target value; if so, determine the current PID control parameters; if not, return to the step of performing the step-by-step adjustment of the PID control parameters; The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

[0013] In a third aspect, the present invention provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the parameter control method of any hydraulic test bench as described in the aforementioned embodiments.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the parameter control method of the hydraulic test bench in any of the aforementioned embodiments are executed.

[0015] The present application provides a parameter control method, device, electronic device, and storage medium for a hydraulic test bench. The hydraulic test bench includes at least a controller and an actuator. The method includes determining an initial output value of the controller based on a target value and target control time of the parameter to be controlled and an initial PID control parameter, wherein the PID control parameter includes a proportional control parameter, an integral control parameter, and a differential control parameter; adjusting the proportional control parameter, the integral control parameter, and the differential control parameter in stages to determine the adjustment output value of the controller to determine whether the control object connected to the actuator meets the operating state corresponding to the target value; if so, determining the current PID control parameter; if not, returning to the step of performing the step-by-step adjustment of the PID control parameter; wherein the controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator. By using the debugging method of the step-by-step parameter setting, efficient debugging and high-precision control can be achieved for the PID control system of the hydraulic test bench. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. 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 relevant drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the structure of a hydraulic integrated electro-hydraulic control system experimental platform provided in an embodiment of the present application; Figure 2 A flowchart of the experimental steps of an electro-hydraulic control system provided in an embodiment of the present application; Figure 3 A flow chart of a parameter control method for a hydraulic test bench provided in an embodiment of the present application; Figure 4 A schematic structural diagram of a parameter control device for a hydraulic test bench provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0019] Example 1 Figure 1 A schematic diagram of the structure of a hydraulic integrated electro-hydraulic control system experimental platform provided in an embodiment of the present application is shown in FIG. Figure 1 As shown in Figure 1, the experimental platform includes a test bench and test simulation software.

[0020] Specifically, the test bench is used to build a modular electro-hydraulic control system, where the electro-hydraulic control system can be a hydraulic electro-hydraulic control system, an electro-hydraulic electro-hydraulic control system, and the like.

[0021] In one embodiment, the test bench includes at least a power module, an execution module, a control module, an auxiliary module, a pipeline module, an electrical module, and a sensor unit.

[0022] The power module includes at least a hydraulic pump and motor, while the actuator module includes at least a hydraulic cylinder and a hydraulic motor, providing power to the servo control unit. The auxiliary module includes at least an oil tank, oil filter, and accumulator. The motor drives the hydraulic pump, drawing hydraulic fluid (hydraulic oil) from the tank and pressurizing it for output to power the electro-hydraulic control system. Multiple hydraulic pumps are possible, with a maximum power system consisting of 12 plunger pumps and 6 tandem pumps (six tandem pumps are equivalent to 12 gear pumps), providing a maximum rated power of 150 kW for the electro-hydraulic control system. A dual-motor solution is employed, with one motor rated at 90 kW and the other at 60 kW. Each motor is connected to the transfer case and has multiple power output terminals of varying sizes, allowing users to select the appropriate power output based on the system's power requirements.

[0023] The control module at least includes a hydraulic valve, which may be a relief valve, a reversing valve, a throttle valve, etc.

[0024] The electrical module is used to connect and form the vehicle's electrical control system. It can include components such as lighting, wiring harnesses, media, human-machine interface (HMI), air conditioning, and windshield wipers. The electrical module can be connected to the output of the electro-hydraulic control system via a jumper board and wiring harness.

[0025] Among them, the power module, execution module, control module, auxiliary module and pipeline module are arranged in the test bench, and the power module, execution module, control module and auxiliary module can be electrically connected through a quick installation interface formed on the surface of the test bench.

[0026] The hydraulic medium circulation channel is realized between the power module, the execution module, the control module and the auxiliary module through the pipeline module.

[0027] Specifically, the test bench utilizes a high-strength frame structure, providing a stable mounting platform for other components. Standardized mounting interfaces facilitate the installation and connection of modules. In one embodiment, quick-connect connectors compliant with ISO 7241-2 are used to connect the modules, while multi-pluggable electrical connectors serve as the electrical connections between the modules.

[0028] Through the standardized and modular design structure of each component and the formation of a quick connection interface, the functions and working states of various electro-hydraulic control systems can be simulated through different combinations and connection methods.

[0029] The piping module uses quick-connect connectors and high-strength, pressure-resistant piping that complies with ISO7241-2 standards, enabling quick connection and removal of the circulation channel, significantly reducing the time required to set up the hydraulic system. Furthermore, the piping has excellent sealing properties, ensuring that the hydraulic medium will not leak during operation.

[0030] The test bench is also provided with a wiring structure for accommodating the connecting wires. The wiring structure can be specifically a wiring channel, which can make the connecting wires neater.

[0031] The test bench also features controls for controlling the series and parallel connections between the modules. These controls can be physical controls such as keys and buttons, and are used to control the series and parallel connections between modules, as well as control valve opening and closing, power supply control, and more.

[0032] For example, by selecting different types of cylinders and motors in the constructed electro-hydraulic control system and adding multiple sets of electromagnetic switch valves, the series and parallel connection of hydraulic cylinders / hydraulic motors can be achieved.

[0033] For example, the oil inlet pipe can be formed into multiple branches and connected in parallel or series with different hydraulic motors. By switching the corresponding solenoid valves on the pipes, the parts to be installed in the system can be selected as needed. Similarly, by switching the solenoid valves, hydraulic cylinders can be connected in series or parallel.

[0034] This application provides a test bench that allows users to freely select and combine modules based on electro-hydraulic control system drawings, quickly building a variety of electro-hydraulic control systems to meet diverse testing needs. Compared with traditional fixed-structure test benches, this reduces equipment procurement costs and floor space. Furthermore, through the combination of modular design and quick-connect interfaces, user setup is simpler, significantly reducing setup time and improving testing efficiency.

[0035] In one embodiment, the test bench further includes sensor units, which are arranged at preset points of each power module, execution module, control module, auxiliary module, and pipeline module.

[0036] For example, the sensor unit can be a pressure sensor, flow sensor, temperature sensor, or the like. The sensor unit can be placed at pipeline inlets and outlets, for example, to monitor system parameters such as pressure, flow, temperature, and displacement in real time. The sensor transmits the collected data to the test simulation software for analysis and processing.

[0037] Figure 2 This is a flow chart of the experimental steps of an electro-hydraulic control system provided in an embodiment of the present application. Figure 2 As shown, in this embodiment, the experimental steps of the agricultural machinery electro-hydraulic control system through the experimental platform may include: S200 . Based on the hydraulic control schematic diagram of the target agricultural machinery, quickly connect the first target hydraulic module on the test bench to build an electro-hydraulic control system corresponding to the hydraulic control schematic diagram.

[0038] Users can draw schematic diagrams using third-party software and upload them to the test simulation software. They can also adjust the various modules of the electro-hydraulic control system through the test simulation software and physical controls to quickly complete the construction of the designed electro-hydraulic control system.

[0039] S210. Set corresponding test parameters through the human-computer interaction interface of the test simulation software.

[0040] Users can set test parameters such as the power module's output pressure and flow rate, as well as the hydraulic valve's operating mode, to ensure the electro-hydraulic control system operates according to the intended operating conditions. After the settings are complete, pre-energize the system and verify the accuracy of the acquisition parameters at the preset points through the human-machine interface.

[0041] S220 : Controlling the operation of the electro-hydraulic control system based on the test parameters, and collecting preset operating parameters corresponding to the second target hydraulic module.

[0042] S230 , based on the collected preset operating parameters, generate corresponding statistical curves and display them through the human-computer interaction interface of the test simulation software.

[0043] In a specific embodiment, using the hydraulic and electro-hydraulic control system of agricultural machinery as an example, the test platform of this application can be used to conduct full-system offline testing. After the hydraulic system is tested, the designed and manufactured vehicle wiring harness drawings are mounted on the test bench system. Sensors, solenoid valves, and other equipment used in the vehicle are then connected to the wiring harness through the test bench's electrical jumper system. The vehicle is then tested in actual operation. After commissioning, the vehicle control program is finalized and entered into mass production.

[0044] An embodiment of the present application provides a comprehensive electro-hydraulic control system experimental platform, which uses a test bench to build an experimental environment for a physical electro-hydraulic control system, and combines simulation technology to obtain test results. The electro-hydraulic control system is quick to build and has a wide range of versatility. Compared with the testing method of first online simulation and then physical debugging in the existing technology, it can save debugging time and thus improve R&D efficiency.

[0045] Example 2 In one embodiment of the present application, since the simulation process requires frequent switching of control systems, such as switching from pressure control to displacement control, a parameter control method for a PID control system is provided for debugging the PID control system during the simulation process of a comprehensive electro-hydraulic control system experimental platform. The PID control system here can be a hydraulic electro-hydraulic control system.

[0046] Figure 3 A flow chart of a parameter control method of a hydraulic test bench provided by an embodiment of the present application. As shown in the figure, the parameter control method of the hydraulic test bench provided by the present application comprises: Figure 3 S31, determining an initial output value of the controller based on a target value of the to-be-controlled parameter, a target control time and initial PID control parameters, the PID control parameters including proportional control parameters, integral control parameters and differential control parameters.

[0047] The to-be-controlled parameter herein can be a pressure value, a flow value, a displacement value, etc.

[0048] The integral control parameters and the differential control parameters in the initial PID control parameters are 0, i.e., the initial value of the initial control parameter Kp is 1, the initial value of Ti is 0, and the initial value of Td is 0.

[0049] The proportional control parameters, the integral control parameters and the differential control parameters are adjusted in stages to determine an adjusted output value of the controller, so as to determine whether the control object connected with the actuator meets the running state corresponding to the target value. This step specifically can comprise: S32, increasing the proportional control parameters by a first step length; S33, determining whether the control object connected with the actuator runs based on the target value; S34, if yes, fixing the current proportional control parameters and increasing the integral control parameters by the first step length; S35, determining whether the control object connected with the actuator runs based on the target value and whether an overshoot is less than a first preset value; S36, if yes, fixing the current proportional control parameters and the integral control parameters and increasing the differential control parameters by the first step length; S37, determining whether the control object connected with the actuator runs based on the target value and whether a control error value of the control object connected with the actuator is less than a second preset value.

[0050] Here, the overshoot can be determined by the following way: Obtaining a running value of the control object collected by a target sensor, calculating a difference between the maximum running value currently collected and the target value, and calculating a ratio between the difference and the target value as the overshoot.

[0051] And the control error value can be determined by the following way: Calculating an absolute value of the difference between the current running value and the target value as the control error value.

[0052] S38, if yes, determining the current PID control parameters.

[0053] ​If not, return to the step of performing step-by-step adjustment of PID control parameters.

[0054] The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

[0055] In one embodiment, taking the displacement value of the oil cylinder as an example, the displacement value of the oil cylinder can be collected by a displacement sensor, and the operating speed of the oil cylinder can be determined by calculating the target control time and the displacement value.

[0056] In the process of step-by-step tuning, only Kp is involved in the adjustment at first. The time to reach the target value is calculated during the reciprocating operation of the cylinder, and Kp is continuously increased until the cylinder reaches the target travel displacement value within the target control time.

[0057] After the value of Kp is determined, Ti can be added to participate in the adjustment. The time to reach the target value is calculated during the reciprocating operation of the cylinder. The value of Kp remains fixed, and Ti is continuously adjusted until the cylinder reaches the target travel displacement value within the target control time. At the same time, the overshoot is less than the first preset value. In this way, the determination of Ti can be completed.

[0058] Finally, Td is added to participate in the regulation. The time to reach the target value is calculated during the reciprocating operation of the cylinder. The values ​​of Kp and Ti remain unchanged, and Td is continuously adjusted until the cylinder reaches the target travel displacement value within the target control time. At the same time, the control error value is less than the second preset value to ensure that the system oscillation is small. In this way, Td can be determined.

[0059] This application provides a parameter control method for a hydraulic test bench. By using a step-by-step parameter tuning method, this method enables high-precision control and efficient debugging of the PID control system of the hydraulic test bench, addressing situations where the test bench requires frequent switching and debugging, has large load fluctuations, and has multiple disturbance couplings. This method can effectively handle even PID control systems with high overshoot requirements.

[0060] Example 3 In one embodiment, after the PID control parameters are determined, if there is still a gap in the control effect, the PID control parameters can be further fine-tuned.

[0061] The determined current PID control parameters are optimized to determine the optimized output value. Specifically, the current PID control parameters can be optimized in the following ways: Determine whether the control object connected to the actuator meets the operating state corresponding to the target value; If not, then determine the optimization mode; Based on the determined optimization mode, one or more of the proportional control parameter, the integral control parameter, and the differential control parameter are progressively adjusted according to a second step length to determine optimized PID control parameters. The second step length is smaller than the first step length.

[0062] Specifically, if the system oscillation is large, the system sensitivity needs to be reduced. In this case, the value of Kp can be reduced or the value of Ti can be increased.

[0063] If the system responds too slowly, you need to increase the response speed. In this case, you can increase Kp or decrease the value of Ti.

[0064] If the system overshoot is too large, it is necessary to increase the damping to suppress the overshoot. In this case, the value of Td can be increased or the value of Kp can be reduced.

[0065] If the system steady-state error is large, it is necessary to accelerate the elimination of the static error. In this case, the value of Ti can be reduced.

[0066] Furthermore, the second step size of adjusting the parameters here may be 1% of the first step size, thereby achieving fine-grained adjustment.

[0067] Example 4 Based on the same inventive concept, Figure 4 As shown, the embodiment of the present application further provides a parameter control device for a hydraulic test bench, the hydraulic test bench includes at least a controller and an actuator, and the device 40 includes: An initial module 410 is configured to determine an initial output value of the controller based on a target value and a target control time of a parameter to be controlled and initial PID control parameters, where the PID control parameters include a proportional control parameter, an integral control parameter, and a differential control parameter; An adjustment module 420 is configured to adjust the proportional control parameter, the integral control parameter, and the differential control parameter in stages, and determine the regulated output value of the controller to determine whether the controlled object connected to the actuator meets the operating state corresponding to the target value; if so, determine the current PID control parameters; if not, return to the step of performing the step-by-step adjustment of the PID control parameters; The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

[0068] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in FIG, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0069] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of a parameter control method for a hydraulic test bench in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment and will not be repeated here.

[0070] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a parameter control method of a hydraulic test bench as described in the above method embodiment can be executed. For specific implementation methods, please refer to the method embodiment and will not be described in detail here.

[0071] Those skilled in the art will 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.

[0072] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely 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 interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0073] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across 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.

[0074] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0075] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, 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 and includes a number of instructions for enabling 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), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0076] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0077] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A parameter control method for a hydraulic test bench, characterized in that: The hydraulic test bench includes at least a controller and an actuator, and the method includes: Determine the initial output value of the controller based on the target value and target control time of the parameter to be controlled and the initial PID control parameters, where the PID control parameters include proportional control parameters, integral control parameters, and differential control parameters; Adjust the proportional control parameter, integral control parameter and differential control parameter in stages to determine the adjustment output value of the controller to determine whether the control object connected to the actuator meets the operating state corresponding to the target value; If so, the current PID control parameters are determined; If not, return to the step of performing step-by-step adjustment of PID control parameters; The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

2. The method according to claim 1, characterized in that The integral control parameter and the differential control parameter in the initial PID control parameters are 0, and the proportional control parameter, the integral control parameter, and the differential control parameter are adjusted in stages to determine the adjustment output value of the controller. Specifically, the steps include: Increase the proportional control parameter according to the first step to determine whether the control object connected to the actuator is operating based on the target value; If so, fix the current proportional control parameter, increase the integral control parameter according to the first step, and determine whether the control object connected to the actuator operates based on the target value and whether the overshoot is less than a first preset value; If so, fix the current proportional control parameter and integral control parameter, increase the differential control parameter according to the first step, and determine whether the control object connected to the actuator operates based on the target value, and determine whether the control error value of the control object connected to the actuator is less than the second preset value.

3. The method according to claim 2, characterized in that The hydraulic test bench also includes sensors to determine the overshoot via: Obtain the operating value of the control object collected by the target sensor; Calculate the difference between the currently collected maximum operating value and the target value; The ratio between the difference and the target value is calculated as the overshoot.

4. The method according to claim 3, characterized in that The control error value is determined by: Calculate the absolute value of the difference between the current operating value and the target value as the control error value.

5. The method according to claim 1, wherein The method also includes optimizing the determined current PID control parameters to determine an optimized output value.

6. The method according to claim 5, characterized in that Optimize the current PID control parameters by: Determine whether the control object connected to the actuator meets the operating state corresponding to the target value; If not, then determine the optimization mode; Based on the determined optimization mode, one or more of the proportional control parameter, the integral control parameter, and the differential control parameter are progressively adjusted according to a second step size to determine optimized PID control parameters.

7. The method according to claim 6, characterized in that The second step length is smaller than the first step length.

8. A parameter control device for a hydraulic test bench, characterized in that: The hydraulic test bench includes at least a controller and an actuator, and the device includes: An initial module is used to determine the initial output value of the controller based on the target value and target control time of the parameter to be controlled and the initial PID control parameters, where the PID control parameters include proportional control parameters, integral control parameters and differential control parameters; An adjustment module is used to adjust the proportional control parameter, the integral control parameter, and the differential control parameter in stages, and determine the adjustment output value of the controller to determine whether the control object connected to the actuator meets the operating state corresponding to the target value; if so, determine the current PID control parameters; if not, return to the step of performing the step-by-step adjustment of the PID control parameters; The controller sends the output value to the actuator to control the operation of the control object corresponding to the actuator.

9. An electronic device, characterized in that: include: A processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the parameter control method of the hydraulic test bench according to any one of claims 1 to 7.

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 parameter control method of the hydraulic test bench according to any one of claims 1 to 7 are executed.

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