A pre-time robust capacity control method and apparatus for a re-entrant manufacturing system

Abstract

This application provides a method and apparatus for pre-set time robust capacity control of a reentrant manufacturing system, relating to the fields of control science and engineering technology. Based on a system output error dynamics model matching the target reentrant manufacturing system's current output with a pre-set product delivery cycle and desired system output under external disturbance conditions, and the pre-set product delivery cycle, this application determines the system state error model. Then, by solving the control gain matrix of the system state error model to meet the requirement of robust infinite performance in disturbance suppression, and constructing a state feedback control law based on the solved desired control gain matrix, the system state error model, and the system output error dynamics model, the desired system control input signal can deliver a specified number of products on time within the specified product delivery period, effectively suppressing external disturbances and reducing their negative impact.

Description

Technical Field

[0001] This application relates to the fields of control science and engineering technology, and more specifically, to a preset-time robust capacity control method and apparatus for a reentrant manufacturing system. Background Technology

[0002] With the significant improvement in the level of informatization in the manufacturing industry, the production scale and complexity of manufacturing plants are constantly expanding, and product manufacturing processes are becoming increasingly complex. Various new large-scale manufacturing systems, distinct from traditional assembly line manufacturing systems, have attracted widespread attention from industry and academia. Among these, reentrant manufacturing systems are particularly important. Compared to traditional assembly line manufacturing systems, reentrant manufacturing systems are production systems where products repeatedly access the same workstations at different processing stages. They are typically applied in highly automated and customized industries, such as semiconductor manufacturing, printed circuit board assembly, chemical processing, and automobile production.

[0003] In the application of reentrant manufacturing systems, there are often urgent or unplanned orders that require the manufacturing system to deliver a specified number of products within a strictly agreed-upon delivery deadline, while avoiding storage costs exceeding the product's intrinsic value. This necessitates the introduction of flexible capacity control mechanisms within the reentrant manufacturing system to ensure timely order delivery. It is worth noting that reentrant manufacturing systems are typically subject to various external disturbances in actual production environments (e.g., insufficient raw materials, changes in production environment conditions, workstation malfunctions, etc.), which can severely negatively impact the capacity control performance of the reentrant manufacturing system, making it highly susceptible to order delays. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a preset time robust capacity control method, computer equipment and readable storage medium for a reentrant manufacturing system, which can realize the function of suppressing external interference in the product manufacturing process with a specified product delivery time limit and product delivery quantity through the organic combination of state feedback control mechanism and robust infinite control mechanism, so as to ensure that the corresponding reentrant manufacturing system can respond to market demand within a specified time while effectively suppressing external interference and reducing the negative impact of external interference.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, this application provides a preset-time robust capacity control method for a reentrant manufacturing system, the method comprising: Obtain a dynamic model of the system output error of the target reentrant manufacturing system, which is currently matched with the preset product delivery cycle and expected system output under external disturbance conditions; Based on the system output error dynamics model and the preset product delivery cycle, the current system state error model of the target reentrant manufacturing system is determined. Solve the control gain matrix for the model stability convergence condition of the system state error model when it meets the requirement of robust infinite performance in interference suppression, and obtain the current expected control gain matrix of the target reentrant manufacturing system. Based on the desired control gain matrix, the system state error model, and the system output error dynamic model, a state feedback control law is constructed to obtain the current desired system control input signal of the target reentrant manufacturing system.

[0006] In an optional implementation, the system output error dynamics model is represented by the following hyperbolic partial differential equation: ; in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate product processing speed This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The control input coefficient matrix used to represent the target reentrant manufacturing system Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time.

[0007] In an optional implementation, the system state error model is represented by the following functional expression: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The system state error at that time.

[0008] In an optional implementation, the step of solving the control gain matrix of the system state error model to obtain the current desired control gain matrix of the target reentrant manufacturing system when the model stability convergence condition meets the requirement of robust infinite interference suppression includes: Construct the system state constraint inequality of the system state error model when it meets the requirement of robust infinite performance in interference suppression, and perform Lyapunov function transformation on the system state error model to obtain the target Lyapunov function; By jointly performing an equivalent characterization of the system output error dynamics model, the system state constraint inequality, and the function stability condition of the objective Lyapunov function, the model stability convergence condition involving the system control gain matrix is ​​obtained. Based on the dynamic coupling relationship matrix and control input coefficient matrix of the target reentrant manufacturing system, the inequality of the model's stability convergence condition is solved to obtain the desired control gain matrix.

[0009] In an optional implementation, the system state constraint inequality is expressed by the following inequality: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. Used to represent the interference residual coefficient Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time for The transpose of .

[0010] In an optional implementation, the objective Lyapunov function of the system state error model is represented by the following function: ; The stability condition of the target Lyapunov function is expressed by the following inequality: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. The time variable used to represent the system state error model The target Lyapunov function, The symmetric positive definite matrix used for the target Lyapunov function This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. For positive integers, The time variable of the target Lyapunov function The first derivative.

[0011] In an optional implementation, the model's stability and convergence condition is expressed using the following matrix inequality: ; in, , , , The symmetric positive definite matrix used for the target Lyapunov function for The inverse matrix, The control input coefficient matrix used to represent the target reentrant manufacturing system This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The system control gain matrix used to represent the target reentrant manufacturing system. Used to represent the interference residual coefficient For positive integers, for The transpose of the matrix, for The transpose of the matrix, for The transpose of the matrix, Used to represent the identity matrix.

[0012] In an optional implementation, the state feedback control law between the system control input signal, system control gain matrix, system state error model, and system output error dynamics model of the target reentrant manufacturing system is represented by the following function: ; in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time The system control gain matrix is ​​used to represent the target reentrant manufacturing system.

[0013] Secondly, this application provides a computer device including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the preset time robust capacity control method for a reentrant manufacturing system as described in any of the foregoing embodiments.

[0014] Thirdly, this application provides a readable storage medium storing a computer program thereon, which, when executed by a computer device, implements the preset time robust capacity control method for a reentrant manufacturing system as described in any of the foregoing embodiments.

[0015] In this case, the beneficial effects of the embodiments of this application may include the following: After obtaining the system output error dynamic model of the target reentrant manufacturing system under external interference environment, which matches the preset product delivery cycle and expected system output, this application determines the current system state error model of the target reentrant manufacturing system based on the system output error dynamic model and the preset product delivery cycle. It then solves for the control gain matrix of the system state error model to meet the robust infinite performance requirement for interference suppression. Based on the solved expected control gain matrix, the system state error model, and the system output error dynamic model, a state feedback control law is constructed. This ensures that the obtained expected system control input signal can deliver a specified quantity of products (corresponding to the expected system output) within the specified product delivery time limit (which corresponds to the preset product delivery cycle) and effectively suppress external interference. Thus, during the product manufacturing process within the specified product delivery time limit and product delivery quantity, the organic combination of the state feedback control mechanism and the robust infinite control mechanism achieves the function of suppressing external interference. This allows the reentrant manufacturing system to respond to market demand (i.e., deliver a specified quantity of products) within a specified time (i.e., the specified product delivery time limit) while effectively suppressing external interference and reducing its negative impact.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the composition of a computer device provided in the embodiments of this application; Figure 2 This is a flowchart illustrating the preset time robust capacity control method for reentrant manufacturing systems provided in this application embodiment. Figure 3 for Figure 2 A flowchart illustrating the sub-steps included in step S210; Figure 4 for Figure 2 The flowchart of the sub-steps included in step S230 is shown below.

[0019] Icons: 10-Computer equipment; 11-Memory; 12-Processor; 13-Communication unit. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In the description of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the equipment or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] Furthermore, it is understood in the description of this application that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please refer to Figure 1 , Figure 1This is a schematic diagram of the computer device 10 provided in this application embodiment. In this application embodiment, the computer device 10 can communicate with the central control platform corresponding to at least one reentrant manufacturing system. For any reentrant manufacturing system, during the product manufacturing process of driving the reentrant manufacturing system to deliver products according to product order delivery requirements (which require the corresponding reentrant manufacturing system to deliver the same number of products on time within the specified product delivery deadline as the specified product delivery quantity), the system achieves external interference suppression function by introducing a state feedback control mechanism and a robust infinite control mechanism. This reduces the negative impact of external interference on the corresponding reentrant manufacturing system, ensuring that the corresponding reentrant manufacturing system can respond to market demand within a specified time (i.e., deliver the specified product delivery quantity within the specified product delivery deadline) while effectively suppressing external interference. The computer device 10 can be a terminal device integrated with the central control platform corresponding to each reentrant manufacturing system (e.g., a control server responsible for system scheduling and processing functions for multiple reentrant manufacturing systems), or it can be a terminal device independent of the central control platform corresponding to each reentrant manufacturing system (e.g., a laptop, personal computer, server, etc.).

[0028] In this embodiment, the computer device 10 may include a memory 11, a processor 12, and a communication unit 13. The memory 11, the processor 12, and the communication unit 13 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0029] In this embodiment, the memory 11 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 11 is used to store computer programs, and the processor 12 can execute the computer programs accordingly after receiving execution instructions.

[0030] In this embodiment, the processor 12 can be an integrated circuit chip with signal processing capabilities. The processor 12 can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0031] In this embodiment, the communication unit 13 is used to establish a communication connection between the computer device 10 and other electronic devices through a network, and to send and receive data through the network, wherein the network includes a wired communication network and a wireless communication network.

[0032] In this embodiment, the computer device 10 may store a specific computer program related to the preset time robust capacity control function in the memory 11. By driving the processor 12 to execute the specific computer program stored in the memory 11, in any reentrant manufacturing system during the product manufacturing process according to the specified product delivery time limit and product delivery quantity, the system external interference suppression function is realized through the organic combination of the state feedback control mechanism and the robust infinite control mechanism. This reduces the negative impact of external interference, enabling the reentrant manufacturing system to respond to market demand within a specified time while effectively suppressing external interference, thereby improving the system reliability and control robustness of the reentrant manufacturing system.

[0033] Understandable Figure 1 The block diagram shown is only a schematic diagram of one configuration of the computer device 10. The computer device 10 may also include components such as... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0034] In this application, to ensure that the computer device 10 can effectively reduce the negative impact of external interference on the reentrant manufacturing system during product manufacturing according to specified product delivery time limits and quantities in any reentrant manufacturing system, and to enable the reentrant manufacturing system to respond to market demands within a specified time while effectively suppressing external interference, this application provides a preset-time robust capacity control method for reentrant manufacturing systems to achieve the aforementioned objective. The preset-time robust capacity control method for reentrant manufacturing systems provided in this application will be described in detail below.

[0035] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a preset-time robust capacity control method for reentrant manufacturing systems, as provided in an embodiment of this application. In this embodiment, Figure 2 The preset time robust capacity control method shown may include steps S210 to S240.

[0036] Step S210: Obtain the system output error dynamic model of the target reentrant manufacturing system under the current external disturbance environment, which matches the preset product delivery cycle and expected system output.

[0037] In this embodiment, the target reentrant manufacturing system is the reentrant manufacturing system that the computer device 10 currently needs to follow and control; the preset product delivery cycle is used to constrain the expected product delivery time limit of the target reentrant manufacturing system; the expected system output is used to constrain the expected product quantity of the target reentrant manufacturing system under different product completion levels. The expected system output is substantially matched with the ever-changing market demand, and its essence can represent the production target capacity guided by market demand; the system output error dynamic model is used to describe the system dynamic model of the target reentrant manufacturing system regarding the system output error (i.e., the quantitative difference between the actual product quantity and the expected product quantity of the target reentrant manufacturing system) under external interference environment. At this time, the preset product delivery cycle and the expected system output are used as the capacity distribution constraints of the system output error dynamic model. The system output error of the target reentrant manufacturing system needs to become zero at the specified product delivery time limit corresponding to the preset product delivery cycle, and always remain zero at any time point after the specified product delivery time limit (at this time, the target reentrant manufacturing system will continuously and stably produce products according to the specified product delivery quantity).

[0038] Alternatively, please refer to Figure 3 , Figure 3 yes Figure 2A flowchart illustrating the sub-steps included in step S210 is provided. In this embodiment, step S210 may include sub-steps S211 to S213 to effectively describe the spatiotemporal evolution of the target reentrant manufacturing system's output error under the combined constraints of external disturbances, specified product delivery time limits, and specified product delivery quantities, using hyperbolic partial differential equations that follow the law of conservation of mass.

[0039] Sub-step S211: Construct a dynamic model of the actual system output of the target reentrant manufacturing system under external disturbance conditions.

[0040] In this embodiment, the target reentrant manufacturing system often involves multiple reentrant production lines with coupling relationships, making their dynamic models interdependent. Furthermore, the target reentrant manufacturing system is subject to various external disturbances in the actual production environment. Therefore, a control channel needs to be introduced during the dynamic modeling of the target reentrant manufacturing system to control its production capacity, ensuring that its production performance better meets market demands. Thus, a hyperbolic partial differential equation following the law of mass conservation can be used to effectively describe the spatiotemporal evolution of the target reentrant manufacturing system's production quantity under external disturbances, resulting in the actual system output dynamic model of the target reentrant manufacturing system. This actual system output dynamic model can be represented by the following hyperbolic partial differential equation: ; in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate product processing speed This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The control input coefficient matrix used to represent the target reentrant manufacturing system Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is The system control input signal at that time. , The first [unit] used to indicate that the target is reentrant into the manufacturing system A reentrant production line in Time and completion rate The actual number of products at that time The boundary conditions of the actual system output dynamics model are used to represent the total number of reentrant production lines in the target reentrant manufacturing system. The initial conditions of the actual system output dynamics model are: ,in The target reentrant manufacturing system has a product completion rate of The initial quantity of products at that time.

[0041] Sub-step S212: Based on the preset product delivery cycle and expected system output, construct the system output error boundary conditions for the target reentrant manufacturing system.

[0042] In this embodiment, the system yield error of the target reentrant manufacturing system can be defined as " ",in This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time.

[0043] During this process, the system output error of the target reentrant manufacturing system needs to be addressed within the preset product delivery cycle (i.e. The specified product delivery time limit corresponding to ) It becomes zero at time ) and at any point after the specified product delivery deadline (i.e. If the value remains zero, then based on the above-mentioned actual system output dynamics model, it can be known that: when the target reentrant manufacturing system is in There are no meaningful system control input signals during this period. As a steady-state spatial distribution function, it will form a relationship with respect to the above-mentioned actual system output dynamics model under the mapping effect. First-order matrix differential equations: ; Therefore, for In other words, it can be achieved by... Designed for " ",in Used to represent the specified product delivery quantity, so that the target reentrant manufacturing system is in The system continuously and stably produces products according to the specified product delivery quantity within a certain time period. At this time, the system output error boundary condition of the target reentrant manufacturing system can be described as " "and" ".

[0044] Sub-step S213: Apply model performance constraints to the actual system output dynamics model according to the system output error convergence constraint condition to obtain the system output error dynamics model.

[0045] In this embodiment, the system output error dynamic model can be obtained by substituting the above-described system output error definition and boundary conditions into the actual system output dynamic model. In this case, the system output error dynamic model is represented by the following hyperbolic partial differential equation: ; in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate product processing speed This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The control input coefficient matrix used to represent the target reentrant manufacturing system Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate The system output error at that time. The initial condition of the system output error dynamic model is " ".

[0046] Therefore, by executing the above sub-steps S211 to S213, this application can effectively describe the spatiotemporal evolution of the target reentrant manufacturing system under the constraints of external disturbances, specified product delivery time limits, and specified product delivery quantities using hyperbolic partial differential equations that follow the law of conservation of mass.

[0047] Step S220: Based on the system output error dynamics model and the preset product delivery cycle, determine the current system state error model of the target reentrant manufacturing system.

[0048] In this embodiment, the system state error model is used to describe the system response error state of the target reentrant manufacturing system when mapped to the entire manufacturing system level; wherein, the system state error model can scale the description of the system response error state by introducing a time-varying gain function, ensuring that the system response error state also tends to zero when the time approaches the specified product delivery deadline, at which point the target reentrant manufacturing system can deliver the product within the specified product delivery time period (i.e., This allows for timely responses to external market demands.

[0049] Based on this, the system state error model of the target reentrant manufacturing system can be represented by the following functional expression: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The system state error at that time.

[0050] Step S230: Solve the control gain matrix for the model stability convergence condition of the system state error model when it meets the requirement of robust infinite interference suppression, and obtain the current expected control gain matrix of the target reentrant manufacturing system.

[0051] In this embodiment, a robust infinite control mechanism can be introduced based on the system state error model to achieve the effect of suppressing external disturbances to the target reentrant manufacturing system. A state feedback control mechanism can be introduced to link the system state error model and the system output error dynamics model, so that the system control input signal ultimately determined by the state feedback control mechanism can simultaneously realize product manufacturing control functions and system external disturbance suppression functions. The state feedback control law of the state feedback control mechanism at the target reentrant manufacturing system can be expressed by the following function: ; in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time The system control gain matrix is ​​used to represent the target reentrant manufacturing system.

[0052] Based on this, please refer to Figure 4 , Figure 4 yes Figure 2The flowchart of step S230 includes the sub-steps. In the embodiments of this application, step S230 may include sub-steps S231 to S233 to achieve an organic combination between the state feedback control mechanism and the robust infinite control mechanism, ensuring that the desired system control input signal corresponding to the state feedback control mechanism can simultaneously take into account the product quantity control function and the system external disturbance suppression function.

[0053] Sub-step S231: Construct the system state constraint inequality of the system state error model when it meets the requirement of robust infinite performance in interference suppression, and perform Lyapunov function transformation on the system state error model to obtain the target Lyapunov function.

[0054] In this embodiment, the system state constraint inequality of the system state error model when satisfying the requirement of robust infinite performance in interference suppression is expressed by the following inequality: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. Used to represent the interference residual coefficient Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time for The transpose of . Where, The smaller the value (i.e., the closer it is to 0), the stronger the system's ability to suppress external disturbances corresponding to the robust infinite control mechanism.

[0055] In this embodiment, the objective Lyapunov function of the system state error model is represented by the following function: ; Furthermore, the stability condition of the target Lyapunov function is expressed by the following inequality: ; in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. The time variable used to represent the system state error model The target Lyapunov function, The symmetric positive definite matrix used for the target Lyapunov function This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. For positive integers, The time variable of the target Lyapunov function The first derivative.

[0056] Sub-step S232 involves jointly and equivalently characterizing the system output error dynamics model, the system state constraint inequality, and the function stability condition of the objective Lyapunov function to obtain the model stability convergence condition involving the system control gain matrix.

[0057] In this embodiment, the stability analysis of the system output error dynamics model can be performed based on the above system state constraint inequalities and the above function stability conditions to obtain the model stability convergence conditions related to the state feedback control law of the target reentrant manufacturing system. These model stability convergence conditions are then expressed using the following matrix inequalities: ; in, , , , The symmetric positive definite matrix used for the target Lyapunov function for The inverse matrix, The control input coefficient matrix used to represent the target reentrant manufacturing system This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The system control gain matrix used to represent the target reentrant manufacturing system. Used to represent the interference residual coefficient For positive integers, for The transpose of the matrix, for The transpose of the matrix, for The transpose of the matrix, Used to represent the identity matrix.

[0058] Sub-step S233: Based on the dynamic coupling relationship matrix and control input coefficient matrix of the target reentrant manufacturing system, solve the inequality for the model's stability convergence condition to obtain the desired control gain matrix.

[0059] In this embodiment, both sides of the first inequality in the above model's stability and convergence condition can be multiplied by a matrix. Using Schul's complement lemma, the stability and convergence conditions of the above model are transformed into control gain constraints that satisfy the requirement of robust infinite performance in disturbance suppression for the dynamic model of the system's output error. These control gain constraints can then be expressed using the following matrix inequalities: ; in, , , , The symmetric positive definite matrix used for the target Lyapunov function for The inverse matrix, The control input coefficient matrix used to represent the target reentrant manufacturing system This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The system control gain matrix used to represent the target reentrant manufacturing system. Used to represent the interference residual coefficient For positive integers, for The transpose of the matrix, for The transpose of the matrix, for The transpose of the matrix, Used to represent the identity matrix.

[0060] Therefore, based on the dynamic coupling matrix and control input coefficient matrix of the target reentrant manufacturing system, as well as the symmetric positive definite matrix of the target Lyapunov function, the above control gain constraints can be solved by inequalities to obtain the desired control gain matrix that simultaneously meets the requirements of robust infinite performance in disturbance suppression and product order delivery.

[0061] Therefore, by executing the above sub-steps S231 to S233, this application can achieve an organic combination between the state feedback control mechanism and the robust infinite control mechanism, ensuring that the desired system control input signal corresponding to the state feedback control mechanism can simultaneously take into account the product quantity control function and the system external disturbance suppression function.

[0062] Step S240: Based on the desired control gain matrix, system state error model and system output error dynamic model, construct the state feedback control law to obtain the current desired system control input signal of the target reentrant manufacturing system.

[0063] In this embodiment, the target can be made reentrant into the current (i.e., The expected control gain matrix at time (i.e.) The target reentrant manufacturing system currently has the actual system output error at the system output error dynamics model (i.e., ,in Used to indicate that the target reentrant manufacturing system is in The actual product completion rate at any given time), and the actual system state error of the target reentrant manufacturing system at the current system state error model (i.e., Substituting these values ​​into the above state feedback control law expression, we obtain the desired system control input signal for the target reentrant manufacturing system at this time. It can be represented as " ",in Used to indicate that the target reentrant manufacturing system is in The actual system output at any given moment.

[0064] Therefore, by executing the above steps S210 to S240, in any reentrant manufacturing system during the product manufacturing process according to the specified product delivery time limit and product delivery quantity, this application can achieve the function of suppressing external interference by organically combining the state feedback control mechanism and the robust infinite control mechanism, thereby reducing the negative impact of external interference on the reentrant manufacturing system. This ensures that the reentrant manufacturing system can respond to market demand within the specified product delivery time period while effectively suppressing external interference, thereby improving the system reliability and control robustness of the reentrant manufacturing system.

[0065] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0066] Furthermore, the functional modules in the various embodiments of this 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. If the various functions provided in this application are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes: USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0067] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of pre-set time robust capacity control of a re-entrant manufacturing system, characterized in that, The method includes: Obtain a dynamic model of the system output error of the target reentrant manufacturing system, which is currently matched with the preset product delivery cycle and expected system output under external disturbance conditions; Based on the system output error dynamics model and the preset product delivery cycle, the current system state error model of the target reentrant manufacturing system is determined. Solve the control gain matrix for the model stability convergence condition of the system state error model when it meets the requirement of robust infinite performance in interference suppression, and obtain the current expected control gain matrix of the target reentrant manufacturing system. Based on the desired control gain matrix, the system state error model, and the system output error dynamics model, a state feedback control law is constructed to obtain the current desired system control input signal of the target reentrant manufacturing system. The system state error model is represented by the following function: ； wherein, for indicating a product completion degree, for indicating a time variable, for indicating a starting work time point of the target re-entrant manufacturing system, for indicating a preset product delivery period, for indicating a system production error of the target re-entrant manufacturing system at a time point of and a completion degree of , for indicating a state scaling gain function of the target re-entrant manufacturing system with respect to the time variable, for indicating a system state error of the target re-entrant manufacturing system at a time point of and a completion degree of .

2. The method of claim 1, wherein, The system output error dynamic model is represented by the following hyperbolic partial differential equation: ； in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. This is used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate product processing speed This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The control input coefficient matrix used to represent the target reentrant manufacturing system Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time This is used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time.

3. The method according to claim 1 or 2, characterized in that, The step of solving the control gain matrix of the system state error model to obtain the current desired control gain matrix of the target reentrant manufacturing system when the model stability convergence condition of the system state error model meets the requirement of robust infinite interference suppression includes: Construct the system state constraint inequality of the system state error model when it meets the requirement of robust infinite performance in interference suppression, and perform Lyapunov function transformation on the system state error model to obtain the target Lyapunov function; By jointly performing an equivalent characterization of the system output error dynamics model, the system state constraint inequality, and the function stability condition of the objective Lyapunov function, the model stability convergence condition involving the system control gain matrix is ​​obtained. Based on the dynamic coupling relationship matrix and control input coefficient matrix of the target reentrant manufacturing system, the inequality of the model's stability convergence condition is solved to obtain the desired control gain matrix.

4. The method according to claim 3, characterized in that, The system state constraint inequalities are expressed by the following inequalities: ； in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. Used to represent the interference residual coefficient Used to indicate that the target reentrant manufacturing system is in Time and completion rate External interference at that time for The transpose of .

5. The method according to claim 3, characterized in that, The objective Lyapunov function of the system state error model is expressed by the following formula: ； The stability condition of the target Lyapunov function is expressed by the following inequality: ； in, Used to indicate product completion level. Used to represent time variables This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time for The transpose of the matrix, Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. The time variable used to represent the system state error model The target Lyapunov function, The symmetric positive definite matrix used for the target Lyapunov function This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. For positive integers, The time variable of the target Lyapunov function The first derivative.

6. The method according to claim 3, characterized in that, The stability and convergence condition of the model is expressed by the following matrix inequality: ； in, , , , The symmetric positive definite matrix used for the target Lyapunov function for The inverse matrix, The control input coefficient matrix used to represent the target reentrant manufacturing system This matrix represents the dynamic coupling relationships between all reentrant production lines in the target reentrant manufacturing system. The system control gain matrix used to represent the target reentrant manufacturing system. Used to represent the interference residual coefficient For positive integers, for The transpose of the matrix, for The transpose of the matrix, for The transpose of the matrix, Used to represent the identity matrix.

7. The method according to claim 1 or 2, characterized in that, The state feedback control law between the system control input signal, system control gain matrix, system state error model, and system output error dynamic model of the target reentrant manufacturing system is expressed by the following function: ； in, Used to indicate product completion level. Used to represent time variables Used to indicate that the product has not yet begun processing. Used to indicate that the product has been processed. This is used to indicate the starting point of operation in the target reentrant manufacturing system. Used to indicate the preset product delivery cycle. Used to indicate that the target reentrant manufacturing system is in Time and completion rate The actual number of products at that time Used to indicate that the target reentrant manufacturing system is in At any given time and the actual number of products is System control input signals at that time This is used to indicate that the target reentrant manufacturing system has a completion level of [missing information]. Expected system output at that time Used to indicate that the target reentrant manufacturing system is in Time and completion rate System output error at that time This is used to represent the state scaling gain function of the target reentrant manufacturing system with respect to the time variable. Used to indicate that the target reentrant manufacturing system is in Time and completion rate System state error at that time The system control gain matrix is ​​used to represent the target reentrant manufacturing system.

8. A computer device, characterized in that, The system includes a processor and a memory, the memory storing a computer program executable by the processor, which can execute the computer program to implement the preset time robust capacity control method for a reentrant manufacturing system as described in any one of claims 1-7.

9. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a computer device, it implements the preset time robust capacity control method for a reentrant manufacturing system as described in any one of claims 1-7.

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