65 results about "Actuator saturation" patented technology

The invention relates to the technical field of industrial process control, and discloses an intelligent optimization control method of an alkaline water hydrogen production system, which comprises the following steps: a controller synchronously acquires real-time voltage, current and temperature data of an electrolytic bath; theoretical reversible voltage is calculated according to a Nernst equation, ohm voltage drop is eliminated, and a bubble additional impedance value representing the bubble coverage degree is analyzed; performing differential processing on the change rate of the bubble additional impedance value to generate a flow feed-forward control instruction, combining a feedback control instruction based on temperature deviation to synthesize a target rotating speed instruction, and driving an alkali liquor circulating pump to adjust the flow speed; according to the method, the bubble impedance observation model is constructed, so that zero-delay sensing and decoupling control over the state of bubbles in the electrolytic cell are achieved, hysteresis of single temperature feedback is eliminated, and the problems of actuator saturation and model aging drifting are solved.

The invention discloses an underwater vehicle anti-saturation attitude control method based on dynamic event triggering, belongs to the technical field of underwater vehicle control, and solves the problem that an AUV (Autonomous Underwater Vehicle) faces multiple challenges of strong nonlinear hydrodynamic characteristics, time-varying environment interference, actuator saturation constraint and model parameter uncertainty during underwater operation in the prior art. The method comprises the following steps: establishing a linearized state space model of a pitching channel of the autonomous underwater vehicle, designing a model reference adaptive PID control law based on dynamic event triggering, integrating a modern anti-integral saturation AW compensator into the model reference adaptive PID control law, and designing an event triggering strategy combining an index and a static threshold component; according to the invention, PID control, a modern integral saturation resisting AW compensator and an event triggering adaptive mechanism are integrated in an MRAC structure, the problems of parameter uncertainty and actuator saturation can be solved at the same time, adaptive parameters are updated only at the triggering moment, and the communication efficiency is effectively maintained.

The invention discloses a multi-unmanned aerial vehicle cluster stochastic prediction control method and device based on anti-saturation and packet loss compensation, and the method comprises the steps: building a closed-loop control model of a stochastic system based on a pilot-following multi-unmanned aerial vehicle cluster architecture; through a Markov chain modeling data transmission packet loss process, a forgetting factor is introduced to design a packet loss compensation strategy after random data is randomly lost so as to correct a closed-loop control model of a random system; aiming at the corrected closed-loop control model of the following stochastic system, constructing an anti-actuator saturation control law through convex representation of a saturation function, and further constructing a saturation-limited following stochastic augmentation prediction model; solving a predictive control problem on line based on a random augmentation predictive model; and the control performance index is controlled through rolling optimization, the gain of the feedback controller is updated, and anti-saturation random prediction control following with random following in a packet loss environment is realized. According to the method, the coupling influence of data transmission packet loss and actuator saturation can be effectively solved, and the system performance weakness caused by single problem processing is avoided.

The invention discloses a sliding mode control method for spacecraft attitude tracking with preset performance, and belongs to the technical field of process control. On the basis of an all-drive system method and preset performance control, for a spacecraft attitude tracking system with inertia uncertainty, external disturbance and actuator saturation, the method comprises the following steps of: firstly, restraining an attitude tracking error of a spacecraft by utilizing a preset performance function with finite time convergence, and converting a system state through a conversion function; and constructing a constrained attitude tracking system model. The method comprises the following steps of: firstly, converting the model into an all-drive system model, introducing a self-adaptive disturbance observer, estimating inertial uncertainty and external disturbance values, and finally designing an anti-saturation sliding mode controller with preset performance by combining an anti-saturation compensation system on the basis of an all-drive system method, so as to control the attitude of a spacecraft. And stable tracking of the target attitude by the spacecraft is realized.

The invention discloses a multi-target optimization tracking control method for a heterogeneous unmanned cluster system based on MADDPG, and the method comprises the following steps: building a dynamic model of the heterogeneous unmanned cluster system, and carrying out the isomorphism of the heterogeneous unmanned cluster system through speed estimation; establishing a communication topology model of the heterogeneous unmanned cluster system, designing an adjacent matrix weight, and quantifying the information interaction strength between the heterogeneous unmanned cluster systems; describing a plurality of optimization objectives of the heterogeneous unmanned cluster system and executor saturation constraint conditions of the optimization objectives; modeling a multi-target optimization tracking control problem of the heterogeneous unmanned cluster system into a reinforcement learning problem, and designing MADDPG-based tracking control algorithm elements; and a learnable weight parameter is established, a target weight coefficient is updated online by using gradient back propagation, and dynamic optimization of multi-target weight is realized. Through an adaptive target weight adjustment mechanism and a saturation constraint and heterogeneous unified modeling framework, the tracking control problem under the influence of multi-target conflict, actuator saturation constraint and heterogeneous characteristics is solved, and the cooperative tracking control effect and robustness of a heterogeneous unmanned cluster system in a dynamic environment are improved.

The invention provides a preset performance control method and system under saturation of a train actuator, and relates to the technical field of train control, and the method comprises the following steps: building a train longitudinal motion kinetic equation based on the Newton second law; defining actual control input under saturation constraint of a train actuator, and establishing a dynamic compensation function in combination with a train longitudinal motion kinetic equation; designing a tracking error in the train operation process, and defining a filtering error in combination with a power compensation function; designing a preset performance function based on the train longitudinal motion kinetic equation and the filtering error, and defining an error conversion mechanism; constructing a preset performance control law based on the error conversion mechanism, and designing a parameter adaptive law to update the preset performance control law; and verifying the stability of the updated preset performance control law, and controlling the train operation by using the updated preset performance control law. Under the actual working condition of saturation constraint of the actuator, the tracking precision, the response speed and the overall stability of train operation control are remarkably improved.

The invention discloses a self-adaptive anti-saturation output feedback control method for a complex system based on gain adjustment, belongs to the field of self-adaptive control, and is suitable for the complex system containing nonlinear and unknown time-varying vectors and bounded external interference. The method comprises the following steps: firstly, acquiring a real-time output signal of a controlled object, and then estimating an unmeasurable internal state of the controlled object by a state observer; an initial control signal is generated based on a dynamic model, an actuator saturation limit and the like, and after optimization of a dynamic gain updating law, whether the signal is close to saturation is judged through monitoring conditions; and when approaching, triggering a planning moment, adjusting the signal amplitude to a safety range by a planning function, generating a self-adaptive anti-saturation output feedback control signal, outputting the final output feedback control signal to an actuator, and circularly executing the steps. The method ensures that a controlled object outputs a stable tracking reference signal, the control signal is always in a saturation limit, and stable operation of the system is realized without a sesame phenomenon.

The invention discloses a spacecraft rendezvous and docking time synchronization optimization control method based on reinforcement learning, and the method comprises the steps: building a spacecraft six-degree-of-freedom relative motion model which comprises a translation dynamic model based on a Clohessy-Wiltshire equation and an attitude dynamic model based on quaternion; a constrained error space is converted into an unconstrained space through a homeomorphic mapping function, and a tracking error system in a strict feedback form is reconstructed; based on an Actor-Critic reinforcement learning framework, generating an optimal virtual control signal, fusing a time synchronization control item, and forcing synchronous convergence of the position and attitude error in a preset time through a normalized sign function; and performing low-pass filtering estimation on the virtual control derivative by adopting a dynamic surface control technology, generating actual control input meeting the saturation constraint of the actuator in combination with a reinforcement learning framework, and limiting a control input amplitude through a projection operator. According to the method, synchronous convergence of position and attitude errors is realized by combining reinforcement learning and time synchronization control theories.

The application discloses a predefined time sliding mode control method of a Mecanum wheel robot, wherein a main controller controls input size and converts the input size into required voltage size to control a motor driving circuit in the form of a pulse width modulation waveform and interacts with an upper computer through Bluetooth; a radar and a six-axis acceleration sensor collect pose information including X-axis Y-axis position information and yaw angle information; an encoder collects direct current motor angular velocity information; the motor driving circuit converts the pulse width modulation waveform signal into a voltage signal to control the direct current motor rotating speed; S10, the radar, the six-axis acceleration sensor and the encoder collect motion parameters of the Mecanum wheel robot; S20, the main controller calculates an expected pose and an actual pose error; S30, the value of a sliding mode variable is updated; and S40, a sliding mode control input is updated. The application can realize faster convergence speed with smaller control input, and the actuator saturation phenomenon is avoided while the convergence speed is improved.

The invention provides a preset-time adaptive fuzzy control method for an incomplete wheeled mobile robot system, and the method guarantees that a tracking error is converged to a preset set within preset time through the design of a performance function, a time-varying gain function and an auxiliary system, meets the steady-state and transient-state performance indexes of the system, and does not violate preset constraints. When the actuator is saturated, the established auxiliary system can generate a compensation signal in real time, so that the input signal is prevented from being too large to maintain the stability of the system; besides, fuzzy logic is utilized to approach model uncertainty of the incomplete wheeled mobile robot system, a nonlinear interference observer is designed to estimate composite time-varying interference, and robustness and anti-interference performance of the system are improved. In addition, the fault of the time-varying actuator of the incomplete wheeled mobile robot system is processed by adopting fuzzy logic and self-adaptive control, so that the system has better fault-tolerant capability.

The application discloses a complex system adaptive anti-saturation output feedback control method based on gain adjustment, belongs to the field of adaptive control, and is suitable for a complex system containing nonlinear, unknown time-varying vectors and bounded external disturbances. The method first acquires real-time output signals of a controlled object, then estimates unobservable internal states of the controlled object by a state observer; initial control signals are generated based on a dynamic model, actuator saturation limits and the like, are optimized through a dynamic gain updating law, and whether the signals are close to saturation is judged through a monitoring condition; when close to saturation, a planning time is triggered, the signal amplitude is adjusted to a safe range through a planning function, adaptive anti-saturation output feedback control signals are generated, the final output feedback control signals are output to actuators, and the steps are executed in cycles. The method ensures that the output of the controlled object stably tracks a reference signal, the control signals are always within saturation limits, system stable operation is realized, and no Zeno phenomenon occurs.

The invention discloses a divergence discrimination method for a deformable aircraft attitude control system based on multi-modal feature extraction, and belongs to the technical field of aircraft safety boundary evaluation. The method comprises the following steps: firstly, performing Gaussian smoothing filtering preprocessing on attitude angle tracking error signals of each channel to remove high-frequency noise; then, direct divergence judgment is realized based on sliding window linear regression and fluctuation intensity detection, and oscillation divergence judgment is completed by combining high-frequency and high-amplitude detection; and finally, correcting the divergence time, determining the earliest divergence channel, combining the divergence type and natural frequency of the error signal, analyzing the influence of nonlinear factors on the frequency domain characteristics of the system, and determining the relationship between divergence and cut-off frequency, thereby accurately identifying the divergence time and type. The method can effectively deal with non-linear interference such as atmospheric perturbation and execution mechanism saturation, realizes early divergence detection and mode recognition under multi-channel conjoint analysis, and has the characteristics of high accuracy, low calculation complexity and high engineering applicability.

The invention discloses an aiming confidence coefficient dynamic evaluation method based on an error ellipse, which relates to the technical field of confidence coefficient evaluation, and comprises the following steps of: identifying candidate contraction sections of continuous contraction of the error ellipse on the basis of an error ellipse evolution result, respectively judging the contraction source and the contraction continuity of the candidate contraction sections, and correcting the original aiming confidence coefficient according to the contraction source and the contraction continuity; therefore, an existing mode of directly evaluating the aiming confidence coefficient only according to the error point space concentration degree and the error ellipse contraction state is converted into a mode of outputting the aiming confidence coefficient after source identification and subsequent stability verification are carried out on the contraction phenomenon; the method can effectively identify a pseudo convergence state caused by approaching to saturation of an execution mechanism, short-time locking of a control loop, to-be-switched tracking reference or temporary leading of an error stable mode, and prevents a short-time locking illusion before instability, overturning, jumping or lock losing from being misjudged as a high-confidence aiming state. And a real aiming confidence result can more accurately reflect the actual reliability of the current aiming state.

The application relates to an event-triggered optimal line-of-sight (LOS) formation control method and system for an underactuated unmanned surface vehicle (USV) under unknown disturbance, and relates to the technical field of USV control. The application aims to solve the technical problem of realizing event-triggered optimal control while considering actuator saturation by establishing an RL-driven LOS guidance scheme, so as to achieve optimal state regulation and tracking control. The technical points are as follows: the application establishes an RL-driven LOS guidance scheme, decouples the trigger decision and the actuator allocation, and introduces a new event-triggered mechanism. The overall structure of the ETO-LOS control scheme proposed by the application is as follows: firstly, the expected trajectory and external disturbance are processed in the LOS guidance layer to generate a virtual control signal. Then, optimal control is realized through a DSC and a two-stage IAC network, and then an event-triggered mechanism is constructed in the actuator layer. The ETO-LOS scheme proposed by the application realizes stable learning and closed-loop performance while significantly reducing the control update frequency.

This application provides an electromagnetic spacecraft control method, device, product, and electronic device, relating to the field of spacecraft control technology. This method can obtain the directed connected topology network of an electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets preset conditions, position control is performed on each electromagnetic spacecraft based on the distributed control protocol. This method can save communication resources while precisely controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in maintaining the formation configuration of a multi-electromagnetic spacecraft formation system. Compared with related technologies, this method considers the inherent characteristics of electromagnetic spacecraft, eliminating the need to trigger communication at every moment; communication only needs to be triggered when the state update error of the distributed control protocol meets preset conditions.

This invention relates to the field of quadcopter unmanned aerial vehicle (UAV) control technology, and more particularly to an adjustable predetermined performance control method for a quadcopter UAV with actuator saturation. The method includes: acquiring the physical parameters of the quadcopter UAV; constructing a mathematical model of the quadcopter UAV system based on the physical parameters, the mathematical model considering time-varying mass, actuator saturation, and external disturbances; adjusting the initial performance index range based on the saturation deviation of the actuator input and the limit value; performing state transformation on the error variables of the quadcopter UAV according to the adjusted performance index range; designing an adjustable preset performance controller for the transformed error variables; and applying the adjustable preset performance controller to the mathematical model to ensure the stability and preset performance of the quadcopter UAV system when the actuator is saturated. This invention improves the reliability of the system.

The application provides a flexible connecting rod mechanical arm control method based on an adaptive finite time disturbance observer. The method comprises the following steps: establishing a single connecting rod flexible mechanical arm dynamic equation according to the structure of a single connecting rod mechanical arm system, mathematically modeling a nonlinear saturation tracking signal in input control in the single connecting rod flexible mechanical arm dynamic equation, and constructing a single connecting rod flexible mechanical arm system model containing actuator saturation; constructing a radial basis function neural network according to state variables of the single connecting rod mechanical arm system; designing an adaptive finite time disturbance observer to estimate external disturbance in the single connecting rod mechanical arm system; constructing a composite anti-interference controller according to the output of the radial basis function neural network and the adaptive finite time disturbance observer, and controlling the single connecting rod flexible mechanical arm system by using the composite anti-interference controller. The application solves the adverse effects caused by actuator saturation, finely compensates for disturbance, and realizes stable control of the single connecting rod flexible mechanical arm system.

The invention discloses a self-adaptive integral sliding mode cooperative queue control strategy based on reinforcement learning, belongs to the field of intelligent control, and mainly aims to realize the stability and optimal control performance of a whole queue by online adjusting the weight of a neural network through reinforcement learning under the conditions of actuator saturation, parameter uncertainty and external disturbance. The method comprises the following steps: establishing a queue system model with uncertainty, external disturbance and actuator saturation; establishing a collaborative queue tracking error; establishing a reinforcement learning commentator network; establishing a reinforcement learning actor network; establishing a queue integral sliding mode surface; and establishing an adaptive integral sliding mode cooperative queue control strategy based on reinforcement learning. The method is used for cooperative queue intelligent control.

The invention discloses an anti-DoS attack and actuator saturation power system memory event trigger insurance cost control method and system, and relates to the technical field of network control systems. Establishing a state-space equation based on the dynamic characteristics of the power system; key influence factors in operation of the power system and external influence factors in a network environment are identified; constructing an output feedback controller based on a dynamic memory event triggering mechanism; a convex hull method is adopted to process saturation nonlinear characteristics of the actuator, a closed-loop system is obtained in combination with the state-space equation, and a guaranteed cost function is designed; and judging whether the closed-loop system meets the requirements of local asymptotic stability and a preset weighted disturbance attenuation level, solving a linear matrix inequality, and obtaining an output feedback controller gain and an event trigger weight matrix. The objective of the invention is to solve the problem that the system stability is difficult to guarantee under the complex conditions that a power system suffers from DoS attacks, actuator saturation exists and external disturbance faces.

The application provides an unmanned aerial vehicle anti-disturbance control method based on a finite time state observer, a finite time state observer is designed in a double closed-loop control framework based on a self-disturbance control, errors and disturbances are estimated and eliminated in a finite time, and the anti-disturbance capacity of the system is increased. Meanwhile, a robust control rate is added in the outer loop, the transient performance of the system is improved, the system is prevented from appearing in a large overshoot and an actuator saturation, and the control performance of the system is comprehensively improved.

The present application relates to a kind of probability uncertain closed-loop robust trajectory planning method considering actuator saturation, belong to the field of vehicle control technology, to reduce the sensitivity of guided ammunition scheme trajectory to uncertain factors, and while avoiding actuator saturation as far as possible, give full play to its limited control ability.First, the control quantity of the optimal trajectory of the determined performance is obtained as the initial value of the subsequent algorithm;Second, the main uncertain factors are modeled, and the uncertainty quantification module is built based on PCE method;Then, the corresponding constraint condition and objective function are designed, and the open-loop robust planning model is established, the algorithm accuracy and the time-consuming of calculation are considered, and the closed-loop tracking PID controller is designed and coupled with the open-loop planning model;Finally, the direct shooting method is used for closed-loop robust planning.The present application fully considers the matching of scheme trajectory and guidance control system, and overcomes the problems of insufficient precision of nonlinear model description and initial value sensitivity in traditional method.

The application discloses a preset performance spacecraft attitude tracking sliding mode control method and belongs to the technical field of process control. The method is based on a full drive system method and preset performance control. For a spacecraft attitude tracking system with inertia uncertainty, external disturbance and actuator saturation, first, a preset performance function with finite time convergence is used to constrain the spacecraft attitude tracking error, and a conversion function is used to convert the system state to construct a constrained attitude tracking system model. Then, the model is converted into a full drive system model, an adaptive disturbance observer is introduced to estimate the values of inertia uncertainty and external disturbance, and finally, based on the full drive system method, an anti-saturation compensation system is combined to design a preset performance anti-saturation sliding mode controller to control the spacecraft attitude and realize stable tracking of the spacecraft to the target attitude.

The application discloses a kind of helicopter random compound control methods under Markov jump wind field, belong to flight control technical field.Aiming at the problem that integral dispersion and instability caused by physical actuator saturation of helicopter under complex jump wind field, the method first establishes the augmented random helicopter system model considering actuator saturation and three-dimensional random Markov jump wind field;Second, design disturbance observer based on adaptive radial basis function neural network, reconstruct wind field disturbance state on-line unbiased;Then, the inner and outer loop controller is designed by using command filter backstepping method, and the inner and outer loop anti-integral saturation compensator is updated synchronously;Finally, by introducing the bottom layer of non-negative discriminant truncation mechanism and control distribution, the actuator command of each channel that satisfies physical hard limiting is solved.The application effectively absorbs nonlinear truncation error from the bottom of control law, ensures the global consistent ultimate boundedness of 4th moment of closed-loop signal, and greatly improves flight safety and trajectory tracking accuracy.

The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, and discloses an unmanned aerial vehicle cluster hierarchical disturbance control compliance consistency control method based on data driving, and the method comprises the following steps: S101, building a dynamic model of a multi-unmanned aerial vehicle cluster system under the action of multi-source disturbance; s102, designing a preset time distributed observer to estimate the state information of the leader; s103, designing an unknown nonlinear term in a projection-based parameter estimator estimation system; s104, constructing a preset time nonlinear interference observer for unmeasurable interference; and S105, designing a disturbance control compliant switching controller based on data driving. According to the method, active control and reasonable utilization of interference are achieved, the safety and dynamic performance of the system are remarkably improved while high-precision consistency is guaranteed, the energy consumption of the system is effectively reduced by restraining unnecessary track correction, actuator saturation and structural damage are avoided, and the reliability of the system is improved. Therefore, the efficiency and economy of collaborative operation of the multi-unmanned aerial vehicle cluster are comprehensively improved.

This invention discloses a control method for a Mecanar wheel mobile robot based on adaptive gain, including: S10, sensors acquiring motion parameters of the Mecanar wheel mobile robot; S20, the main controller calculating the error between the desired pose and the actual pose; S30, updating the values ​​of sliding mode variables; and S40, updating the output of the sliding mode controller. This invention consolidates the uncertainties and related disturbances in the system parameters during modeling, making the modeling more accurate and complete. It introduces adaptive parameters, eliminating the need to know the upper bound of the disturbances, adjusting the controller output gain according to the system state, and providing a solution for actuator saturation to achieve better control performance.

The application relates to a nonlinear anti-saturation robust control method of a flexible satellite attitude system based on a dynamic observer, and comprises the following steps: S1, establishing a flexible satellite attitude system, and converting the flexible satellite attitude system into a corresponding nonlinear state space model; S2, constructing a nonlinear dimension reduction dynamic observer according to the nonlinear state space model, designing a nonlinear state feedback robust controller based on the nonlinear dimension reduction dynamic observer, constructing a nonlinear anti-saturation compensator based on the nonlinear state feedback robust controller, and obtaining a nonlinear closed-loop control system which can simultaneously process state unmeasurability, convex polyhedral uncertainty, external disturbance and actuator saturation problems; S3, respectively deriving SOS solvability conditions under the conditions of ignoring and considering actuator saturation; and S4, respectively solving the nonlinear dimension reduction dynamic observer and the state feedback robust controller, and the nonlinear anti-saturation compensator under the conditions of ignoring and considering actuator saturation.

The application relates to the technical field of general automatic control systems, and discloses a control system for adaptively adjusting the running speed of a transfer robot based on a load, which comprises a core controller module and an inertia mirror adaptive law module; the inertia mirror adaptive law module is used for calculating an adaptive gain coefficient according to a basic control effort signal and a speed error, so as to adjust the control parameters of the core controller module; the system is further provided with an error signal discrimination module and an adaptive law arbitration module; when dynamic disturbance or a physical actuator saturation state is monitored, the adaptive gain coefficient of the inertia mirror adaptive law module is inhibited from being updated; the application realizes adaptive adjustment of load changes by using internal information of the control system, and ensures logical self-consistency through a double inhibition mechanism, thereby solving the inherent contradiction between responsiveness and stability in model time variation, and enabling the system to maintain consistent running characteristics under different loads.

The application relates to a full-distributed pre-scheduled time UAV cluster cooperative control method. The method comprises the following steps: a UAV double integrator dynamics model is established, positions and velocities are obtained, and a time-varying formation offset is introduced to generate a virtual cooperative state and a velocity tracking error; a time scale function which tends to infinity before a preset specified time and is a constant 1 after the preset specified time is constructed; a monotonically increasing edge and node adaptive gain is calculated by using a local error integral update law; an artificial potential field repulsive force gradient is calculated according to a neighboring distance; a virtual velocity instruction is generated by fusing the above parameters; a first stage control law containing feedforward compensation and disturbance estimation and a second stage control law with locked gain are respectively executed before and after the preset time based on a backstepping control model; and an actual control amount is output after being limited in amplitude. The application realizes full-distributed pre-scheduled time cooperative control, does not need global topological information, effectively avoids gain singularity and actuator saturation, and guarantees formation precision and obstacle avoidance safety.

The invention belongs to the technical field of autonomous underwater vehicle control, and particularly relates to an actuator saturation fault-oriented AUV fault-tolerant control method, a program, equipment and a storage medium. According to the method, the saturation control item is introduced into the fault compensation of the AUV, the redundancy characteristic of the hybrid actuator can be fully utilized, the force and torque redistribution under the fault is realized through the dynamic fault distribution matrix, and the saturation of the actuator is inhibited by means of the saturation error item of the Lyapunov function. On the premise that the trajectory tracking precision is not lost, the recovery time after a fault is greatly shortened, the output fluctuation of the actuator is reduced, the saturation risk is avoided, the control reliability and stability of the AUV under the fault working condition are remarkably improved, and the situation that the AUV is lost due to the fault generated by saturation of the actuator can be effectively reduced.

The invention discloses a temperature and flow double-closed-loop control method, system, equipment and medium, and belongs to the technical field of industrial process control, and the method comprises the steps: calculating an instantaneous heat exchange load by combining a filtering temperature output current variable, a filtering flow output current variable and an inlet temperature with a volume heat capacity parameter, and carrying out recursive updating to obtain load disturbance estimation; calculating a temperature tracking error, and generating a flow set value subjected to hard constraint and slope constraint; the flow set value serves as a set value of a PID controller, and control output is calculated on the basis of the filtering flow output current-period variable; and executing low-flow freezing protection, actuator saturation tracking insufficient protection and overtemperature protection, and outputting updated flow upper and lower limits, weight factors and a manual control state as inputs of optimization calculation of a next sampling period. Through closed-loop processing of inner and outer rings and feedback of protection and constraint results to an optimization link, temperature response acceleration, smooth flow regulation and timely safety protection are realized.