CN110780597A - Control method, device, equipment and medium for preventing steering engine from oscillating - Google Patents
Control method, device, equipment and medium for preventing steering engine from oscillating Download PDFInfo
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- CN110780597A CN110780597A CN201911013125.7A CN201911013125A CN110780597A CN 110780597 A CN110780597 A CN 110780597A CN 201911013125 A CN201911013125 A CN 201911013125A CN 110780597 A CN110780597 A CN 110780597A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
Abstract
The invention discloses a control method for preventing a steering engine from oscillating, which comprises the following steps: acquiring the current position of a steering engine; judging whether the steering engine is in an overshoot state or not according to the current position; if so, adjusting the control parameter to be an overshoot parameter to perform overshoot control; if not, the control parameters are adjusted to be normal control parameters. Therefore, the control method for preventing the steering engine from oscillating only performs corresponding overshoot control when the steering engine is in an overshoot state, and resource waste caused by adopting overshoot parameter control in the whole motion process is avoided. On the premise of effectively preventing oscillation, the performance of the product is ensured, and the experience of a user is improved. In addition, the invention provides a control device, equipment and a storage medium for preventing the steering engine from oscillating, which correspond to the method.
Description
Technical Field
The invention relates to the technical field of electric steering engine control, in particular to a control method, a device, equipment and a medium for preventing steering engine oscillation.
Background
The electric steering engine is used as a common position servo driver and widely applied to multiple fields of national defense, aerospace, transportation and the like. Under the condition that the electric steering engine runs in a step motion mode or an external large inertia load, the oscillation phenomenon can occur due to the inertia effect of the large inertia load of the system. FIG. 1 is a waveform diagram of a steering engine in an oscillation state; as shown in fig. 1, in the control process, the controlled variable reaches the target position at the time t1, and the control action of the steering engine continues to be carried out in the original direction due to the inertia effect, so that the controlled variable exceeds the target position to generate a deviation in the opposite direction, and reaches the maximum value of the position deviation at the time t 2; in order to reduce the reverse deviation, a reverse control operation is performed again, and when the controlled amount returns to the target position again at time t3, the controlled amount deviates from the target position again due to inertia, and this is repeated, so that the controlled amount oscillates around the target position, resulting in an unstable system.
In the prior art, a method for reducing control gain in a PID control algorithm is adopted to reduce the rotating speed of a steering engine in the whole movement process, so that a controlled product moves at a low rotating speed in the movement process, and the product is prevented from generating oscillation. However, the method adopts low-speed rotation in the whole movement process, so that the performance of the product is reduced to a great extent, resource waste is caused, and the use requirements of users cannot be better met.
Disclosure of Invention
The invention aims to provide a control method, a device, equipment and a medium for preventing oscillation of a steering engine, which only perform corresponding overshoot control when the steering engine is in an overshoot state, avoid resource waste caused by adopting overshoot parameter control in the whole movement process, and ensure the performance of a product on the premise of effectively preventing oscillation.
In order to solve the technical problem, the invention provides a control method for preventing the steering engine from oscillating, which comprises the following steps:
acquiring the current position of a steering engine;
judging whether the steering engine is in an overshoot state or not according to the current position;
if so, adjusting the control parameter to be an overshoot parameter to perform overshoot control;
if not, adjusting the control parameters to normal control parameters.
Preferably, according to the current position, judging whether the steering engine is in an overshoot state specifically includes:
determining a reference deviation of the steering engine; the reference deviation is a value obtained by subtracting an initial position from a target position when the target position is determined;
determining the current control deviation of the steering engine; the current control deviation is a value obtained by subtracting the current position from the target position;
judging whether the product of the reference deviation and the current control deviation is less than 0;
if so, the steering engine is in the overshoot state.
Preferably, the method further comprises the following steps:
setting a safety deviation range;
after the current position is obtained, judging whether the current position is within the safety deviation range;
if so, keeping the current running state of the steering engine;
if not, judging whether the steering engine is in the overshoot state or not.
Preferably, the adjusting the control parameter to the overshoot parameter to perform the overshoot control specifically includes:
and adjusting the control parameters into different overshoot parameters according to different overshoot degrees of the steering engine so as to perform corresponding overshoot control.
Preferably, the method further comprises the following steps:
and generating a log for recording the current overshoot degree, the current overshoot parameter corresponding to the current overshoot degree and the oscillation time.
Preferably, the method further comprises the following steps:
and updating different overshoot parameters corresponding to different overshoot degrees according to the log.
Preferably, the method further comprises the following steps:
judging whether an abnormal condition exists according to the data recorded in the log;
if yes, a warning prompt is carried out.
In order to solve the above technical problem, the present invention further provides a control device for preventing the steering engine from oscillating, including:
the acquisition module is used for acquiring the current position of the steering engine;
the judging module is used for judging whether the steering engine is in an overshoot state or not according to the current position; if yes, entering a first adjusting module; if not, entering a second adjusting module;
the first adjusting module is used for adjusting the control parameters into overshoot parameters to carry out overshoot control;
and the second adjusting module is used for adjusting the control parameters to normal control parameters.
In order to solve the technical problem, the invention also provides a control device for preventing the steering engine from oscillating, which comprises a memory, a controller and a controller, wherein the memory is used for storing a computer program;
and the processor is used for realizing the steps of the control method for preventing the steering engine from oscillating when the computer program is executed.
In order to solve the technical problem, the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the control method for preventing the steering engine from oscillating are implemented.
The invention provides a control method for preventing oscillation of a steering engine, which comprises the steps of firstly obtaining the current position of the steering engine, judging whether the steering engine is in an overshoot state currently according to the current position of the steering engine, and determining whether overshoot control needs to be carried out according to the current state of the steering engine; if the control parameter is in the overshoot state, adjusting the control parameter to the overshoot parameter to perform overshoot control; the steering engine is effectively subjected to overshoot control in an overshoot state, so that a product controlled by the steering engine is prevented from oscillating; and under the non-overshoot state, the system continues to work according to the normal working state, so that the performance of the product is ensured, and unnecessary resource loss is avoided. Therefore, the control method for preventing the steering engine from oscillating only performs corresponding overshoot control when the steering engine is in an overshoot state, and resource waste caused by adopting overshoot parameter control in the whole motion process is avoided. On the premise of effectively preventing oscillation, the performance of the product is ensured, and the experience of a user is improved.
In addition, the control device, the equipment and the storage medium for preventing the steering engine from oscillating correspond to the method, and have the same beneficial effects.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a waveform diagram of a steering engine in an oscillation state;
FIG. 2 is a flowchart of a control method for preventing oscillation of a steering engine according to an embodiment of the present invention;
FIG. 3 is a sectional view of a steering engine motion curve control provided by an embodiment of the present invention;
FIG. 4 is a sectional view of another steering engine motion curve control provided by an embodiment of the present invention;
FIG. 5 is a flowchart of another control method for preventing oscillation of a steering engine according to an embodiment of the present invention;
FIG. 6 is a structural diagram of a control device for preventing the steering engine from oscillating according to an embodiment of the present invention;
fig. 7 is a structural diagram of a control device for preventing an oscillation of a steering engine according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
The core of the invention is to provide a control method, a device, equipment and a medium for preventing the steering engine from oscillating, corresponding overshoot control is only carried out when the steering engine is in an overshoot state, resource waste caused by adopting overshoot parameter control in the whole movement process is avoided, and the performance of a product is ensured on the premise of effectively preventing oscillation.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 2 is a flowchart of a control method for preventing oscillation of a steering engine according to an embodiment of the present invention; as shown in fig. 2, the control method for preventing the steering engine from oscillating provided by the embodiment of the invention comprises steps S101 to S104;
step S101: acquiring the current position of a steering engine;
step S102: judging whether the steering engine is in an overshoot state or not according to the current position; if yes, go to step S103; if not, the step S104 is entered;
step S103: adjusting the control parameters into overshoot parameters to perform overshoot control;
step S104: and adjusting the control parameters to normal control parameters.
The condition that the steering engine oscillates means that the position of the steering engine fluctuates up and down at a target position, namely, an overshoot state occurs in the steering engine in the oscillation process, so that the current position of the steering engine is judged to determine whether the steering engine is in the overshoot state currently, and if the steering engine is not in the overshoot state, PID control is performed on a system according to normal parameters; if the control parameter is in the overshoot state, adjusting the control parameter into the overshoot parameter to perform overshoot control; the overshoot parameters are low-gain parameters, and the rotating speed of the steering engine can be reduced by performing overshoot control on the low-gain parameters, so that the steering engine can be stably transited to a target position. It should be noted that, the embodiment is not limited to a specific value of the overshoot parameter, and a person skilled in the art may determine the value of the overshoot parameter to be adopted according to the actual application situation.
In one embodiment, the determining whether the steering engine is in the overshoot state specifically includes:
determining the reference deviation of the steering engine; the reference deviation is a value obtained by subtracting the initial position from the target position when the target position is determined;
determining the current control deviation of the steering engine; the current control deviation is specifically a value obtained by subtracting the current position from the target position;
judging whether the product of the reference deviation and the current control deviation is less than 0;
if so, the steering engine is in an overshoot state.
In one embodiment, a reference deviation T and a current control deviation E are determined, and when T is set to be larger than E >0, the current system is in a non-overshoot state; and when T is set to be E <0, the current system is in an overshoot state.
FIG. 3 is a sectional view of a steering engine motion curve control provided by an embodiment of the present invention; as shown in fig. 3, the target position Vg is set at the initial time of the period T1, and the reference deviation T is a value obtained by subtracting the initial position from the target position, when the reference deviation T > 0. The current control deviation E of the steering engine is a value obtained by subtracting the current position from the target position Vg.
Specifically, the target position is greater than the current position during time t 1; so the current control deviation E > 0; and the product of the reference deviation and the current control deviation is more than 0, namely T & ltE & gt 0, the situation that the steering engine is in a non-overshoot state in a time period T1 can be judged, the steering engine can be controlled according to normal PID control parameters, the steering engine is guaranteed to work according to normal performance, and important performance parameters such as the rotating speed, the adjusting time, the bandwidth and the dead zone of the steering engine are not influenced. It is understood that the t3 time period and the t5 time period in fig. 3 are both in the non-overshoot state, which are the same as the t1 time period, and can be controlled according to the normal PID control parameters.
Specifically, the target position is smaller than the current position during time t 2; so the current control deviation E < 0; and the product of the reference deviation and the current control deviation is less than 0, namely T is less than 0, the overshoot state can be judged at the time period T2, the control parameter needs to be adjusted to the overshoot parameter at the time, the running speed is reduced, the adjustment time is ensured in the process that the steering engine moves from the current position to the control target value, the oscillation is avoided, and the smooth transition of the system to the target position is ensured. It is understood that the t4 time period and the t2 time period in fig. 3 are the same, and are both in the overshoot state, and can be controlled according to the overshoot parameters.
FIG. 4 is a sectional view of another steering engine motion curve control provided by an embodiment of the present invention; as shown in fig. 4, the target position Vg is set at the initial time of the period T1, and the reference deviation T is a value obtained by subtracting the initial position from the target position, and then the reference deviation T < 0. The current control deviation E of the steering engine is a value obtained by subtracting the current position from the target position Vg, and needs to be determined according to the current positions of the steering engine at different time intervals.
Specifically, the target position is smaller than the current position during time t 1; so the current control deviation E < 0; and the product of the reference deviation and the current control deviation is greater than 0, namely T & ltE & gt 0, the situation that the steering engine is in a non-overshoot state in a time period T1 can be judged, the steering engine can be controlled according to normal PID control parameters, and the steering engine can be guaranteed to work according to normal performance. It is understood that the t3 time period and the t5 time period in fig. 4 are both in the non-overshoot state, which are the same as the t1 time period, and can be controlled according to the normal PID control parameters.
Specifically, the target position is greater than the current position during time t 2; so the current control deviation E > 0; and the product of the reference deviation and the current control deviation is less than 0, namely T × E <0, the overshoot state can be judged in the time period T2, and at the moment, the control parameter needs to be adjusted to the overshoot parameter, so that the system is ensured to be smoothly transited to the target position. It is understood that the t4 time period and the t2 time period in fig. 4 are the same, and are both in the overshoot state, and can be controlled according to the overshoot parameters.
It should be noted that, in practical applications, the steering engine is often replaced with a new target position during operation. Since the reference deviation is specifically a value obtained by subtracting the initial position from the target position when the target position is determined. Therefore, when the new target position is replaced, the reference deviation also needs to be changed correspondingly according to the current actual situation, and then whether the steering engine is in an overshoot state or not is judged. Specifically, the new target position after replacement is taken as a target position for calculating the reference deviation; and when the target replacement position is determined, the current position of the steering engine is used as the initial position for calculating the reference deviation, and the reference deviation after the target replacement position is calculated again. Therefore, the numerical value of the reference deviation is adjusted in time according to the actual application condition of the steering engine, the steering engine in an overshoot state is adjusted in real time, and the steering engine is enabled to quickly run to a target position while the oscillation condition is avoided.
The invention provides a control method for preventing oscillation of a steering engine, which comprises the steps of firstly obtaining the current position of the steering engine, judging whether the steering engine is in an overshoot state currently according to the current position of the steering engine, and determining whether overshoot control needs to be carried out according to the current state of the steering engine; if the control parameter is in the overshoot state, adjusting the control parameter to the overshoot parameter to perform overshoot control; the steering engine is effectively subjected to overshoot control in an overshoot state, so that a product controlled by the steering engine is prevented from oscillating; and under the non-overshoot state, the system continues to work according to the normal working state, so that the performance of the product is ensured, and unnecessary resource loss is avoided. Therefore, the control method for preventing the steering engine from oscillating only performs corresponding overshoot control when the steering engine is in an overshoot state, and resource waste caused by adopting overshoot parameter control in the whole motion process is avoided. On the premise of effectively preventing oscillation, the performance of the product is ensured, and the experience of a user is improved.
FIG. 5 is a flowchart of another control method for preventing oscillation of a steering engine according to an embodiment of the present invention; as shown in fig. 5, the control method for preventing the steering engine from oscillating provided by the embodiment of the invention further includes steps S201 to S204;
step S201: setting a safety deviation range;
step S202: after the current position is obtained, judging whether the current position is within a safety deviation range; if yes, go to step S203; if not, go to step S204;
step S203: keeping the current running state of the steering engine;
step S204: and judging whether the steering engine is in an overshoot state or not.
In specific implementation, in order to ensure that the steering engine can accurately reach a target position, firstly, a safety deviation range is set; when the steering engine runs to the safe deviation range, whether the current state is the overshoot state or not, the control is carried out according to the normal PID control parameters. Where the safe deviation range is typically near the target location. For example, if the deviation value is set as Em, the range from the target position Vg minus the deviation value Em to the target position Vg plus the deviation value Em is determined as a safety deviation range (Vg-Em, Vg + Em). When the current position is judged to be within the safety deviation range, the current running state of the steering engine is kept; and when the current position is judged not to be within the safety deviation range, whether the steering engine is in an overshoot state or not can be continuously judged, and whether overshoot parameters are adopted for control or not is determined according to the judgment result. It is to be understood that a person skilled in the art may set the safety deviation range according to actual needs, and the embodiments of the present invention are not limited. According to the embodiment of the invention, when the steering engine is in the safety deviation range, the normal PID control parameters are adopted for control, so that the steering engine can be further ensured to accurately reach the target position, and the static error is avoided.
In an embodiment, in the control method for preventing the steering engine from oscillating provided in the embodiment of the present invention, step S103 specifically includes:
and adjusting the control parameters into different overshoot parameters according to the difference of the overshoot degrees of the steering engine so as to perform corresponding overshoot control.
Specifically, the steering engine has different overshoot degrees at different positions in the overshoot state. Corresponding overshoot parameters can be set according to the difference of overshoot degrees to control the overshoot parameters. For example, from time t1 to time t2 in fig. 1, the steering engine is in an overshoot state and gradually gets away from the target position, and the overshoot degree is high, so that the overshoot parameters corresponding to the high overshoot degree can be adopted for control in the time period, and the degree of deviation of the steering engine from the target position is reduced as much as possible; and at the time from t2 to t3, the steering engine is in an overshoot state but is gradually close to the target position, and the overshoot degree is low, so that the overshoot parameters corresponding to the low overshoot degree can be adopted for control in the time period, and the oscillation in the opposite direction is avoided as much as possible. A person skilled in the art can divide the overshoot degree occurring in the operation process of the steering engine according to the actual application situation, and set the corresponding overshoot parameter, which is not limited in the embodiment of the present invention. According to the embodiment of the invention, the corresponding control parameters are adjusted according to different overshoot degrees, so that oscillation can be more effectively avoided, and the steering engine can more accurately reach the target position.
In one embodiment, the invention provides a control method for preventing a steering engine from oscillating, which further comprises the following steps:
and generating a log for recording the current overshoot degree, the current overshoot parameter corresponding to the current overshoot degree and the oscillation time.
Specifically, the current overshoot degree in the operation process of the steering engine, the current overshoot parameter corresponding to the current overshoot degree and the oscillation time are recorded into logs, and therefore subsequent checking and analysis by workers are facilitated.
In one embodiment, the invention provides a control method for preventing a steering engine from oscillating, which further comprises the following steps:
and updating different overshoot parameters corresponding to different overshoot degrees according to the log.
Specifically, according to the current overshoot degree recorded by the log, the current overshoot parameter corresponding to the current overshoot degree and the oscillation time, the current overshoot parameter can be analyzed, and the most appropriate overshoot parameter in different overshoot degrees can be determined, so that the control on the steering engine in the overshoot state is improved and optimized, and the oscillation generated in the operation process of the steering engine can be better controlled.
In one embodiment, the invention provides a control method for preventing a steering engine from oscillating, which further comprises the following steps:
judging whether an abnormal condition exists according to data recorded in the log;
if yes, a warning prompt is carried out.
Specifically, the running state of the steering engine is analyzed according to the data recorded by the log, for example, whether the steering engine is in a normal running state or not is judged according to parameters such as the speed, the acceleration, the current position and the moving direction of the steering engine, if the steering engine is abnormal, warning prompt is carried out in the log, so that a worker can find the abnormality in time, and the safety and the normal work of a controlled product are ensured.
The invention further provides a corresponding embodiment of the control device for preventing the steering engine from oscillating. Embodiments of a control device for steering engine anti-oscillation are described based on the angle of the functional module.
FIG. 6 is a structural diagram of a control device for preventing the steering engine from oscillating according to an embodiment of the present invention; as shown in fig. 6, an embodiment of the present invention provides a control device for preventing an oscillation of a steering engine, including:
the acquisition module 10 is used for acquiring the current position of the steering engine;
the judging module 11 is used for judging whether the steering engine is in an overshoot state or not according to the current position; if yes, entering an adjusting module;
a first adjusting module 12, configured to adjust the control parameter to an overshoot parameter for overshoot control;
and a second adjusting module 13, configured to adjust the control parameter to a normal control parameter.
Since the embodiments of this section correspond to the embodiments of the method section, reference is made to the description of the embodiments of the method section for the embodiments of this section, and details are not repeated here.
The invention provides a control device for preventing oscillation of a steering engine, which is characterized in that the current position of the steering engine is firstly obtained, whether the steering engine is in an overshoot state at present is judged according to the current position of the steering engine, and whether overshoot control is required or not is determined according to the current state of the steering engine; if the control parameter is in the overshoot state, adjusting the control parameter to the overshoot parameter to perform overshoot control; the steering engine is effectively subjected to overshoot control in an overshoot state, so that a product controlled by the steering engine is prevented from oscillating; and under the non-overshoot state, the system continues to work according to the normal working state, so that the performance of the product is ensured, and unnecessary resource loss is avoided. Therefore, the control method for preventing the steering engine from oscillating only performs corresponding overshoot control when the steering engine is in an overshoot state, and resource waste caused by adopting overshoot parameter control in the whole motion process is avoided. On the premise of effectively preventing oscillation, the performance of the product is ensured, and the experience of a user is improved.
The control device for preventing the steering engine from oscillating provided by the embodiment of the invention further comprises:
the setting module is used for setting a safety deviation range, and judging whether the current position is within the safety deviation range after the current position is obtained; if so, keeping the current running state of the steering engine; if not, judging whether the steering engine is in an overshoot state or not.
And the generation module is used for generating a log for recording the current overshoot degree, the current overshoot parameters corresponding to the current overshoot degree and the oscillation time.
And the updating module is used for updating different overshoot parameters corresponding to different overshoot degrees according to the log.
The warning module is used for judging whether an abnormal condition exists according to the data recorded in the log; if yes, a warning prompt is carried out.
The invention further provides a corresponding embodiment of the control equipment for preventing the steering engine from oscillating. Embodiments of a control device for steering engine anti-oscillation are described based on hardware perspective.
FIG. 7 is a structural diagram of a control device for preventing the steering engine from oscillating according to an embodiment of the present invention; as shown in fig. 7, the control device for preventing the steering engine from oscillating according to the embodiment of the present invention includes a memory 20 for storing a computer program;
processor 21 for implementing the steps of the control method for steering engine anti-oscillation as described in any one of the above when executing a computer program
The processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 21 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 21 may further include an AI (Artificial Intelligence) processor for processing a calculation operation related to machine learning.
The memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing the following computer program 201, wherein after being loaded and executed by the processor 21, the computer program can implement relevant steps in the control method for preventing the steering engine from oscillating disclosed in any one of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202, data 203, and the like, and the storage manner may be a transient storage manner or a permanent storage manner. Operating system 202 may include, among others, Windows, Unix, Linux, and the like.
In some embodiments, the control device for preventing the steering engine from oscillating may further include an input/output interface 22, a communication interface 23, a power supply 24, and a communication bus 25.
It will be appreciated by those skilled in the art that the arrangement shown in figure 7 does not constitute a limitation of the control device for the anti-oscillation of a steering engine and may include more or fewer components than those shown.
Since the embodiment of the device portion and the embodiment of the method portion correspond to each other, please refer to the description of the embodiment of the method portion for the embodiment of the device portion, which is not repeated here. In some embodiments of the invention, the processor and memory may be connected by a bus or other means.
The invention provides control equipment for preventing a steering engine from oscillating, which can realize the following method: firstly, acquiring the current position of a steering engine, and judging whether the steering engine is in an overshoot state currently according to the current position of the steering engine, so as to determine whether to perform overshoot control according to the current state of the steering engine; if the control parameter is in the overshoot state, adjusting the control parameter to the overshoot parameter to perform overshoot control; the steering engine is effectively subjected to overshoot control in an overshoot state, so that a product controlled by the steering engine is prevented from oscillating; and under the non-overshoot state, the system continues to work according to the normal working state, so that the performance of the product is ensured, and unnecessary resource loss is avoided. Therefore, the control method for preventing the steering engine from oscillating only performs corresponding overshoot control when the steering engine is in an overshoot state, and resource waste caused by adopting overshoot parameter control in the whole motion process is avoided. On the premise of effectively preventing oscillation, the performance of the product is ensured, and the experience of a user is improved.
Finally, the invention also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps as set forth in the above-mentioned method embodiments.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and performs all or part of the steps of the methods according to the embodiments of the present invention, or all or part of the technical solution. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The detailed description is given above to a control method, a device, equipment and a medium for preventing the steering engine from oscillating. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A control method for preventing the steering engine from oscillating is characterized by comprising the following steps:
acquiring the current position of a steering engine;
judging whether the steering engine is in an overshoot state or not according to the current position;
if so, adjusting the control parameter to be an overshoot parameter to perform overshoot control;
if not, adjusting the control parameters to normal control parameters.
2. The control method for the anti-oscillation of the steering engine according to claim 1, wherein the step of judging whether the steering engine is in the overshoot state according to the current position specifically comprises the steps of:
determining a reference deviation of the steering engine; the reference deviation is a value obtained by subtracting an initial position from a target position when the target position is determined;
determining the current control deviation of the steering engine; the current control deviation is a value obtained by subtracting the current position from the target position;
judging whether the product of the reference deviation and the current control deviation is less than 0;
if so, the steering engine is in the overshoot state.
3. The control method for preventing the steering engine from oscillating as claimed in claim 1, further comprising:
setting a safety deviation range;
after the current position is obtained, judging whether the current position is within the safety deviation range;
if so, keeping the current running state of the steering engine;
if not, judging whether the steering engine is in the overshoot state or not.
4. The control method for the anti-oscillation of the steering engine according to claim 1, wherein the adjusting the control parameter to the overshoot parameter to perform the overshoot control specifically comprises:
and adjusting the control parameters into different overshoot parameters according to different overshoot degrees of the steering engine so as to perform corresponding overshoot control.
5. The control method for preventing the steering engine from oscillating as claimed in claim 4, further comprising:
and generating a log for recording the current overshoot degree, the current overshoot parameter corresponding to the current overshoot degree and the oscillation time.
6. The control method for preventing the steering engine from oscillating as claimed in claim 5, further comprising:
and updating different overshoot parameters corresponding to different overshoot degrees according to the log.
7. The control method for preventing the steering engine from oscillating as claimed in claim 5, further comprising:
judging whether an abnormal condition exists according to the data recorded in the log;
if yes, a warning prompt is carried out.
8. A controlling means for steering wheel anti-oscillation which characterized in that includes:
the acquisition module is used for acquiring the current position of the steering engine;
the judging module is used for judging whether the steering engine is in an overshoot state or not according to the current position; if yes, entering a first adjusting module; if not, entering a second adjusting module;
the first adjusting module is used for adjusting the control parameters into overshoot parameters to carry out overshoot control;
and the second adjusting module is used for adjusting the control parameters to normal control parameters.
9. A control device for preventing the steering engine from oscillating is characterized by comprising a memory, a controller and a controller, wherein the memory is used for storing a computer program;
a processor for implementing the steps of the control method for steering engine anti-oscillation according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the control method for steering engine anti-oscillation according to any one of claims 1 to 7.
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