CN113741593A - Gain pre-estimation control system, temperature control system, method and device - Google Patents
Gain pre-estimation control system, temperature control system, method and device Download PDFInfo
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Abstract
The embodiment of the application discloses a gain pre-estimation control system, a temperature control system, a method and a device, which relate to the field of control systems, wherein the gain pre-estimation control system comprises: the device comprises a first comparator, a first transfer function arithmetic unit, a second transfer function arithmetic unit, a first time lag arithmetic unit, a second time lag arithmetic unit, a division arithmetic unit and a multiplication arithmetic unit; the temperature control system includes: the gain pre-estimation control system comprises a gain pre-estimation control system, a second comparator, a third comparator, a first proportional operator, a second proportional operator, a fuzzy controller and a linear state observer. By adopting the embodiment of the application, the anti-interference performance of the temperature control system can be improved, the dependence on an accurate mathematical model is reduced, and the online adjustment of parameters is realized.
Description
Technical Field
The present disclosure relates to the field of control systems, and more particularly, to a gain pre-estimation control system, a temperature control system, a method and a device.
Background
The temperature control system is generally a process control system with nonlinearity, large hysteresis, large inertia, large interference and complex dynamic characteristics. The conventional temperature control system usually uses PID control, however, the conventional PID control often has the conditions of poor closed loop stability, overlarge overshoot, poor anti-interference performance and the like. Even if the fuzzy PID control is introduced in the related art in order to improve the problems caused by the PID control, the fuzzy PID control cannot solve the large hysteresis problem. Therefore, a temperature control system introduced into the Smith predictor correspondingly comprises Smith prediction control, Smith prediction active disturbance rejection control, time lag system self-adaptive control of a Smith predictor model and the like, but the Smith predictor completely depends on a controlled object mathematical model, if the controlled object precise mathematical model cannot be obtained, the expected control effect is difficult to achieve, and the difficulty of realizing precise mathematical modeling for a temperature control system with complex dynamic characteristics is high.
Disclosure of Invention
The embodiment of the application provides a gain pre-estimation control system, a temperature control system, a method and a device, which can improve the anti-interference performance of the temperature control system, reduce the dependence on an accurate mathematical model and realize the online adjustment of parameters. The technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a gain estimation control system, where the system includes:
the device comprises a feedback controller, a first transfer function arithmetic unit, a second transfer function arithmetic unit, a first time lag arithmetic unit, a second time lag arithmetic unit, a division arithmetic unit and a multiplication arithmetic unit;
the first comparator comprises a first input end and a second input end, the first output end of the first comparator is connected with the input end of the first transfer function arithmetic unit, and the second output end of the first comparator is connected with the input end of the second transfer function arithmetic unit;
the output end of the first transfer function arithmetic unit is connected with the input end of the first time lag arithmetic unit;
the first time lag arithmetic unit comprises a first output end, and a second output end of the first time lag arithmetic unit is connected with a first input end of the division arithmetic unit;
a first output of the second transfer function operator is connected to an input of the second time lag operator, and a second output of the second sensor function is connected to a first input of the multiplier operator;
the output end of the second time lag arithmetic unit is connected with the second input end of the division arithmetic unit, the output end of the division arithmetic unit is connected with the second input end of the multiplication arithmetic unit, and the multiplication arithmetic unit comprises an output end;
the first comparator is used for receiving a disturbance value through a first input end of the first comparator and receiving a control value through a second input end of the first comparator;
the first time lag operator is used for outputting a target temperature value through a first output end of the first time lag operator;
the multiplication arithmetic unit is used for outputting the pre-estimated value through the output end of the output multiplication arithmetic unit; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
In a second aspect, an embodiment of the present application provides a gain estimation control method, where the gain estimation control method is applied to the gain estimation control system according to the first aspect, and the method includes:
aiming at a control value, acquiring a target temperature value of the control value affected by disturbance and time lag;
aiming at the control value, acquiring a first output value of the control value without time lag influence;
obtaining a pre-estimated value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
In a third aspect, an embodiment of the present application provides a temperature control system, where the temperature control system includes the gain estimation control system according to the first aspect, and the temperature control system further includes:
the system comprises a second comparator, a third comparator, a first proportional operator, a second proportional operator, a fuzzy controller and a linear state observer;
the second comparator comprises a first input end, a negative feedback input end of the second comparator is connected with a first output end of the linear state observer, and an output end of the second comparator is connected with a first input end of the fuzzy controller;
a second input end of the fuzzy controller is connected with a second output end of the linear state observer, and an output end of the fuzzy controller is connected with a first input end of the third comparator;
a negative feedback input end of the third comparator is connected with a third output end of the linear state observer, and an output end of the third comparator is connected with an input end of the first proportional operator;
a first output end of the first proportional arithmetic unit is connected with the gain pre-estimation control system, and a second output end of the first proportional arithmetic unit is connected with an input end of the second proportional arithmetic unit;
the output end of the second proportional operator is connected with the first input end of the linear state observer, and the second input end of the linear state observer is connected with the gain pre-estimation control system.
The second comparator is used for receiving a preset temperature value through a first input end of the second comparator;
the third comparator is used for receiving a control value corresponding to the preset temperature value from the fuzzy controller through an input end of the third comparator;
the gain pre-estimation control system is used for receiving the control value and outputting a target temperature value and a pre-estimated value; wherein the estimated value and the target temperature value are used to indicate an adjustment of the control value to achieve that the target temperature value is similar to the preset temperature value.
In a fourth aspect, an embodiment of the present application provides a temperature control method, which is applied to the temperature control system according to the third aspect, and the method includes:
acquiring a second output value corresponding to a preset temperature value, and acquiring a control value of the second output value affected by proportional control;
inputting the control value into the gain estimation system to obtain a target temperature value and a predicted value;
inputting the second output value and the estimated value to a linear state observer to obtain three estimated values;
acquiring control values influenced by the three estimation values, inputting the influenced control values into the gain estimation control system, and acquiring target temperature values corresponding to the influenced control values;
and adjusting the control value, and repeating the steps until the target temperature value is similar to the preset temperature value.
In a fifth aspect, an embodiment of the present application provides a gain estimation control apparatus, where the apparatus includes:
the target temperature module is used for acquiring a target temperature value of the control value under the influence of disturbance and time lag aiming at the control value;
the first output module is used for acquiring a first output value of the control value without time lag influence aiming at the control value;
the pre-estimation control module is used for acquiring a pre-estimation value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
In a sixth aspect, an embodiment of the present application provides a temperature control apparatus, including:
the first acquisition module is used for acquiring a second output value corresponding to a preset temperature value and acquiring a control value of the second output value affected by proportional control;
the gain estimation module is used for inputting the control value into the gain estimation system to obtain a target temperature value and a predicted value;
the estimation acquisition module is used for inputting the second output value and the estimated value to a linear state observer to acquire three estimation values;
the second acquisition module is used for acquiring a control value influenced by the three estimation values, inputting the influenced control value into the gain estimation control system and acquiring a target temperature value corresponding to the influenced control value;
and the target adjusting module is used for adjusting the control value and repeating the steps until the target temperature value is similar to the preset temperature value.
In a seventh aspect, an embodiment of the present application provides a computer storage medium storing a plurality of instructions, which are adapted to be loaded by a processor and to perform the above-mentioned method steps.
In an eighth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The beneficial effects brought by the technical scheme provided by some embodiments of the application at least comprise: the application provides a gain pre-estimation control system, which effectively solves the problem that the control value and the system output are not synchronous in the related technology, namely, the influence of time lag in the control system is reduced, and the dependence on an accurate mathematical model is reduced through a multiplication arithmetic unit and a division arithmetic unit; the application provides a temperature control system, which has strong anti-interference performance and avoids nonlinear state error feedback, thereby realizing online adjustment of parameters.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a gain estimation control system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a gain estimation control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a temperature control system according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a temperature control system provided in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a temperature control system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a gain estimation control apparatus according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a temperature control device according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it is noted that, unless explicitly stated or limited otherwise, "including" and "having" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The present application will be described in detail with reference to specific examples.
In an embodiment, as shown in fig. 1, a schematic structural diagram of a gain estimation control system provided in an embodiment of the present application includes: first comparator 101, first transfer function arithmetic unit
102. Second transfer function arithmetic unit
104. First time lag arithmetic unit
103. Second time lag arithmetic unit
105. A division operator 106 and a multiplication operator 107.
The following is the connection relationship of the gain estimation control system shown in fig. 1:
the first comparator 101 comprises a first input terminal and a second input terminal, a first output terminal of the first comparator 101 and a first transfer function operator
102, and a second output terminal of the first comparator 101 is connected to an input terminal of the second transfer function operator 104;
first transfer function arithmetic unit
102 and a first time lag operator
103 are connected with each other;
first time lag arithmetic unit
103 includes a first output terminal, a first time lag operator
A second output terminal of 103 is connected to a first input terminal of a division operator 106;
second transfer function arithmetic unit
104 and a second time lag operator
105, and a second output of the second sensor function is connected to a first input of a multiplier 107;
second time lag arithmetic unit
The output terminal of 105 is connected to a second input terminal of the division operator 106, the output terminal of the division operator 106 is connected to a second input terminal of the multiplication operator 107, and the multiplication operator 107 includes an output terminal.
The following are the input and output values of the gain estimation control system shown in fig. 1:
a first comparator 101 for receiving the disturbance value via a first input of the first comparator 101
Receiving a control value via a second input of the first comparator 101
；
A first time lag operator 103 for outputting a target temperature value through a first output terminal of the first time lag operator 103
；
A multiplier 107 for outputting the estimated value through the output of the output multiplier 107
(ii) a Wherein the estimated value
And a target temperature value
For control value
And performing gain estimation control.
In one embodiment, as shown in fig. 2, a gain estimation control method provided for the embodiments of the present application may be implemented by relying on a computer program and may be run on a von neumann-based gain estimation control device. The computer program may be integrated into the application or may run as a separate tool-like application.
Specifically, the gain estimation method comprises the following steps:
s101, acquiring a target temperature value of the control value affected by disturbance and time lag.
Specifically, the control value
Through a first comparator 101 and a first transfer function operator
102. And a first time lag operator
103 obtaining a target temperature value
. In other words, S101 includes the following formula:
wherein the content of the first and second substances,
is the target temperature value for the temperature of the object,
in order to control the value of the control,
in order to be a value of the disturbance,
for the expression function of the first transfer function operator,
is an expression function of the first time lag operator.
S102, aiming at the control value, a first output value without time lag influence after the control value passes is obtained.
Specifically, the control value
Through a positive second transfer function operator
104 to obtain a first output value
. In other words, S102 includes the following formula:
wherein the content of the first and second substances,
is the first output value of the first output value,
in order to control the value of the control,
is the expression function of the second transfer function operator.
S103, obtaining a pre-estimated value corresponding to the control value according to the first output value and the target temperature value.
Specifically, the target temperature value
And by a second time delay unit
105 first output value
The output value of the divider 106, the output value and the first output value
Obtaining the estimated value by a multiplier 107
. Specifically, S103 includes the following formula:
wherein the content of the first and second substances,
is an estimated value.
The gain prediction control system is provided for overcoming the defect that the simth prediction control system in the related technology completely depends on a controlled object mathematical model. Controlled process output
And control action
(i.e. control value) lag time
The gain estimation system output proposed in the present application
Equivalent passing time-lag-free link
Channels, so to estimate values
Time domain of
And control action
And (6) synchronizing. Therefore, the gain estimation control system effectively solves the control effect
And system output (target temperature value)
And an estimate
) The problem of non-synchronization.
And because the simth control prediction model is completely dependent on the accuracy degree of simulating the controlled process characteristics, the gain prediction control system provided by the application passes through the multiplication arithmetic unit and the division arithmetic unit, and then the second transfer function arithmetic unit
Are cancelled out. Therefore, the gain estimation control system proposed in the present applicationThe system reduces the dependency on the accuracy of the model.
In an embodiment, as shown in fig. 3, a schematic structural diagram of a temperature control system provided for an embodiment of the present application includes: a gain pre-estimation control system 205, a second comparator 201, a third comparator 203, a first proportional operator 204, a second proportional operator 206, a fuzzy controller 202, and a linear state observer 207.
The following is the connection relationship of the temperature control system shown in fig. 3:
the second comparator 201 comprises a first input terminal, a negative feedback input terminal of the second comparator 201 is connected with a first output terminal of the linear state observer 207, and an output terminal of the second comparator 201 is connected with a first input terminal of the fuzzy controller 202;
a second input terminal of the fuzzy controller 202 is connected to a second output terminal of the linear state observer 207, and an output terminal of the fuzzy controller 202 is connected to a first input terminal of the third comparator 203;
a negative feedback input end of the third comparator 203 is connected with a third output end of the linear state observer 207, and an output end of the third comparator 203 is connected with an input end of the first proportional operator 204;
a first output end of the first proportional operator 204 is connected with the gain pre-estimation control system 205, and a second output end of the first proportional operator 204 is connected with an input end of the second proportional operator 206;
an output of the second proportional operator 206 is connected to a first input of the linear state observer 207, and a second input of the linear state observer 207 is connected to the gain pre-estimation control system 205.
The following are the inputs and values for the temperature control system shown in FIG. 3:
a second comparator 201 for receiving a preset temperature value through a first input terminal of the second comparator 201
；
A third comparator 203 for receiving the preset temperature value from the fuzzy controller 202 via an input of the third comparator 203Corresponding control value
；
The gain estimation control system 205 is used for receiving the control value and outputting a target temperature value and an estimated value; the estimated value and the target temperature value are used for indicating the adjustment of the control value so as to realize that the target temperature value is similar to the preset temperature value.
In an embodiment, as shown in fig. 4, a schematic structural diagram of a temperature control system provided for an embodiment of the present application includes: first comparator 101, first transfer function arithmetic unit
102. Second transfer function arithmetic unit
104. First time lag arithmetic unit
103. Second time lag arithmetic unit
105. A division operator 106, a multiplication operator 107, a second comparator 201, a third comparator 203, a first proportional operator 204, a second proportional operator 206, a fuzzy controller 202, and a linear state observer 207.
A first output terminal of the first proportional operator 204 is connected to a second input terminal of the first comparator 101 included in the gain prediction control system, and a second input terminal of the linear state observer 207 is connected to an output terminal of the multiplier operator 107 included in the gain prediction control system.
A first comparator 202, specifically for receiving the control value from the first proportional operator via a second input terminal of the first comparator
。
A multiplier 107, in particular for inputting the pre-estimated value to the linear state observer 207 via the output of the multiplier 107
。
For example, the temperature control system is applied to the occasion of metal smelting, the occasion needs to control the temperature of the reaction kettle to be 200 +/-5 ℃, and the first transfer function is preliminarily established based on the occasion
And a second transfer function
Wherein the control value is
For the action values corresponding to the mathematical model, e.g. flow rate of the metal liquid in the reactor, preset temperature values
(ii) a When the control value is
Time, input
Obtaining a target temperature value based on the temperature control system shown in FIG. 3 or FIG. 4
Then adjust
Up to the target temperature value
I.e. the control value pair is completed
Based on the control value
The temperature of the reaction kettle is controlled within 200 +/-5 ℃ according to the flow rate of the metal liquid in the reaction kettle, so that the temperature is controlled.
In one embodiment, as shown in fig. 5, a gain estimation control method provided for the embodiments of the present application may be implemented by relying on a computer program and may be run on a von neumann-based gain estimation control device. The computer program may be integrated into the application or may run as a separate tool-like application.
Specifically, the temperature control method includes the steps of:
s201, acquiring a second output value corresponding to a preset temperature value, and acquiring a control value of the second output value affected by proportional control;
acquiring a preset temperature value based on the temperature control system shown in FIG. 3 or FIG. 4
Second output value of the fuzzy controller 202 through the second comparator 201
Further obtain a second output value
Control value through the first proportional operator 204
。
S202, inputting the control value into a gain estimation system to obtain a target temperature value and an estimated value;
will control the value
Input to the gain estimation system 205 to obtain the target temperature value
And an estimate
The specific steps of S202 refer to the gain estimation control system shown in fig. 1, the temperature control system shown in fig. 4, and the gain estimation method shown in fig. 2, which are not described herein again.
S203, inputting the second output value and the estimated value to a linear state observer to obtain three estimated values;
a second output value to be passed through the first and second proportional operators 204 and 206
Reducing, and further outputting the second output value
And the predicted values are input to a linear state observer 207, and three estimated values are obtained. The three estimates include a first estimate
The second estimated value
And a third estimated value
The linear state observation includes the following formula:
l1、l2、l3respectively a first gain value, a second gain value and a third gain value of the linear state observer.
Estimation of system output due to gain estimation
Includes a control value
And disturbance value
And thus can be used as input values for a linear state observer. According to the above formula, i.e.
Is an estimate of the value of y,
is that
Is determined by the estimated value of (c),
is an estimate of f, where,
。
s204, obtaining control values influenced by the three estimation values, inputting the influenced control values into a gain estimation control system, and obtaining target temperature values corresponding to the influenced control values;
temperature control system as shown in FIG. 3 or FIG. 4, first estimated value
And a second estimated value
Acts on the fuzzy controller 202 to cause the fuzzy controller 202 to output a second output value
I.e. the second output value
Is subjected to a first estimation
And a second estimated value
Influence.
The fuzzy controller 202 uses the offset (given value and output of the linear state observer)
The difference e) and the derivative de of the deviation, i.e.
In order to be an input, the user can select,
is the output of the fuzzy controller. Wherein the fuzzy controller utilizes the system step response to determine the output universe of discourse [ L ] of the fuzzy controller1，L2](ii) a e a discourse domain of [ L3，L4](ii) a de discourse domain range of [ L5，L6]. When the error is large or large, the selection of the fuzzy control quantity is mainly to eliminate the error, and when the error is small and the error change rate is large, the selection of the fuzzy control quantity is mainly to prevent overshoot by system stability and the like, and the fuzzy rule generated by the practical situation and expert experience.
Further, passing through a third estimation value
And a second output value
The control value u of the influence comprises the following formula:
wherein, b0Is the gain control value.
The control value u affected by the three estimated values is input to the gain estimation control system 205.
S205, adjusting the control value, and repeating the steps until the target temperature value is similar to the preset temperature value.
And adjusting the control value, and repeatedly acquiring the estimation value and the control value influenced by the estimation value until the target temperature value is similar to the preset temperature value. For example, the temperature control system is applied to the occasion of metal smelting, the occasion needs to control the temperature of the reaction kettle to be 200 +/-5 ℃, and the first transfer function is preliminarily established based on the occasion
And a second transfer function
Wherein the control value is
For the action values corresponding to the mathematical model, e.g. flow rate of the metal liquid in the reactor, preset temperature values
(ii) a When the control value is
Time, input
Obtaining a target temperature value based on the temperature control system shown in FIG. 3 or FIG. 4 and the temperature control method shown in FIG. 5
Then adjust
Up to the target temperature value
I.e. the control value pair is completed
And (4) adjusting.
According to the temperature control system and the temperature control method, the problem that the control value and the system output are not synchronous in the related technology is effectively solved, the influence of time lag in the control system is reduced, the dependence on an accurate mathematical model is reduced through a multiplication arithmetic unit and a division arithmetic unit, and nonlinear state error feedback is avoided through a fuzzy control algorithm of a fuzzy controller, so that the online adjustment of parameters is realized.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Please refer to fig. 6, which shows a schematic structural diagram of a gain estimation control apparatus according to an exemplary embodiment of the present application. The gain estimation control means may be implemented as all or part of the apparatus by software, hardware or a combination of both. The gain estimation control device comprises a target temperature module 601, a first output module 602, and an estimation control module 603.
A target temperature module 601, configured to obtain, for a control value, a target temperature value of the control value affected by disturbance and time lag;
a first output module 602, configured to, for the control value, obtain a first output value of the control value without time lag influence;
the pre-estimation control module 603 is configured to obtain a pre-estimation value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
The gain pre-estimation device provided by the application effectively solves the problem that the control action and the system output are not synchronous, and reduces the dependence on the accuracy degree of a mathematical model.
It should be noted that, when executing the gain estimation control method, the gain estimation control apparatus provided in the foregoing embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above. In addition, the gain estimation control device and the gain estimation control method provided by the above embodiments belong to the same concept, and the detailed implementation process thereof is referred to in the method embodiments, which is not described herein again.
Referring to fig. 7, a schematic structural diagram of a temperature control device according to an exemplary embodiment of the present application is shown. The temperature control device may be implemented as all or part of the device in software, hardware, or a combination of both. The temperature control device comprises a first obtaining module 701, a gain estimation module 702, an estimation obtaining module 703, a second obtaining module 704 and an adjustment target module 705.
The first obtaining module 701 is configured to obtain a second output value corresponding to a preset temperature value, and obtain a control value of the second output value affected by proportional control;
a gain estimation module 702, configured to input the control value to the gain estimation system, and obtain a target temperature value and a predicted value;
an estimation obtaining module 703, configured to input the second output value and the estimated value to a linear state observer, so as to obtain three estimated values;
a second obtaining module 704, configured to obtain a control value affected by the three estimation values, input the affected control value to the gain estimation control system, and obtain a target temperature value corresponding to the affected control value;
and an adjusting target module 705, configured to adjust the control value, and repeat the above steps until the target temperature value is similar to the preset temperature value.
The temperature control device effectively solves the problem that control values and system output are not synchronous in the related technology, namely the influence of time lag in a control system is reduced, the dependence on an accurate mathematical model is reduced through a multiplication arithmetic unit and a division arithmetic unit, and nonlinear state error feedback is avoided, so that the online adjustment of parameters is realized.
It should be noted that, when the temperature control apparatus provided in the foregoing embodiment executes the temperature control method, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed and completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the temperature control device and the temperature control method provided by the above embodiments belong to the same concept, and details of implementation processes thereof are referred to in the method embodiments and are not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
An embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, where the instructions are suitable for being loaded by a processor and executing the gain estimation control method or the temperature control method according to the embodiments shown in fig. 1 to 6, and a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 to 6, which is not described herein again.
The present application further provides a computer program product, where at least one instruction is stored, and the at least one instruction is loaded by the processor and executes the gain estimation control method or the temperature control method according to the embodiments shown in fig. 1 to 6, where a specific execution process may refer to specific descriptions of the embodiments shown in fig. 1 to 6, and is not described herein again.
Please refer to fig. 8, which is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 8, the electronic device 800 may include: at least one processor 801, at least one network interface 804, a user interface 803, a memory 805, at least one communication bus 802.
Wherein a communication bus 802 is used to enable connective communication between these components.
The user interface 803 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 803 may also include a standard wired interface and a wireless interface.
The network interface 804 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
The Memory 805 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 805 includes a non-transitory computer-readable medium. The memory 805 may be used to store instructions, programs, code sets, or instruction sets. The memory 805 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 805 may optionally be at least one memory device located remotely from the processor 801 as previously described. As shown in fig. 8, memory 805, which is a type of computer storage media, may include an operating system, a network communication module, a user interface module, and an image source tracking application.
In one embodiment, in the electronic device 800 shown in fig. 8, the user interface 803 is mainly used as an interface for providing input for a user, and acquiring data input by the user; the processor 801 may be configured to call the gain estimation control application stored in the memory 805, and specifically perform the following operations:
aiming at a control value, acquiring a target temperature value of the control value affected by disturbance and time lag;
aiming at the control value, acquiring a first output value of the control value without time lag influence;
obtaining a pre-estimated value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
In another embodiment, in the electronic device 800 shown in fig. 8, the user interface 803 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 801 may be configured to invoke the temperature control application stored in the memory 805 and perform the following operations in particular:
acquiring a second output value corresponding to a preset temperature value, and acquiring a control value of the second output value affected by proportional control;
inputting the control value into the gain estimation system to obtain a target temperature value and a predicted value;
inputting the second output value and the estimated value to a linear state observer to obtain three estimated values;
acquiring control values influenced by the three estimation values, inputting the influenced control values into the gain estimation control system, and acquiring target temperature values corresponding to the influenced control values;
and adjusting the control value, and repeating the steps until the target temperature value is similar to the preset temperature value.
The method and the device effectively solve the problem that the control value and the system output are not synchronous in the related technology, namely, the influence of time lag in the control system is reduced, and the dependence on an accurate mathematical model is reduced through the multiplication arithmetic unit and the division arithmetic unit; the method and the device have strong anti-interference performance, and avoid nonlinear state error feedback, thereby realizing online adjustment of parameters.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (9)
1. A gain estimation control system, comprising:
the device comprises a first comparator, a first transfer function arithmetic unit, a second transfer function arithmetic unit, a first time lag arithmetic unit, a second time lag arithmetic unit, a division arithmetic unit and a multiplication arithmetic unit;
the first comparator comprises a first input end and a second input end, the first output end of the first comparator is connected with the input end of the first transfer function arithmetic unit, and the second output end of the first comparator is connected with the input end of the second transfer function arithmetic unit;
the output end of the first transfer function arithmetic unit is connected with the input end of the first time lag arithmetic unit;
the first time lag arithmetic unit comprises a first output end, and a second output end of the first time lag arithmetic unit is connected with a first input end of the division arithmetic unit;
a first output of the second transfer function operator is connected to an input of the second time lag operator, and a second output of the second sensor function is connected to a first input of the multiplier operator;
the output end of the second time lag arithmetic unit is connected with the second input end of the division arithmetic unit, the output end of the division arithmetic unit is connected with the second input end of the multiplication arithmetic unit, and the multiplication arithmetic unit comprises an output end;
the first comparator is used for receiving a disturbance value through a first input end of the first comparator and receiving a control value through a second input end of the first comparator;
the first time lag operator is used for outputting a target temperature value through a first output end of the first time lag operator;
the multiplication arithmetic unit is used for outputting the pre-estimated value through the output end of the output multiplication arithmetic unit; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
2. A gain estimation control method applied to the gain estimation control system according to claim 1, the method comprising:
aiming at a control value, acquiring a target temperature value of the control value affected by disturbance and time lag;
aiming at the control value, acquiring a first output value of the control value without time lag influence;
obtaining a pre-estimated value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
3. A temperature control system comprising the gain estimation control system of claim 1, the temperature control system further comprising:
the system comprises a second comparator, a third comparator, a first proportional operator, a second proportional operator, a fuzzy controller and a linear state observer;
the second comparator comprises a first input end, a negative feedback input end of the second comparator is connected with a first output end of the linear state observer, and an output end of the second comparator is connected with a first input end of the fuzzy controller;
a second input end of the fuzzy controller is connected with a second output end of the linear state observer, and an output end of the fuzzy controller is connected with a first input end of the third comparator;
a negative feedback input end of the third comparator is connected with a third output end of the linear state observer, and an output end of the third comparator is connected with an input end of the first proportional operator;
a first output end of the first proportional arithmetic unit is connected with the gain pre-estimation control system, and a second output end of the first proportional arithmetic unit is connected with an input end of the second proportional arithmetic unit;
the output end of the second proportional operator is connected with the first input end of the linear state observer, and the second input end of the linear state observer is connected with the gain pre-estimation control system;
the second comparator is used for receiving a preset temperature value through a first input end of the second comparator;
the third comparator is used for receiving a control value corresponding to the preset temperature value from the fuzzy controller through an input end of the third comparator;
the gain pre-estimation control system is used for receiving the control value and outputting a target temperature value and a pre-estimated value; wherein the estimated value and the target temperature value are used to indicate an adjustment of the control value to achieve that the target temperature value is similar to the preset temperature value.
4. The system according to claim 3, wherein a first output terminal of the first proportional operator is connected to a second input terminal of a first comparator included in the gain prediction control system, and a second input terminal of the linear state observer is connected to an output terminal of a multiplier operator included in the gain prediction control system;
the first comparator is specifically configured to receive a control value from the first proportional operator through a second input terminal of the first comparator;
the multiplier is specifically configured to input a pre-estimated value to the linear state observer through an output of the multiplier.
5. A temperature control method applied to the temperature control system according to any one of claims 3 to 4, the method comprising:
acquiring a second output value corresponding to a preset temperature value, and acquiring a control value of the second output value affected by proportional control;
inputting the control value into the gain estimation system to obtain a target temperature value and a predicted value;
inputting the second output value and the estimated value to a linear state observer to obtain three estimated values;
acquiring control values influenced by the three estimation values, inputting the influenced control values into the gain estimation control system, and acquiring target temperature values corresponding to the influenced control values;
and adjusting the control value, and repeating the steps until the target temperature value is similar to the preset temperature value.
6. A gain prediction control apparatus, comprising:
the target temperature module is used for acquiring a target temperature value of the control value under the influence of disturbance and time lag aiming at the control value;
the first output module is used for acquiring a first output value of the control value without time lag influence aiming at the control value;
the pre-estimation control module is used for acquiring a pre-estimation value corresponding to the control value according to the first output value and the target temperature value; and the estimated value and the target temperature value are used for carrying out gain estimation control on the control value.
7. A temperature control apparatus, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring a second output value corresponding to a preset temperature value and acquiring a control value of the second output value affected by proportional control;
the gain estimation module is used for inputting the control value into the gain estimation system to obtain a target temperature value and a predicted value;
the estimation acquisition module is used for inputting the second output value and the estimated value to a linear state observer to acquire three estimation values;
the second acquisition module is used for acquiring a control value influenced by the three estimation values, inputting the influenced control value into the gain estimation control system and acquiring a target temperature value corresponding to the influenced control value;
and the target adjusting module is used for adjusting the control value and repeating the steps until the target temperature value is similar to the preset temperature value.
8. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to carry out the method steps according to any one of claims 2 or 5.
9. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 2 or 5.
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Application publication date: 20211203 |