CN114755913A - A control method, device, system and computer-readable storage medium - Google Patents

Abstract

The present application discloses a control method, device, system and computer-readable storage medium. The method includes: obtaining a first operating parameter based on an actual control of a time delay system by a first controller; and virtual controlling a system based on at least one second controller. the time-delay system, obtaining at least one second operating parameter; re-determining a target controller that actually controls the time-delay system based on the first operating parameter, the at least one second operating parameter and the target parameter, wherein the A target controller is derived from the first controller and the at least one second controller.

Description

A control method, device, system and computer-readable storage medium

technical field

The present application relates to the field of feedback and control, and relates to, but is not limited to, a control method, device, system, and computer-readable storage medium.

Background technique

Time-delay system refers to a system with a certain time delay in feedback and control, which is widely used in various production and life control scenarios, such as cigarette loosening and moisture regain control, and mineral powder moisture content control.

At present, the control of time-delay systems is either controlled by a single, fixed controller; , but still relies on a single controller.

In the related art, if using fixed parameters is only applicable to steady-state systems, it cannot cope with changes in system characteristics; even if the parameters of the controller are adjusted, a single controller is still used, which makes it impossible to take advantage of different controllers and cannot cope with multiple controllers. Variable or unsteady control scenarios, thus affecting the control accuracy.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present application provide a control method, apparatus, system, and computer-readable storage medium.

The technical solutions of the embodiments of the present application are implemented as follows:

The embodiment of the present application provides a control method, including:

Obtain the first operating parameter based on the actual control of the delay system by the first controller;

Obtain at least one second operating parameter based on virtual control of the time delay system based on at least one second controller;

A target controller that actually controls the time-delay system is re-determined based on the first operating parameter, the at least one second operating parameter, and a target parameter, wherein the target controller is derived from the first controller and the target controller. at least one second controller.

An embodiment of the present application provides a control system for controlling a time delay system, where the control system includes a first controller, at least one second controller, and a processor; and further includes:

a memory for storing a computer program executable on the processor;

Wherein, when the computer program is executed by the processor, the above-mentioned control method is implemented.

An embodiment of the present application provides a control device, including:

a first obtaining module, configured to obtain the first operating parameter based on the actual control of the time delay system by the first controller;

a second obtaining module, configured to virtually control the time delay system based on at least one second controller to obtain at least one second operating parameter;

A determination module configured to re-determine a target controller that actually controls the time delay system based on the first operating parameter, the at least one second operating parameter and the target parameter, wherein the target controller is derived from the first operating parameter a controller and the at least one second controller.

An embodiment of the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are configured to execute the above control method.

Embodiments of the present application provide a control method, device, system, and computer-readable storage medium. The control method includes: firstly controlling the delay system through a first controller to obtain a first operating parameter; at the same time, based on At least one second controller virtually controls the delay system to obtain at least one second operating parameter; finally, based on the first operating parameter, the at least one second operating parameter and the target parameter, the target controller that actually controls the delay system is re-determined , a time-delay system is controlled by the target controller, wherein the target controller is derived from a first controller and at least one second controller. When controlling the time-delay system, not only the time-delay system is actually controlled by the first controller, but also the time-delay system is virtually controlled by at least one second controller at the same time. The operating parameters and target parameters are used to determine the target controller of the adaptive delay system, so that the delay system can be accurately controlled by the target controller. Regardless of whether the time-delay system is a steady-state system or an unsteady system, the control method can determine a target control adapted to the time-delay system from the first controller and at least one second controller based on the actual situation of the time-delay system The device realizes the precise control of the delay system.

Description of drawings

In the drawings, which are not necessarily to scale, like reference numerals may describe like parts in the different views. The accompanying drawings generally illustrate, by way of example and not limitation, the various embodiments discussed herein.

1 is a schematic diagram of a frame structure of a control system provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a realization flow of a control method provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of a realization of a virtual control method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of an implementation of a target controller provided by an embodiment of the present application;

FIG. 5 is another schematic diagram of the frame structure of the control system provided by the embodiment of the present application;

FIG. 6 is still another schematic diagram of the frame structure of the control system provided by the embodiment of the present application;

FIG. 7 is a schematic diagram of the composition and structure of a control device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a composition of a control system provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings. All other embodiments obtained under the premise of creative work fall within the scope of protection of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" can be the same or a different subset of all possible embodiments, and Can be combined with each other without conflict.

In the following description, the term "first\second\third" is only used to distinguish similar objects, and does not represent a specific ordering of objects. It is understood that "first\second\third" is used in Where permitted, the specific order or sequence may be interchanged to enable the embodiments of the application described herein to be practiced in sequences other than those illustrated or described herein.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

Based on the problems existing in the related art, an embodiment of the present application provides a control method, which is applied to a control system. For example, it can be applied to the control system shown in FIG. 1. The method provided by the embodiment of the present application can be implemented by a computer program. When the computer program is executed, each step in the control method provided in this embodiment is completed. In some embodiments, the computer program may be executed by a processor of the control system. FIG. 2 is a schematic diagram of a realization flow of a control method provided by an embodiment of the present application. As shown in FIG. 2 , the control method includes:

Step S201, based on the actual control of the time delay system by the first controller, to obtain a first operating parameter.

Here, the time-delay system refers to a system with a certain time delay in feedback and control. The time-delay system may be a constant-time delay system, and the time-delay system may also be an unsteady time-delay system. Among them, the constant delay system refers to the system's own properties that do not change with time; the unsteady delay system refers to the system's own properties that change with time.

For example, the time delay system may be a cigarette looseness regain control system, a mineral powder moisture content control system, and the like.

In the embodiment of the present application, actual control refers to using a first controller to control the delay system in the current control stage, where the first controller may be determined by the delay system based on the operation of the previous control stage. The controller of the most suitable delay system. Therefore, the time delay system is precisely controlled by the first controller in the current control stage.

Referring to FIG. 1 , the solid line representation of the connection between the input terminal and the output terminal of the first controller 101 is that the first controller actually controls the time delay system G _p , and finally obtains the first operating parameter.

In actual implementation, when the delay system is actually controlled by the first controller, the first operating parameter can be obtained based on the output of the delay system, and the first operating parameter may be humidity, water content, temperature, or the like.

Step S202: Obtain at least one second operating parameter based on the virtual control delay system of the at least one second controller.

Here, when performing virtual control, the second controller does not directly control the time-delay system, but controls the simulation system corresponding to the time-delay system.

In actual implementation, a simulation system for the time-delay system will be established in advance. Therefore, in the embodiment of the present application, the simulation system for the time-delay system will be acquired; then, at least one second controller is used to control the simulation system respectively, thereby At least one second control parameter is obtained. Similar to the first operating parameter, the second operating parameter may be humidity, water content, temperature, and the like. The second control parameters are in one-to-one correspondence with the second controllers, so the number of the second control parameters is the same as the number of the second controllers.

In the embodiment of the present application, referring to FIG. 1 , the control system not only includes the first controller 101 , but also includes a plurality of second controllers 102 , and the second controllers 102 may have the same type and different parameters as the first controller 101 . The second controller 102 may also be a different type of controller from the first controller 101 . That is, the control system includes a controller library, thereby enriching the types of controllers. Each time the delay system is actually controlled by the most suitable controller, and the simulation system corresponding to the delay system is controlled by the other controllers, so as to obtain the second operating parameters corresponding to the remaining controllers, so as to determine the next control stage adaptation time. The target controller of the extended system provides the basis.

Continuing to refer to FIG. 1 , the dotted line representation of the connection between the input terminal and the output terminal of the second controller 102 is that the second controller 102 virtually controls the time delay system G _p , and finally obtains the second operating parameter.

Step S203, re-determining the target controller that actually controls the delay system based on the first operating parameter, the at least one second operating parameter and the target parameter.

Here, the target parameter is the desired optimal parameter, then the operating parameter closest to the target parameter is determined from the first operating parameter and at least one second operating parameter, and the operating parameter of the nearest target parameter can represent the control effect on the delay system Therefore, the operating parameter closest to the target parameter is determined as the target operating parameter, and then the controller corresponding to the target operating parameter is determined as the target controller, and the target controller is the actual control delay system in the next control stage. controller. Wherein, the target controller is derived from the first controller and at least one second controller. The target parameter may be desired humidity, moisture content, temperature, and the like.

In the embodiment of the present application, if there is target difference information smaller than the first difference information in the second difference information; then, the magnitude relationship between the target difference information and the difference threshold is judged, and if the target difference information is smaller than the difference threshold, it indicates that There is a controller in the second controller that better matches the delay system. Then, the second operating parameter corresponding to the target difference information is determined as the target second operating parameter, and the second controller corresponding to the target second operating parameter is determined as the target controller.

In the embodiment of the present application, through the above steps S201 to S203, the first controller is used to actually control the time delay system first, so as to obtain the first operating parameters; at the same time, the time delay system is also virtually controlled based on at least one second controller. delay system to obtain at least one second operating parameter; finally, based on the first operating parameter, the at least one second operating parameter and the target parameter, the target controller that actually controls the delay system is re-determined, and the time delay system is controlled by the target controller. extension system, wherein the target controller is derived from a first controller and at least one second controller. When controlling the time-delay system, not only the time-delay system is actually controlled by the first controller, but also the time-delay system is virtually controlled by at least one second controller at the same time. The operating parameters and the target parameters are used to determine a target controller for adapting the time-delay system from the first controller and the second controller, so that the time-delay system can be precisely controlled by the target controller. Regardless of whether the time-delay system is a steady-state system or an unsteady system, the control method can determine a target control adapted to the time-delay system from the first controller and at least one second controller based on the actual situation of the time-delay system The device realizes the precise control of the delay system.

In some embodiments, the first controller includes an inner-loop controller and an outer-loop controller, that is, the control system is a double-closed-loop control system, and the time-delay system is quickly stabilized by the strong control of the inner-loop controller, and then the outer loop is controlled by the outer-loop controller. The weak control of the loop controller is used to eliminate the steady-state error to ensure the stable and efficient operation of the time-delay system. The inner-loop controller includes multiple candidate inner-loop controllers, and the outer-loop controller includes multiple candidate outer-loop controllers, that is, the inner-loop controller is derived from multiple selectable candidate inner-loop controllers, and the outer-loop controller The controller is derived from multiple selectable candidate outer-loop controllers, and the control method provided by the embodiment of the present application further includes: based on the multiple candidate inner-loop controllers and the multiple candidate outer-loop controllers, alternately updating the inner-loop controller and the multiple candidate outer-loop controllers. The outer loop controller, the inner loop target controller and the outer loop target controller are obtained respectively. The alternately updated inner-loop target controller is different from the outer-loop target controller, or the inner-loop target controller and the outer-loop target controller are the same.

Here, the number of candidate inner-loop controllers and the number of candidate outer-loop controllers may be the same or different. When the number of the two is the same, the types and parameters of the candidate inner-loop controller and the candidate outer-loop controller may be the same or different. Whether the types and parameters of the two are the same depends on the characteristics of the delay system itself. The candidate inner loop controller is equivalent to the controller library corresponding to the inner loop controller, and the candidate outer loop controller is equivalent to the controller library corresponding to the outer loop controller.

For example, the candidate inner-loop controller may include a Proportion Integral Differential (PID) controller, an Artificial Neural Network (ANN) controller, a Fuzzy controller, and a Reinforcement Learning Controller (Reinforcement Learning Controller). , RLC) etc.

In actual implementation, when the number and type of candidate inner-loop controllers and candidate outer-loop controllers are the same, and their parameters are different, the candidate inner-loop controllers can include PID controllers, ANN controllers, and Fuzzy controllers. , the candidate outer loop control can also be PID controller, ANN controller and Fuzzy, but the parameters of the two controllers are different. Based on this, the inner loop target controller and the outer loop target controller determined from it are different.

When the number, type, and parameters of the candidate inner-loop controllers and the candidate outer-loop controllers are the same, the inner-loop target controller and the outer-loop target controller determined therefrom may be the same or different.

In the embodiment of the present application, when the time delay system is running, the controller will alternately update the inner loop controller and the outer loop controller. For example, it is assumed that the inner loop controller and the outer loop control are used in the previous control stage. Then, in the current control stage, if it is determined that the first update timing corresponding to the inner-loop controller is reached, the inner-loop controller is updated based on the candidate inner-loop controller; The second update timing of , then update the outer-loop controller based on the candidate outer-loop controller.

In some embodiments, a preset update rule and historical update information may be obtained first, where the preset update rule represents the adjustment order of the inner loop controller and the outer loop control; then the current update is determined based on the preset update rule and the historical update information 's controller. For example, if the preset update rule is inside-in-outside, and the historical update information is inside-outside, then the controller that is currently updated is determined to be the inner-loop controller, that is, it is determined that the first update timing is reached.

In actual implementation, the inner-loop target controller and the outer-loop target controller are updated alternately, that is, at a certain moment, either the inner-loop target controller or the outer-loop target controller is updated. Both controllers are updated at the same time. The update idea in the embodiment of the present application is: fix one of the controllers and update the other controller. Among them, the process of controller update is also equivalent to the process of controller optimization.

When actually updating, taking updating the inner-loop controller as an example, the operation parameters corresponding to the inner-loop controller and the candidate inner-loop controller are obtained, the optimal operation parameters are determined, and the optimal operation parameters are corresponding The inner loop controller is determined as the updated inner loop controller, which can be recorded as the inner loop target controller. Based on this, in the next control stage, the time-delay system will be controlled based on the inner-loop target controller and the outer-loop controller, so that a more suitable controller can be updated in time for the actual scene or change of the time-delay system, thereby improving the control precision.

In some embodiments, the above-mentioned step S202 "acquiring at least one second operating parameter based on the virtual control delay system of the at least one second controller" may be implemented by the following steps S2021 and S2022:

Step S2021, obtaining a simulation system for the time delay system.

Here, a simulation system for the time-delay system will be established in advance, and the simulation system of the time-delay system may be obtained by obtaining an instruction, wherein the simulation system is used to simulate the time-delay system.

Step S2022, use at least one second controller to control the simulation system respectively, obtain at least one second operation parameter, and store at least one second operation parameter.

Here, the at least one second controller may include an inner-loop target controller and a plurality of candidate outer-loop controllers, and the at least one second controller may also include an outer-loop target controller and a plurality of candidate inner-loop controllers. Taking at least one second controller including an inner-loop target controller and multiple candidate outer-loop controllers as an example, each candidate outer-loop controller in the multiple candidate outer-loop controllers and the inner-loop target controller respectively form a dual controller; then, each dual controller is used to control the simulation system respectively, and the second operation parameter corresponding to the dual controllers is obtained.

In actual implementation, referring to FIG. 3 , step S2022 can be implemented through the following steps S221 to S225:

Step S221, determine whether the at least one second controller includes an inner-loop target controller and multiple candidate outer-loop controllers.

Here, each controller includes identification information, and the controller identification information can be used to distinguish whether the control area is an inner-loop controller or an outer-loop controller. Based on this, the identification information of each controller in the at least one second controller can be obtained, and if the identification information of each controller includes an inner-loop target controller and multiple candidate outer-loop controllers, then step S222 is entered; The identification information representation of each controller includes an outer-loop target controller and a plurality of candidate inner-loop controllers, then go to step S224.

Step S222, acquiring the first preset duration corresponding to the inner loop target controller.

In the embodiment of the present application, the first preset duration corresponding to the inner-loop target controller is set in advance, wherein the first preset duration refers to the running duration of the current inner-loop target controller, and the inner-loop target controller When the running duration reaches the first preset duration, it is considered that the first update opportunity is reached, and the inner loop target controller will be updated to obtain the updated inner loop target controller, and the updated inner loop target controller is the same as the The delay system is matched to the inner loop controller.

In actual implementation, the first preset duration can be obtained by obtaining an instruction.

Step S223, using the inner-loop target controller and each candidate outer-loop controller to control the simulation system to run for a first preset duration to obtain at least one second running parameter.

Here, any candidate outer-loop controller and inner-loop target controller among the candidate outer-loop controllers are combined to obtain a combined controller; then, each combined controller is used to control the simulation system to run for a first preset duration. , so as to obtain at least one second operating parameter.

Step S224, acquiring the second preset duration corresponding to the outer loop target controller.

Here, the implementation process of step S224 is similar to the implementation process of the above-mentioned step S222. Therefore, the implementation process of the step S224 may refer to the implementation process of the above-mentioned step S222. The second preset duration refers to the running duration of the current outer-loop target controller. When the running duration of the outer-loop target controller reaches the second preset duration, it is considered that the second update timing is reached, and the outer-loop target controller will be updated. A loop target controller is obtained to obtain an updated outer loop target controller, and the updated outer loop target controller is an outer loop controller matching the time delay system.

Step S225 , using each candidate inner loop controller and outer loop target controller to control the simulation system to run for a second preset duration, and obtain at least one second running parameter.

Here, the implementation process of step S225 is similar to the implementation process of the above-mentioned step S223, therefore, the implementation process of the step S225 may refer to the implementation process of the above-mentioned step S223.

In this embodiment of the present application, through the above steps S2021 and S2022, while the delay system is actually controlled by the first controller, the delay system is also virtually controlled by at least one second controller, that is, the delay system is virtually controlled by at least one first controller. The two controllers control the simulation system of the time-delay system, so that at least one second operating parameter can be obtained, which can provide a basis for the determination of the target controller, and improve the determination speed and accuracy of the target controller.

In some embodiments, as shown in FIG. 4 , the above step S203 "based on the first operating parameter, at least one second operating parameter and the target parameter to re-determine the target controller that actually controls the time delay system" includes the following steps S2031 to S2033 :

Step S2031, determining the first difference information between the first operating parameter and the target parameter.

Here, the first difference information between the first operating parameter and the target parameter may be determined by obtaining the difference value, the absolute value of the difference, the squared difference, or the like.

Step S2032, determining the second difference information between the at least one second operating parameter and the target parameter.

Here, the implementation process of step S2032 is similar to the implementation process of the above-mentioned step S2031, therefore, the implementation process of the step S2032 may refer to the implementation process of the above-mentioned step S2031. The method for determining the second difference information is the same as the method for determining the first difference information.

Step S2033: Determine the target controller that actually controls the delay system based on the first difference information, the second difference information and the difference threshold.

Here, first compare the magnitude relationship between the first difference information and the second difference information. If there is difference information smaller than the first difference information in the second difference information, and the difference information smaller than the first difference information is also smaller than the difference threshold, Then, the difference information smaller than the first difference information is determined as the target second difference information; then, the target second operation parameter corresponding to the target second difference information is determined, and then the target second control parameter corresponding to the target second operation parameter is determined. Finally, the target second controller is determined as the target controller, so that the time-delay system can be precisely controlled by the target controller, so that the time-delay system can run stably and efficiently.

However, if the second difference information is greater than the first difference information, the first controller is determined as the target controller, that is, the used first controller is continued to actually control the delay system.

The difference threshold may be a default value or a custom value, for example, the difference threshold may be 0.1, 0.5, 1, and so on.

In the embodiment of the present application, through the above steps S2031 to S2033, the difference information between the first operating parameter, the second operating parameter and the target parameter is determined respectively, and the first difference information and the second difference information are obtained; A difference information, a second difference information and a difference threshold are used to re-determine the target controller. The target controller may be the first controller or one of the second controllers. In short, the operating parameters of the target controller are It is closest to the target parameters, so that the time-delay system can be controlled stably, efficiently and accurately through the target controller.

Based on the above embodiments, the present application provides a control method. The control block diagram is shown in FIG. 5 . The controller includes an inner-loop controller library 501 and an outer-loop controller library 502, wherein the time delay system is represented by _Gp , e ^-ts characterizes the delay. The control method includes the following four steps:

Step 1, build a control model library, including PID controller, ANN controller, Fuzzy, RLC and other controllers.

Step 2: Set the running interval, and adjust the model and parameters once after each time interval ends; and the controller adjustment of the inner and outer loops is performed alternately.

Here, the adjustment controller corresponds to the update controller in the above-described embodiment.

Step 3: Set corresponding performance indicators, such as Process Capability Index (CPK), to evaluate the control accuracy of the model and corresponding parameters.

Step 4: In each period, when the optimal model actually controls, other models in the model library perform virtual control in the background, and store the control results. During virtual control, the control amount is not controlled. output.

Here, the control amount corresponds to at least one of the second operating parameters in the above-mentioned embodiments. 501 and 502 are control model libraries, the controllers connected by solid lines perform actual control, and the controllers connected by dotted lines perform background virtual tracking control.

The embodiment of the present application also provides another control block diagram, as shown in FIG. 6 , taking updating the outer loop controller as an example, at this time, the inner loop controller is a fixed PID controller 601, and the RLC controller 602 and the PID controller The controller 601 actually controls the time-delay system G _p , and the simulation system G _p ′ of the time-delay system is virtually controlled by the ANN controller 603 and the PID controller 601 , and the simulation system of the time-delay system is also virtually controlled by the Fuzzy 604 and the PID controller 601 The system _Gp ' also virtually controls the simulation system _Gp ' of the time-delay system through the PID controller 605 and the PID controller 601, thereby obtaining the virtual output corresponding to the dotted line. The parameters of the PID controller 605 and the PID controller 601 may be different.

In the embodiment of the present application, the model selection of the inner and outer loops is performed alternately. For example, the controller of the inner loop is updated at time 2k, and the controller of the outer loop is updated at time 2k+1, where k is an integer greater than or equal to zero.

With the control method provided by the embodiment of the present application, only rough simulation is required to determine initial parameters before the time delay system is deployed, which greatly simplifies the time and labor cost of system simulation. The optimal model and corresponding control parameters can be adaptively selected according to the time delay system parameters to improve the control accuracy. In addition, the controlled time-delay system is not limited to a steady-state system, and a conventional controller can be used to precisely control an unsteady time-delay system.

Based on the foregoing embodiments, the embodiments of the present application provide a control device. Each module included in the device and each unit included in each module can be implemented by a processor in a computer device; of course, it can also be implemented by a specific logic circuit. Implementation: In the process of implementation, the processor may be a CPU, a microprocessor (Microprocessor Unit, MPU), a digital signal processor (Digital Signal Processing, DSP), or a Field Programmable Gate Array (Field Programmable Gate Array, FPGA) and the like.

An embodiment of the present application further provides a control device. FIG. 7 is a schematic structural diagram of the control device provided by an embodiment of the present application. As shown in FIG. 7 , the control device 700 includes:

a first obtaining module 701, configured to obtain the first operating parameter based on the actual control of the time delay system by the first controller;

A second obtaining module 702, configured to virtually control the delay system based on at least one second controller to obtain at least one second operating parameter;

A determination module 703, configured to re-determine a target controller that actually controls the time delay system based on the first operating parameter, the at least one second operating parameter and the target parameter, wherein the target controller is derived from the a first controller and the at least one second controller.

In some embodiments, the first controller includes an inner-loop controller and an outer-loop controller, wherein the inner-loop controller includes a plurality of candidate inner-loop controllers, and the outer-loop controller includes a plurality of candidates The outer loop controller, the control device 700 further includes:

An update module, based on the plurality of candidate inner loop controllers and the plurality of candidate outer loop controllers, alternately updates the inner loop controller and the outer loop controller to obtain an inner loop target controller and an outer loop controller respectively target controller.

In some embodiments, the second obtaining module 702 includes:

The first acquisition submodule is used to acquire the simulation system for the time delay system;

The first control sub-module is configured to use the at least one second controller to respectively control the simulation system, obtain at least one second operation parameter, and store the at least one second operation parameter.

In some embodiments, the at least one second controller includes an inner-loop target controller and a plurality of candidate outer-loop controllers, and the second obtaining module 702 further includes:

a second acquisition sub-module, configured to acquire the first preset duration corresponding to the inner-loop target controller;

The second control sub-module is configured to use the inner loop target controller and each candidate outer loop controller to control the simulation system to run the first preset duration to obtain the at least one second running parameter.

In some embodiments, the at least one second controller includes an outer-loop target controller and a plurality of candidate inner-loop controllers, and the second obtaining module 702 further includes:

a third acquisition submodule, configured to acquire the second preset duration corresponding to the outer loop target controller;

The third control sub-module uses each candidate inner loop controller and the outer loop target controller to control the simulation system to run the second preset time period to obtain the at least one second running parameter.

In some embodiments, the determining module 703 includes:

a first determination submodule, configured to determine first difference information between the first operating parameter and the target parameter;

a second determination submodule, configured to determine second difference information between the at least one second operating parameter and the target parameter;

The third determination submodule is configured to determine the target controller that actually controls the delay system based on the first difference information, the second difference information and the difference threshold.

It should be noted that the description of the control device in the embodiment of the present application is similar to the description of the above method embodiment, and has similar beneficial effects to the method embodiment. For technical details not disclosed in the embodiments of the apparatus, please refer to the description of the method embodiments of the present application to understand.

It should be noted that, in the embodiments of the present application, if the above-mentioned system upgrade method is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application may be embodied in the form of software products in essence or the parts that make contributions to related technologies. The computer software products are stored in a storage medium and include several instructions to make A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a removable hard disk, a read only memory (Read Only Memory, ROM), a magnetic disk or an optical disk and other mediums that can store program codes. As such, the embodiments of the present application are not limited to any specific combination of hardware and software.

Correspondingly, the embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the control methods provided in the foregoing embodiments.

An embodiment of the present application provides a control system. FIG. 8 is a schematic structural diagram of the composition of the control system provided by the embodiment of the present application. As shown in FIG. 8 , the control system 800 includes: a processor 801 , at least one communication bus 802 , User interface 803 , at least one external communication interface 804 , memory 805 , first controller 806 and at least one second controller 807 . Among them, the communication bus 802 is configured to realize the connection communication between these components. The user interface 803 includes a display screen, and the external communication interface 804 may include a standard wired interface and a wireless interface. Wherein, the processor 801 is configured to execute the program of the control method stored in the memory, so as to realize the control method provided in the above-mentioned embodiment.

In some embodiments, the control system may also include multiple candidate inner loop controllers and multiple candidate outer loop controllers.

The descriptions of the above control system and storage medium embodiments are similar to the descriptions of the above method embodiments, and have similar beneficial effects to the method embodiments. For technical details not disclosed in the embodiments of the control system and storage medium of the present application, please refer to the description of the method embodiments of the present application to understand.

It is to be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic associated with the embodiment is included in at least one embodiment of the present application. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily necessarily referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present application. implementation constitutes any limitation. The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

In the several embodiments provided in this application, it should be understood that the disclosed system and method may be implemented in other manners. The system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the coupling, or the direct coupling, or the communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the system or unit may be electrical, mechanical or other forms. of.

The unit described above as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit; it may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may all be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integration The unit can be realized in the form of hardware, or it can be realized in the form of hardware plus software functional unit.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by program instructions related to hardware, the aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, the execution includes: The steps of the above method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of software products in essence or in the parts that make contributions to the prior art. The computer software products are stored in a storage medium and include several instructions for One AC is caused to perform all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The above is only the embodiment of the present application, but the protection scope of the present application is not limited to this. Covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (10)

1. A control method, the method comprising: Obtain the first operating parameter based on the actual control of the delay system by the first controller; Obtain at least one second operating parameter based on virtual control of the time delay system based on at least one second controller; A target controller that actually controls the time-delay system is re-determined based on the first operating parameter, the at least one second operating parameter, and a target parameter, wherein the target controller is derived from the first controller and the target controller. at least one second controller. 2. The method of claim 1, wherein the first controller includes an inner loop controller and an outer loop controller, wherein the inner loop controller includes a plurality of candidate inner loop controllers, the outer loop controller The controller includes a plurality of candidate outer loop controllers, and the method further includes: Based on the multiple candidate inner-loop controllers and the multiple candidate outer-loop controllers, alternately update the inner-loop controller and the outer-loop controller to obtain an inner-loop target controller and an outer-loop target controller, respectively . 3. The method according to claim 2, wherein the inner loop target controller after the alternate update is different from the outer loop target controller, or the inner loop target controller is the same as the outer loop target controller . 4. The method according to claim 1, wherein the virtual control of the delay system based on at least one second controller to obtain at least one second operating parameter comprises: obtaining a simulation system for the time delay system; Using the at least one second controller to respectively control the simulation system, obtain at least one second operation parameter, and store the at least one second operation parameter. 5. The method of claim 4, wherein the at least one second controller includes an inner-loop target controller and a plurality of candidate outer-loop controllers, and the delay is virtually controlled based on the at least one second controller The system obtains at least one second operating parameter, including: obtaining a first preset duration corresponding to the inner-loop target controller; Using the inner loop target controller and each candidate outer loop controller to control the simulation system to run the first preset time period to obtain the at least one second running parameter. 6. The method of claim 4, wherein the at least one second controller includes an outer-loop target controller and a plurality of candidate inner-loop controllers, and the delay is virtually controlled based on the at least one second controller The system, obtaining at least one second operating parameter includes: obtaining a second preset duration corresponding to the outer-loop target controller; Using each candidate inner loop controller and the outer loop target controller to control the simulation system to run the second preset time period to obtain the at least one second running parameter. 7. The method according to any one of claims 1 to 6, wherein the target control that actually controls the time delay system is re-determined based on the first operating parameter, the at least one second operating parameter and a target parameter device, including: determining first difference information between the first operating parameter and the target parameter; determining second difference information between the at least one second operating parameter and the target parameter; A target controller that actually controls the delay system is determined based on the first difference information, the second difference information and the difference threshold. 8. A control system for controlling a time delay system, the control system comprising a first controller, at least one second controller and a processor; further comprising: a memory for storing a computer program executable on the processor; Wherein, when the computer program is executed by the processor, the control method described in claim 1 is implemented. 9. The control system of claim 8, further comprising: Multiple candidate inner-loop controllers are used to update the inner-loop controller to obtain the inner-loop target controller; A plurality of candidate outer-loop controllers are used to update the outer-loop controller to obtain the outer-loop target controller; wherein, the inner-loop controller and the outer-loop controller are alternately updated, so as to pass the inner-loop target controller and the outer loop target controller actually controls the delay system. 10. A control device comprising: a first obtaining module, configured to obtain the first operating parameter based on the actual control of the time delay system by the first controller; a second obtaining module, configured to virtually control the delay system based on at least one second controller to obtain at least one second operating parameter; A determination module configured to re-determine a target controller that actually controls the time delay system based on the first operating parameter, the at least one second operating parameter and the target parameter, wherein the target controller is derived from the first operating parameter a controller and the at least one second controller.

Images