CN110162021A - A kind of cybernetics system method for testing performance - Google Patents
A kind of cybernetics system method for testing performance Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
This application discloses a kind of cybernetics system method for testing performance, its performance criteria matrix of predetermined system model construction based on cybernetics system, transposition is carried out by the performance criteria matrix to cybernetics system, ranks conversion, and the processing such as element zero suppression, obtain the termination discrimination matrix that can be used for decision-making system performance, thus, the calculating to system performance matrix is realized based on the above non-recursive method, this kind of method is not limited by matrix order, namely the solution to Higher-order Determinants is realized based on non-recursive algorithm, and then the performance detection to cybernetics system is realized according to its rank of matrix for solving acquisition, improve the solution efficiency of Higher-order Determinants, further improve the performance detection efficiency of cybernetics system.Disclosed herein as well is a kind of cybernetics system device for detecting performance, equipment and computer readable storage mediums, all have above-mentioned beneficial effect.
Description
Technical field
This application involves field of artificial intelligence, in particular to a kind of cybernetics system method for testing performance further relates to
A kind of cybernetics system device for detecting performance, equipment and computer readable storage medium.
Background technique
Mathematics plays indispensable role in artificial intelligence, and artificial intelligence technology is all to pass through mathematics after all
Model foundation, and mathematical model all be unable to do without the theoretical frame of linear algebra.Therefore, linear algebra is not only artificial intelligence
The basis of energy, even more modern mathematics and the multi-disciplinary bases of crowd using modern mathematics as primary analysis method, wherein determinant
It is then concept and tool most basic in linear algebra.
In cybernetics system, generally performance judgment can be carried out to it by being solved to determinant, currently, determinant
Calculation method it is varied, such as recurrence method, define method, triangulation method, the depression of order, mathematical induction and edged rise rank method
Deng.Wherein, recurrence method is a kind of very concise method, it is unfolded by a certain column or a certain row of determinant,
Then gradually recurrence down, is many low order complementary minors by the determinant depression of order of high-order, when find be easy solution low order more than
When minor, then up recall, to solve determinant.
However, recurrence method is more applicable for the relatively low determinant of order, but with the raising of determinant order, will lead to
Calculation amount is significantly increased, and calculating process is complex, specifically, recursive call itself is needed using system stack, every time
Partition function memory and stack require the time, when not up to recursive boundary condition, with the increase of distribution number, repeat
Calculating will will lead to the reduction of computational efficiency, and then lead to the reduction of cybernetics system performance detection efficiency.
Therefore, the solution efficiency of Higher-order Determinants how is effectively improved, to further increase the performance inspection of cybernetics system
Surveying efficiency is those skilled in the art's urgent problem to be solved.
Summary of the invention
The purpose of the application is to provide a kind of cybernetics system method for testing performance, which can effectively improve
The performance detection efficiency of cybernetics system；The another object of the application is to provide a kind of cybernetics system device for detecting performance, sets
Standby and computer readable storage medium, it may have above-mentioned beneficial effect.
In order to solve the above technical problems, this application provides a kind of cybernetics system method for testing performance, the cybernetics
System performance detection process includes:
Obtain the predetermined system model of cybernetics system；
Initial performance discrimination matrix is constructed according to the model parameter of the predetermined system model；
Judge whether the lower left corner neutral element quantity of the leading diagonal of the initial performance discrimination matrix is lower than the upper right corner zero
Number of elements obtains first performance discrimination matrix if so, carrying out transposition to the initial performance discrimination matrix；
Using first element of the leading diagonal as starting point, the first performance is differentiated by Bubble Sort Algorithm
The conversion of matrix procession, obtains the second performance discrimination matrix；
Zero suppression processing is carried out to the second performance discrimination matrix, obtains third performance criteria matrix, and return to the row
The step of column conversion, obtains termination performance discrimination matrix until all elements traversal of the leading diagonal finishes；
According to the order of each element calculating matrix in the termination performance discrimination matrix；
The performance judgment to the cybernetics system is realized according to the rank of matrix.
Preferably, the predetermined system model is controllability state equation and/or ornamental state equation, then described initial
Performance criteria matrix is controllability performance criteria matrix and/or ornamental performance criteria matrix.
Preferably, described to include: according to the model parameter of predetermined system model building initial performance discrimination matrix
Input matrix and state matrix are determined according to the controllability state equation；
Output matrix is determined according to the ornamental state equation；
The controllability performance criteria matrix is constructed by the input matrix and the state matrix；
The ornamental performance criteria matrix is constructed by the output matrix and the state matrix.
Preferably, the performance judgment realized according to the rank of matrix to the cybernetics system, comprising:
When the corresponding rank of matrix of the controllability performance criteria matrix is full rank, then the cybernetics system tool is determined
There is controllability；
When the corresponding rank of matrix of the ornamental performance criteria matrix is full rank, then the cybernetics system tool is determined
There is ornamental.
Preferably, the order according to each element calculating matrix in the termination performance discrimination matrix, comprising:
It is traversed with the first behavior starting point of the termination performance discrimination matrix, counts the first row from left to right
Neutral element quantity, stop traversal when there is nonzero element, and the next line for jumping to the first row is traversed, until
All row traversals finish, and obtain the neutral element quantitative value of every a line in the termination performance discrimination matrix；
Delete repetition values in each neutral element quantitative value and equal with the order of the termination performance discrimination matrix
Neutral element quantitative value, obtain neutral element quantitative value after each screening；
Statistics is summed up to neutral element quantity after each screening, obtains the rank of matrix.
Preferably, it is defined by referring to for each matrix.
In order to solve the above technical problems, present invention also provides a kind of cybernetics system device for detecting performance, the control
Include: by system performance detection device
Model obtains module, for obtaining the predetermined system model of cybernetics system；
Matrix constructs module, for constructing initial performance discrimination matrix according to the model parameter of the predetermined system model；
Matrix transposition module, the lower left corner neutral element quantity of the leading diagonal for judging the initial performance discrimination matrix
Whether it is lower than upper right corner neutral element quantity, if so, carrying out transposition to the initial performance discrimination matrix, obtains first performance and sentence
Other matrix；
Ranks conversion module passes through Bubble Sort Algorithm for first element using the leading diagonal as starting point
The first performance discrimination matrix procession is converted, the second performance discrimination matrix is obtained；
Matrix zero suppression module obtains third performance criteria for carrying out zero suppression processing to the second performance discrimination matrix
Matrix, and the step of returning to ranks conversion obtain termination performance until all elements traversal of the leading diagonal finishes
Discrimination matrix；
Rank of matrix computing module, for the order according to each element calculating matrix in the termination performance discrimination matrix；
Performance judgment module, for realizing the performance judgment to the cybernetics system according to the rank of matrix.
Preferably, the matrix building module includes:
Controllability parameter determination unit, for determining input matrix and state matrix according to the controllability state equation；
Ornamental parameter determination unit, for determining output matrix according to the ornamental state equation；
Controllability performance criteria matrix construction unit, for by described in the input matrix and state matrix building
Controllability performance criteria matrix；
Ornamental performance criteria matrix construction unit, for by described in the output matrix and state matrix building
Ornamental performance criteria matrix.
In order to solve the above technical problems, present invention also provides a kind of cybernetics system performance detection apparatus, the control
Include: by system performance detection device
Memory, for storing computer program；
Processor realizes any one of the above cybernetics system method for testing performance when for executing the computer program
The step of.
In order to solve the above technical problems, the computer can present invention also provides a kind of computer readable storage medium
It reads to be stored with computer program on storage medium, the computer program realizes any one of the above control when being executed by processor
The step of by system performance detection process.
A kind of cybernetics system method for testing performance provided herein, the predetermined system including obtaining cybernetics system
Model；Initial performance discrimination matrix is constructed according to the model parameter of the predetermined system model；Judge that the initial performance differentiates
Whether the lower left corner neutral element quantity of the leading diagonal of matrix is lower than upper right corner neutral element quantity, if so, to described primality
Energy discrimination matrix carries out transposition, obtains first performance discrimination matrix；Using first element of the leading diagonal as starting point, lead to
It crosses Bubble Sort Algorithm to convert the first performance discrimination matrix procession, obtains the second performance discrimination matrix；To described
Second performance discrimination matrix carries out zero suppression processing, obtains third performance criteria matrix, and the step of returning to ranks conversion, directly
All elements traversal to the leading diagonal finishes, and obtains termination performance discrimination matrix；Square is differentiated according to the termination performance
The order of each element calculating matrix in battle array；The performance judgment to the cybernetics system is realized according to the rank of matrix.
As it can be seen that cybernetics system method for testing performance provided herein, the predetermined system mould based on cybernetics system
Type constructs its performance criteria matrix, carries out transposition, ranks conversion and element by the performance criteria matrix to cybernetics system
The processing such as zero suppression, obtains the termination discrimination matrix that can be used for decision-making system performance, is realized as a result, based on the above non-recursive method
Calculating to system performance matrix, this kind of method is not limited by matrix order, namely is realized based on non-recursive algorithm to height
The solution of rank determinant, and then the performance detection to cybernetics system is realized according to its rank of matrix for solving acquisition, it improves
The solution efficiency of Higher-order Determinants, further improves the performance detection efficiency of cybernetics system.
A kind of cybernetics system device for detecting performance, equipment and computer readable storage medium provided herein,
Above-mentioned beneficial effect is all had, details are not described herein.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow diagram of cybernetics system method for testing performance provided herein；
Fig. 2 is a kind of structural schematic diagram of cybernetics system device for detecting performance provided herein；
Fig. 3 is a kind of structural schematic diagram of cybernetics system performance detection apparatus provided herein.
Specific embodiment
The core of the application is to provide a kind of cybernetics system method for testing performance, which can effectively improve
The performance detection efficiency of cybernetics system；Another core of the application is to provide a kind of cybernetics system device for detecting performance, sets
Standby and computer readable storage medium, it may have above-mentioned beneficial effect.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
All other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Referring to FIG. 1, Fig. 1 is a kind of flow diagram of cybernetics system method for testing performance provided herein,
The cybernetics system method for testing performance may include:
S101: the predetermined system model of cybernetics system is obtained；
Cybernetics system is generally linear system, can realize performance detection by its system model, therefore, it is necessary first to right
Cybernetics system carries out model construction, obtains above-mentioned predetermined system model.Wherein, the building process of the predetermined system model can be adopted
With it is in the prior art any one, details are not described herein by the application.Further, complete model construction to cybernetics system into
When row performance detection, the predetermined system model is directly transferred.
S102: initial performance discrimination matrix is constructed according to the model parameter of predetermined system model；
This step is intended to the building based on predetermined system model realization initial performance discrimination matrix, specifically can be according to default system
The model parameter of system model is realized.Wherein, the judgement of different performance, corresponding initial discrimination matrix are carried out to cybernetics system
Also different, but its concrete type has no effect on the implementation of the technical program, and therefore, the application does not limit this.
Preferably, above-mentioned predetermined system model is controllability state equation and/or ornamental state equation, then initial performance
Discrimination matrix is controllability performance criteria matrix and/or ornamental performance criteria matrix.
In cybernetics, for a cybernetics system, controllability and observability is stablized to dynamical system
Analysis, state estimation, System Discrimination and the basis for realizing the research of the relevant issues such as optimization.Therefore, it present embodiments provides
A kind of more specific performance judgment type carries out the judgement of two kinds of performances of controllability and ornamental to cybernetics system, because
This, above-mentioned predetermined system model can be controllability state equation and/or ornamental state equation, it is corresponding, it is above-mentioned primality
Energy discrimination matrix can be controllability performance criteria matrix and/or ornamental performance criteria matrix.
Preferably, above-mentioned that initial performance discrimination matrix is constructed according to the model parameter of predetermined system model can include: according to
Controllability state equation determines input matrix and state matrix；Output matrix is determined according to ornamental state equation；Pass through input
Matrix and state matrix construct controllability performance criteria matrix；Ornamental performance criteria is constructed by output matrix and state matrix
Matrix.
A kind of construction method of more specific initial performance discrimination matrix is present embodiments provided, which is directed to
In two performance of above-mentioned controllability and ornamental.Specifically, the model parameter of controllability state equation is state matrix and input square
Battle array, the model parameter of ornamental state equation are state matrix and output matrix, wherein controllability state equation and considerable character
The state matrix of state equation is identical, obtains from any one initial performance discrimination matrix, and the application does not limit this,
For example, in the present embodiment, selection is obtained based on controllability equation.In addition, above-mentioned input matrix, output matrix and state square
Battle array is the intrinsic parameter of predetermined system model.Further, controllability performance can be realized based on input matrix and state matrix
The building of ornamental performance criteria matrix can be realized based on output matrix and state matrix for the building of discrimination matrix.
S103: judge whether the lower left corner neutral element quantity of the leading diagonal of initial performance discrimination matrix is lower than the upper right corner zero
Number of elements obtains first performance discrimination matrix if so, carrying out transposition to initial performance discrimination matrix；
This step aims at the transposition of matrix, specifically, on the basis of the leading diagonal of initial performance discrimination matrix, point
The other neutral element to its lower left corner and the upper right corner carries out quantity statistics, obtains above-mentioned lower left corner neutral element quantity and the above-mentioned upper right corner
Neutral element quantity, and the two is compared, when lower left corner neutral element quantity is lower than upper right corner neutral element quantity, to primality
Energy discrimination matrix carries out transposition, obtains above-mentioned first performance discrimination matrix.
S104: using first element of leading diagonal as starting point, square is differentiated to first performance by Bubble Sort Algorithm
Battle array procession conversion, obtains the second performance discrimination matrix；
This step aims at the ranks conversion of matrix, can specifically be realized based on Bubble Sort Algorithm, wherein above-mentioned master couple
First element of linea angulata is the element of first performance discrimination matrix the first row first row.Specifically, firstly, can be by first
Row is as initial position where the first column element of row and last column element is expert at as the square of final position using last line
Battle array becomes submatrix, further, by the method for bubble sort, by the lower section element of the first column element of the first row column at this time
All rows being not zero exchange to the top of submatrix by row, and all rows that element is zero exchange to son by row
The lower section of matrix, to obtain above-mentioned second performance discrimination matrix.
S105: zero suppression processing is carried out to the second performance discrimination matrix, obtains third performance criteria matrix；
S106: judging whether all elements of leading diagonal traverse and finish, if it is not, S104 is then returned to, if so, executing
S107；
S107: termination performance discrimination matrix is obtained；
This step aims at the zero suppression processing of matrix, is specifically not zero to the first column element of the first row column lower section
Element corresponding to all rows, carry out zero suppression two-by-two with row where the first row the first column element and handle, after being disposed, return
S104 is by starting point of second element of leading diagonal namely second the second column element of row to zero suppression treated performance criteria
The conversion of matrix procession and zero suppression processing, are successively traversed with this, up to the last one element of leading diagonal in matrix, namely
Last column element of last line traversal terminates, and terminates traversal, obtains termination performance discrimination matrix.
S108: according to the order of each element calculating matrix in termination performance discrimination matrix；
This step aims at the calculating of rank of matrix, realizes with specific reference to each element in termination performance discrimination matrix
The calculating process, the solution procedure of rank of matrix can refer to any one in prior art, have no effect on the technical program
Implement.
Preferably, the above-mentioned order according to each element calculating matrix in termination performance discrimination matrix may include: to terminate
First behavior starting point of performance criteria matrix is traversed, and counts the neutral element quantity of the first row from left to right, non-when occurring
Stop traversal when neutral element, and the next line for jumping to the first row is traversed, until all rows traversal finishes, obtains termination
The neutral element quantitative value of every a line in energy discrimination matrix；It deletes the repetition values in each neutral element quantitative value and sentences with termination performance
The equal neutral element quantitative value of other order of matrix number, obtains neutral element quantitative value after each screening；To neutral element quantity after each screening
Statistics is summed up, rank of matrix is obtained.
The present embodiment proposes the calculation method of the more order of concrete matrix, specifically with the of termination performance discrimination matrix
One behavior initial position as above traverses all rows in termination performance discrimination matrix, finally by zero in matrix
Element carries out the quantitative value that neutral element is obtained after as above screening, to realize the calculating of rank of matrix.
S109: the performance judgment to cybernetics system is realized according to rank of matrix.
This step is intended to realize the performance judgment to cybernetics system according to rank of matrix, specifically, working as rank of matrix
When for full rank, corresponding system performance is met the requirements, and system performance detection passes through.
Preferably, the above-mentioned performance judgment realized according to rank of matrix to cybernetics system, it may include: when controllability performance
When the corresponding rank of matrix of discrimination matrix is full rank, then determine that cybernetics system has controllability；When ornamental performance criteria square
When the corresponding rank of matrix of battle array is full rank, then determine that cybernetics system has ornamental.
For the controllability of cybernetics system and ornamental, the corresponding rank of matrix of respective performance criteria matrix is full
When order, that is, it can determine that the cybernetics system has controllability and ornamental, performance detection passes through, otherwise detection failure.
As a kind of preferred embodiment, it is defined by referring to for each matrix.
Computer can be run as one kind according to program, automatic, high speed processing mass data modernization smart electronics
Equipment can extremely efficiently solve the problems, such as that mass data calculates, and pass through the speed advantage and optimization using computer
The quick calculating to Higher-order Determinants may be implemented in algorithm.Wherein, C++ be developed on the basis of C language one kind towards right
It is very widely used as programming language.Therefore, technical solution provided herein can be realized by C++.
Due to being solved to Higher-order Determinants, firstly the need of consideration be then determinant storage problem.Specifically
, in C++, when defining an array, it is necessary to determine the size of array, therefore want to guarantee when defining two-dimensional array
The size of two-dimensional array is sufficiently large, two-dimensional array can be defined as a [100] [100], still, this kind of implementation can not
The determinant for being greater than 100 ranks is solved, meanwhile, if storing low order determinant using this kind of mode, and very big memory will be occupied
Space.
Therefore, to solve the above problems, can be defined using referring to for two-dimensional array, namely to above-mentioned each matrix
It is defined.Specifically, the dynamic definition of two-dimensional array size may be implemented in mallow () function in C++, it thus can root
Come storage allocation space according to the demand of user；Further, the mode that pointer can be used accesses to array, to improve to array
Access speed, and then promoted program execution speed.It, can be according to the value of output as a result, when inputting performance discrimination matrix
It whether is 0 controllability and observability for carrying out quick discrimination cybernetics system.
Cybernetics system method for testing performance provided herein, the predetermined system model construction based on cybernetics system
Its performance criteria matrix carries out transposition, ranks conversion and element zero suppression etc. by the performance criteria matrix to cybernetics system
Processing obtains the termination discrimination matrix that can be used for decision-making system performance, is realized as a result, based on the above non-recursive method to system
The calculating of performance matrix, this kind of method are not limited by matrix order, namely are realized based on non-recursive algorithm to high-order ranks
The solution of formula, and then the performance detection to cybernetics system is realized according to its rank of matrix for solving acquisition, improve high-order
The solution efficiency of determinant further improves the performance detection efficiency of cybernetics system.
On the basis of above-mentioned each embodiment, this application provides more specifically cybernetics system performance detection sides
The specific implementation flow of method, the cybernetics system method for testing performance is as follows:
Firstly, the controllability performance and ornamental performance to cybernetics system are introduced:
(1) for controllability, the state equation (controllability state equation) of n1 rank linear time-invariant continuous system are as follows:
X (t)=Ax (t)+Bu (t), x (0)=x0, t >=0；
Wherein, x is that n1 ties up state vector, and u is p1 dimensional input vector, and A and B are respectively n1*n1 state matrix and n1*p1 defeated
Enter matrix, is the intrinsic parameter of system, does not change over time；Controllability state equation is to lead to build linear time-invariant continuous system excessively
What mould obtained.Pass through discrimination matrix Гc[A, B]n1-q1The controllability of judgement system, the linear time-invariant continuous system are fully controllable
Necessary and sufficient condition are as follows:
rankГc[A, B]n1-q1=rank [B AB ... An1-q1B]=n1；
Wherein, q1=rankB, q1≤p1；
This method is the improvement to general order criterion, is suitable for multiple entry system, can reduce unnecessary calculating.
(2) for ornamental, the state equation of n2 rank linear time-invariant continuous system are as follows:
X (t)=Cx (t), x (0)=x0, t >=0, y (t)=Dx (t)；
Wherein, x is that n2 ties up state vector, and y is that p2 ties up output vector, and C and D are respectively n2*n2 state matrix and p2*n2 defeated
Matrix out is the intrinsic parameter of system, does not change over time；Ornamental state equation is by building to linear time-invariant continuous system
What mould obtained.Pass through discrimination matrix Г o [C, D]n2-q2The ornamental of judgement system, the linear time-invariant continuous system are entirely capable of sight
Necessary and sufficient condition are as follows:
rankГo[C,D]n2-q2=rank [D DC ... DCn2-q2]T=n2；
Wherein, q2=rankD, q2≤p2；
Similar to the differentiation of controllability, this method is also the improvement to general order criterion, is suitable for multiple entry system, is reduced
Unnecessary calculating.
Based on above-mentioned elaboration, it can be seen that if M=Гc[A, B]n1-q1=[B AB ... An1-q1B] full rank, and q1=
RankB, then the cybernetics system can be controlled, and otherwise cannot control；If N=Гo[C,D]n2-q2=[D DC ... DCn2-q2]TFull rank,
And q2=rankD, then the cybernetics system can be seen, and otherwise cannot be seen.
Further, above-mentioned criterion can be exchanged into solution determinant | M | and determinant | N | order the problem of, if ranks
Formula is not 0, then full rank, and otherwise full rank, specific solution procedure be not as follows:
S1. assume square matrix a (determinant | M | or | N |) order be n rank, wherein aii(1≤i≤n) is indicated on leading diagonal
Element.First determine whether the lower left corner neutral element number left_up_num of square matrix a and the neutral element number right_ in the upper right corner
Down_num carries out transposition to square matrix a and obtains a1, i.e. a1=a if left_up_num < right_down_numT, at this time |
A |=| a1 |.To main diagonal element aiiIt is traversed, enables p=1, c=0；
S2. in traversal each time, to the elements in a main diagonal aiiBe expert at and all rows below are handled,
By the method for bubble sort, with aiiIt is expert at and is denoted as b as initial position and the matrix being expert at using ann as end position
(submatrix), a at this timeiiAll rows that element is not zero below column exchange to the top of b, the column element by row
All rows for being zero exchange to the lower section of b by row, to obtain a new determinant | a2 |, at this time | a |=| a2 |,
The number t that all rows exchange in the process is counted, c+=t is enabled；
S3. complete row exchange after, if determinant at this time | a2 | aiiIt is not 0, then according to the property of determinant, remembers element
aiiAll line numbers corresponding to the element for 0 are k below column, by its respectively with element aiiPlace row is disappeared two-by-two
Zero processing, the coefficient generated in treatment process can be stored with p, specifically: traversing operation carried out to this k row, each time
In going through, by all elements of jth row multiplied by element aii, wherein 1≤j≤k, p*=1/a at this timeii, subtract ak+i iMultiplied by element
aiiAll elements of the row, at this time p*=1/ak+i i, then again by element aiiAll elements of the row are divided by ak+i i, this
When p*=ak+i i, after this is traversed, if j < k, traverses next line；After to k row traversing operation, obtain
One new determinant | a3 |, at this time | a |=| a3 |, it so far completes once to main diagonal element aiiTraversal, this traversal knot
Shu Hou, if i < n, repeatedly S2 and S3 step；
S4. after above-mentioned all traversals, last determinant can be translated into the stepped lower-left triangle that lower left corner element is 0
Square matrix calculates final determinant | a3 | the elements in a main diagonal product, be denoted as pa, determinant can be obtained at this time | a |=(- 1)cppa；Further, traverse | a3 | every a line, each time traversal in, the neutral element number z of the row is from left to right counted, if encountering
Nonzero element then terminates this traversal and is traversed next time, and it is square that repeat number and value are removed in all z as the number of the z of n
Rank of matrix r.
Finally, the rank of matrix that can be obtained according to above-mentioned calculating realizes the performance judgment to cybernetics system.
Cybernetics system method for testing performance provided by the embodiment of the present application, the predetermined system mould based on cybernetics system
Type constructs its performance criteria matrix, carries out transposition, ranks conversion and element by the performance criteria matrix to cybernetics system
The processing such as zero suppression, obtains the termination discrimination matrix that can be used for decision-making system performance, is realized as a result, based on the above non-recursive method
Calculating to system performance matrix, this kind of method is not limited by matrix order, namely is realized based on non-recursive algorithm to height
The solution of rank determinant, and then the performance detection to cybernetics system is realized according to its rank of matrix for solving acquisition, it improves
The solution efficiency of Higher-order Determinants, further improves the performance detection efficiency of cybernetics system.
To solve the above problems, referring to FIG. 2, Fig. 2 is that a kind of cybernetics system performance detection provided herein fills
The structural schematic diagram set, the cybernetics system device for detecting performance can include:
Model obtains module 10, for obtaining the predetermined system model of cybernetics system；
Matrix constructs module 20, for constructing initial performance discrimination matrix according to the model parameter of predetermined system model；
Matrix transposition module 30, for judging that the lower left corner neutral element quantity of leading diagonal of initial performance discrimination matrix is
It is no to be lower than upper right corner neutral element quantity, if so, carrying out transposition to initial performance discrimination matrix, obtains first performance and differentiate square
Battle array；
Ranks conversion module 40 passes through Bubble Sort Algorithm pair for first element using leading diagonal as starting point
The conversion of first performance discrimination matrix procession, obtains the second performance discrimination matrix；
Matrix zero suppression module 50 obtains third performance criteria square for carrying out zero suppression processing to the second performance discrimination matrix
Battle array, and the step of returning to ranks conversion obtain termination performance discrimination matrix until all elements traversal of leading diagonal finishes；
Rank of matrix computing module 60, for the order according to each element calculating matrix in termination performance discrimination matrix；
Performance judgment module 70, for realizing the performance judgment to cybernetics system according to rank of matrix.
As a kind of preferred embodiment, above-mentioned matrix constructs module 20 can include:
Controllability parameter determination unit, for determining input matrix and state matrix according to controllability state equation；
Ornamental parameter determination unit, for determining output matrix according to ornamental state equation；
Controllability performance criteria matrix construction unit is sentenced for constructing controllability performance by input matrix and state matrix
Other matrix；
Ornamental performance criteria matrix construction unit is sentenced for constructing ornamental performance by output matrix and state matrix
Other matrix.
As a kind of preferred embodiment, above-mentioned performance judgment module 70 can include:
Controllability performance judgment unit is used for when the corresponding rank of matrix of controllability performance criteria matrix is full rank, then
Determine that cybernetics system has controllability；
Ornamental performance judgment unit is used for when the corresponding rank of matrix of ornamental performance criteria matrix is full rank, then
Determine that cybernetics system has ornamental.
As a kind of preferred embodiment, above-mentioned rank of matrix computing module 60 can include:
Traversal Unit counts from left to right for being traversed with the first behavior starting point of termination performance discrimination matrix
The neutral element quantity of the first row stops traversal when there is nonzero element, and the next line for jumping to the first row is traversed, directly
It is finished to all rows traversal, obtains the neutral element quantitative value of every a line in termination performance discrimination matrix；
Screening unit, for deleting repetition values in each neutral element quantitative value and equal with the order of discrimination matrix is terminated
Neutral element quantitative value, obtain neutral element quantitative value after each screening；
Rank of matrix computing unit obtains rank of matrix for summing up statistics to neutral element quantity after each screening.
Above method embodiment is please referred to for the introduction of device provided by the present application, this will not be repeated here by the application.
To solve the above problems, referring to FIG. 3, Fig. 3 is that a kind of cybernetics system performance detection provided herein is set
Standby structural schematic diagram, the cybernetics system performance detection apparatus can include:
Memory 1, for storing computer program；
Processor 2, realizes following steps when for executing computer program:
Obtain the predetermined system model of cybernetics system；Initial performance is constructed according to the model parameter of predetermined system model to sentence
Other matrix；Judge whether the lower left corner neutral element quantity of the leading diagonal of initial performance discrimination matrix is lower than upper right corner null element prime number
Amount obtains first performance discrimination matrix if so, carrying out transposition to initial performance discrimination matrix；With first of leading diagonal
Element is starting point, is converted by Bubble Sort Algorithm to first performance discrimination matrix procession, obtains the second performance criteria
Matrix；Zero suppression processing is carried out to the second performance discrimination matrix, obtains third performance criteria matrix, and returns to the step of ranks conversion
Suddenly, until all elements traversal of leading diagonal finishes, termination performance discrimination matrix is obtained；According in termination performance discrimination matrix
Each element calculating matrix order；The performance judgment to cybernetics system is realized according to rank of matrix.
Above method embodiment is please referred to for the introduction of equipment provided by the present application, this will not be repeated here by the application.
To solve the above problems, present invention also provides a kind of computer readable storage medium, the computer-readable storage
It is stored with computer program on medium, can be realized when computer program is executed by processor following rapid:
Obtain the predetermined system model of cybernetics system；Initial performance is constructed according to the model parameter of predetermined system model to sentence
Other matrix；Judge whether the lower left corner neutral element quantity of the leading diagonal of initial performance discrimination matrix is lower than upper right corner null element prime number
Amount obtains first performance discrimination matrix if so, carrying out transposition to initial performance discrimination matrix；With first of leading diagonal
Element is starting point, is converted by Bubble Sort Algorithm to first performance discrimination matrix procession, obtains the second performance criteria
Matrix；Zero suppression processing is carried out to the second performance discrimination matrix, obtains third performance criteria matrix, and returns to the step of ranks conversion
Suddenly, until all elements traversal of leading diagonal finishes, termination performance discrimination matrix is obtained；According in termination performance discrimination matrix
Each element calculating matrix order；The performance judgment to cybernetics system is realized according to rank of matrix.
The computer readable storage medium may include: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Above method embodiment is please referred to for the introduction of computer readable storage medium provided by the present application, the application exists
This is not repeated them here.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond scope of the present application.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
It to cybernetics system method for testing performance provided herein, device, equipment and computer-readable deposits above
Storage media is described in detail.Specific examples are used herein to illustrate the principle and implementation manner of the present application,
The description of the example is only used to help understand the method for the present application and its core ideas.It should be pointed out that for this technology
For the those of ordinary skill in field, under the premise of not departing from the application principle, several improvement can also be carried out to the application
And modification, these improvement and modification also fall into the protection scope element of the claim of this application.
Claims (10)
1. a kind of cybernetics system method for testing performance characterized by comprising
Obtain the predetermined system model of cybernetics system；
Initial performance discrimination matrix is constructed according to the model parameter of the predetermined system model；
Judge whether the lower left corner neutral element quantity of the leading diagonal of the initial performance discrimination matrix is lower than upper right corner neutral element
Quantity obtains first performance discrimination matrix if so, carrying out transposition to the initial performance discrimination matrix；
Using first element of the leading diagonal as starting point, by Bubble Sort Algorithm to the first performance discrimination matrix
Procession conversion, obtains the second performance discrimination matrix；
Zero suppression processing is carried out to the second performance discrimination matrix, obtains third performance criteria matrix, and returns to the ranks and turns
The step of changing obtains termination performance discrimination matrix until all elements traversal of the leading diagonal finishes；
According to the order of each element calculating matrix in the termination performance discrimination matrix；
The performance judgment to the cybernetics system is realized according to the rank of matrix.
2. cybernetics system method for testing performance as described in claim 1, which is characterized in that the predetermined system model is can
Control property state equation and/or ornamental state equation, then the initial performance discrimination matrix be controllability performance criteria matrix and/
Or ornamental performance criteria matrix.
3. cybernetics system method for testing performance as claimed in claim 2, which is characterized in that described according to the predetermined system
The model parameter of model constructs initial performance discrimination matrix
Input matrix and state matrix are determined according to the controllability state equation；
Output matrix is determined according to the ornamental state equation；
The controllability performance criteria matrix is constructed by the input matrix and the state matrix；
The ornamental performance criteria matrix is constructed by the output matrix and the state matrix.
4. cybernetics system method for testing performance as claimed in claim 3, which is characterized in that described according to the rank of matrix
Realize the performance judgment to the cybernetics system, comprising:
When the corresponding rank of matrix of the controllability performance criteria matrix be full rank when, then determine the cybernetics system have can
Control property；
When the corresponding rank of matrix of the ornamental performance criteria matrix be full rank when, then determine the cybernetics system have can
The property seen.
5. cybernetics system method for testing performance as described in claim 1, which is characterized in that described according to the termination performance
The order of each element calculating matrix in discrimination matrix, comprising:
It is traversed with the first behavior starting point of the termination performance discrimination matrix, counts the zero of the first row from left to right
Number of elements stops traversal when there is nonzero element, and the next line for jumping to the first row is traversed, until all
Row traversal finishes, and obtains the neutral element quantitative value of every a line in the termination performance discrimination matrix；
Delete the repetition values in each neutral element quantitative value and equal with the order of the termination performance discrimination matrix zero
Number of elements value obtains neutral element quantitative value after each screening；
Statistics is summed up to neutral element quantity after each screening, obtains the rank of matrix.
6. the cybernetics system method for testing performance as described in claim 1 to 5 any one, which is characterized in that pass through pointer
Each matrix is defined.
7. a kind of cybernetics system device for detecting performance characterized by comprising
Model obtains module, for obtaining the predetermined system model of cybernetics system；
Matrix constructs module, for constructing initial performance discrimination matrix according to the model parameter of the predetermined system model；
Matrix transposition module, for judge the initial performance discrimination matrix leading diagonal lower left corner neutral element quantity whether
Lower than upper right corner neutral element quantity, if so, carrying out transposition to the initial performance discrimination matrix, obtains first performance and differentiate square
Battle array；
Ranks conversion module, for first element using the leading diagonal as starting point, by Bubble Sort Algorithm to institute
The conversion of first performance discrimination matrix procession is stated, the second performance discrimination matrix is obtained；
Matrix zero suppression module, for obtaining third performance criteria matrix to the second performance discrimination matrix progress zero suppression processing,
And the step of returning to ranks conversion, obtains termination performance and differentiates until all elements traversal of the leading diagonal finishes
Matrix；
Rank of matrix computing module, for the order according to each element calculating matrix in the termination performance discrimination matrix；
Performance judgment module, for realizing the performance judgment to the cybernetics system according to the rank of matrix.
8. cybernetics system device for detecting performance as claimed in claim 7, which is characterized in that the matrix constructs module packet
It includes:
Controllability parameter determination unit, for determining input matrix and state matrix according to the controllability state equation；
Ornamental parameter determination unit, for determining output matrix according to the ornamental state equation；
Controllability performance criteria matrix construction unit, it is described controllable for being constructed by the input matrix and the state matrix
Property performance criteria matrix；
Ornamental performance criteria matrix construction unit is described considerable for being constructed by the output matrix and the state matrix
Property performance criteria matrix.
9. a kind of cybernetics system performance detection apparatus characterized by comprising
Memory, for storing computer program；
Processor realizes the cybernetics system as described in claim 1 to 6 any one when for executing the computer program
The step of method for testing performance.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the cybernetics system as described in claim 1 to 6 any one when the computer program is executed by processor
The step of energy detection method.
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