CN110632844B - Data processing method and device - Google Patents
Data processing method and device Download PDFInfo
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- CN110632844B CN110632844B CN201910870103.6A CN201910870103A CN110632844B CN 110632844 B CN110632844 B CN 110632844B CN 201910870103 A CN201910870103 A CN 201910870103A CN 110632844 B CN110632844 B CN 110632844B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application discloses a data processing method and device, wherein the method comprises the following steps: judging whether an error is in an error threshold range, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at the current moment; under the condition that the error is judged to be in the error threshold range, a first set value corresponding to the controlled object is obtained according to the mapping relation between the controlled object and the set value, wherein the first set value is a differential set value corresponding to the current moment of the controlled object; generating a control instruction according to the first set value; and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The control stability can be improved.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a data processing method and apparatus.
Background
Along with the improvement of the daily living standard of people, the demands of people for automatic control are higher and higher, and constant temperature and constant speed control is required for a temperature controller of a 3D printer and a constant speed cruising in an automobile. At present, the constant temperature and constant speed control is realized by a proportional-integral-derivative (proportion integral differential, PID) algorithm matched with a hardware circuit. Specifically, the difference between the set speed or temperature value and the actual speed or actual temperature is taken as the deviation, and the proportional, integral and derivative of the deviation are linearly combined to obtain the control quantity so as to realize the speed and temperature regulation.
However, the speed or temperature value of the current PID algorithm in the actual application can be subjected to overshoot oscillation, so that the speed or temperature of the control is unstable and the control efficiency is low.
Disclosure of Invention
The embodiment of the application provides a data processing method and device, which can solve the problem of overshoot speed oscillation in the starting process and improve the control stability.
In a first aspect, an embodiment of the present application provides a data processing method, including:
judging whether an error is in an error threshold range, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at the current moment;
under the condition that the error is judged to be in the error threshold range, a first set value corresponding to the controlled object is obtained according to the mapping relation between the controlled object and the set value, wherein the first set value is a differential set value corresponding to the current moment of the controlled object;
generating a control instruction according to the first set value;
and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter.
In one possible implementation manner, the generating a control instruction according to the first set value includes:
calculating a first control amount according to the first set value;
calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient;
calculating a product of a second proportionality coefficient and the output value to obtain a second result, wherein the second proportionality coefficient is the output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation;
calculating the sum of the first result and the second result to obtain a second control amount;
and generating a control instruction according to the second control quantity.
In one possible implementation manner, the calculating the first control amount according to the first set value includes:
determining a current rate of change of the error;
determining the change trend of the error according to the current change rate and a first threshold, wherein the first threshold is a differential threshold corresponding to the error;
calculating the product of the first set value and the corresponding value of the change trend to obtain a third control quantity;
And determining a first control amount according to the third control amount.
In one possible implementation manner, the determining the first control amount according to the third control amount includes:
acquiring the last change trend of the error, wherein the last change trend is the change trend at the last moment;
acquiring a second set value corresponding to the controlled object according to the mapping relation, wherein the second set value is a differential set value corresponding to the controlled object at the last moment;
calculating the product of the second set value and the corresponding value of the last change trend to obtain a fourth control quantity;
and determining a first control amount according to the third control amount and the fourth control amount.
In one possible implementation manner, the determining the first control amount according to the third control amount and the fourth control amount includes:
acquiring a first accumulated error, wherein the first accumulated error is the sum of errors of all moments before the current moment;
judging whether the error is smaller than a second threshold value;
under the condition that the error is smaller than a second threshold value, calculating the sum of the error and the first accumulated error to obtain a second accumulated error;
calculating the product of the second accumulated error and a third threshold value to obtain a fifth control quantity, wherein the third threshold value is an integral threshold value corresponding to the error;
And determining a first control amount according to the third control amount, the fourth control amount and the fifth control amount.
In one possible implementation manner, the determining the first control amount according to the third control amount and the fourth control amount further includes:
acquiring a third set value corresponding to the controlled object according to the mapping relation under the condition that the error is larger than or equal to the second threshold value, wherein the third set value is an integral set value corresponding to the controlled object;
calculating the sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error;
calculating the product of the third accumulated error and the third threshold value to obtain a sixth control amount;
and determining a first control amount according to the third control amount, the fourth control amount and the sixth control amount.
In one possible implementation manner, the determining the first control amount according to the third control amount, the fourth control amount, and the fifth control amount includes:
calculating the product of the error and a fourth threshold value to obtain a seventh control quantity, wherein the fourth threshold value is a proportional threshold value corresponding to the error;
And determining a first control amount according to the third control amount, the fourth control amount, the fifth control amount and the seventh control amount.
In a second aspect, an embodiment of the present application provides a data processing apparatus, including:
the first judging unit is used for judging whether the error is in an error threshold range, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at the current moment;
the first acquisition unit is used for acquiring a first set value corresponding to the controlled object according to the mapping relation between the controlled object and the set value when the error is judged to be in the error threshold range, wherein the first set value is a differential set value corresponding to the current moment of the controlled object;
a generating unit, configured to generate a control instruction according to the first setting value;
and the sending unit is used for sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter.
In a possible implementation manner, the generating unit is specifically configured to:
calculating a first control amount according to the first set value;
Calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient;
calculating a product of a second proportionality coefficient and the output value to obtain a second result, wherein the second proportionality coefficient is the output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation;
calculating the sum of the first result and the second result to obtain a second control amount;
and generating a control instruction according to the second control quantity.
In a possible implementation manner, the generating unit is specifically configured to:
determining a current rate of change of the error;
determining the change trend of the error according to the current change rate and a first threshold, wherein the first threshold is a differential threshold corresponding to the error;
calculating the product of the first set value and the corresponding value of the change trend to obtain a third control quantity;
and determining a first control amount according to the third control amount.
In a possible implementation manner, the generating unit is specifically configured to:
acquiring the last change trend of the error, wherein the last change trend is the change trend at the last moment;
Acquiring a second set value corresponding to the controlled object according to the mapping relation, wherein the second set value is a differential set value corresponding to the controlled object at the last moment;
calculating the product of the second set value and the corresponding value of the last change trend to obtain a fourth control quantity;
and determining a first control amount according to the third control amount and the fourth control amount.
In a possible implementation manner, the generating unit is specifically configured to:
acquiring a first accumulated error, wherein the first accumulated error is the sum of errors of all moments before the current moment;
judging whether the error is smaller than a second threshold value;
under the condition that the error is smaller than a second threshold value, calculating the sum of the error and the first accumulated error to obtain a second accumulated error;
calculating the product of the second accumulated error and a third threshold value to obtain a fifth control quantity, wherein the third threshold value is an integral threshold value corresponding to the error;
and determining a first control amount according to the third control amount, the fourth control amount and the fifth control amount.
In a possible implementation manner, the generating unit is further configured to:
acquiring a third set value corresponding to the controlled object according to the mapping relation under the condition that the error is larger than or equal to the second threshold value, wherein the third set value is an integral set value corresponding to the controlled object;
Calculating the sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error;
calculating the product of the third accumulated error and the third threshold value to obtain a sixth control amount;
and determining a first control amount according to the third control amount, the fourth control amount and the sixth control amount.
In a possible implementation manner, the generating unit is specifically configured to:
calculating the product of the error and a fourth threshold value to obtain a seventh control quantity, wherein the fourth threshold value is a proportional threshold value corresponding to the error;
and determining a first control amount according to the third control amount, the fourth control amount, the fifth control amount and the seventh control amount.
In a third aspect, an embodiment of the present application provides a data processing apparatus, where the apparatus includes a processor, a memory, an input device, and an output device, where the processor, the memory, the input device, and the output device are connected to each other, where the memory is configured to store a computer program supporting the washing machine to perform the foregoing process identification method, and the computer program includes program instructions, and the processor is configured to invoke the program instructions to perform the method provided by the foregoing first aspect and/or any possible implementation manner of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method provided by the first aspect and/or any one of the possible implementations of the first aspect.
In the embodiment of the application, whether the error is within the error threshold range is determined, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at the current moment. And under the condition that the error is judged to be in the error threshold range, acquiring a first set value corresponding to the controlled object, generating a control instruction according to the first set value, and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The parameter can be accurately adjusted through judging the range of the error, the current error is calculated according to the acquired set value, the actual starting stage speed or temperature parameter can be finely adjusted, the problem that the PID algorithm can generate overshoot oscillation in the actual starting stage speed or temperature value can be solved, the control stability can be improved, and the control efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a data processing method according to an embodiment of the present application;
FIG. 2 is a flow chart of another data processing method according to an embodiment of the present application;
fig. 3 is an application scenario diagram of a data processing method provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a data processing apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include additional steps or elements not listed or inherent to such process, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, fig. 1 is a flow chart of a data processing method according to an embodiment of the present application. As shown in fig. 1, the data processing method includes:
101. And judging whether the error is in an error threshold range or not.
The above-mentioned method of the embodiments of the present application may be performed by a processor, or may be performed by an apparatus including a processor. The processor may send a control instruction to the controlled object, so that the controlled object adjusts the value of the parameter. The controlled object can be a motor in a circuit, and the parameter is the rotating speed of the motor in the circuit; the temperature of the heating device can be used as a parameter, and the water level in the circuit can be used as a parameter. Wherein the type of controlled object and parameters is not limited. It can be appreciated that by implementing the method of the present application, the motor, the heating device and the water level adjusting device can be stably adjusted in the starting stage, so as to achieve the purpose of automatic control.
Specifically, the data processing method is divided into three parts: proportional, integral and differential control. After the controlled object is started, the processor periodically acquires the value of the parameter current moment of the controlled object, wherein the value of the parameter current moment is an output value, and after the processor acquires the value of the parameter current moment of the controlled object, the processor calculates the difference between an input value and the output value of the moment, and the input value is a target value of the parameter and is a value which the controlled object needs to reach. This difference is taken as the current error. The control quantity is obtained by calculating the proportion, the integral and the derivative of the error, and is sent to the controlled object so as to facilitate the controlled object to adjust the value of the parameter at the current moment.
After calculating the error, in order to solve the problem of the overshoot speed oscillation of the controlled object in the starting process, differential calculation is carried out on the error, and whether the error is in an error threshold range is firstly judged, because the differential is to finely adjust the value of the parameter, if the error is judged to be in the error threshold range, the differential of the calculated error is carried out, and a control instruction is generated. If the error is judged not to be in the threshold range, the current moment is determined to be free from fine adjustment, namely a part which does not need differentiation. And requires a large amplitude modulation until the error is within the threshold at a certain time, and then differential modulation is performed.
102. And when the error is judged to be within the error threshold range, acquiring a first set value corresponding to the controlled object according to the mapping relation between the controlled object and the set value.
In one possible implementation, the differential adjustment is performed if the error is determined to be within the error threshold. And acquiring a first set value corresponding to the controlled object according to the mapping relation between the controlled object and the set value, wherein the first set value is a positive number smaller than 1. The controlled object is a device or a product in a specific implementation, each product corresponds to different set values, wherein more than one set value is provided, and after a first set value is obtained, a control instruction can be generated according to the first set value, wherein the control instruction comprises a control quantity.
103. And generating a control instruction according to the first set value.
In one possible implementation, the control command is generated according to a first set value, wherein the control quantity can be calculated according to a derivative term of the first set value and the error, so as to generate the control command according to the control quantity. The control instructions are for the processor to send to the controlled object the values of the adjustment parameters. It will be appreciated that the control amount may be positive or negative.
104. And transmitting the control command to the controlled object, wherein the control command is used for adjusting the value of the parameter.
In one possible implementation manner, the processor sends a control instruction to the controlled object, where the control instruction includes the second control quantity, and the controlled object can immediately adjust the value of the current parameter. For example, after the motor in the circuit is used as a controlled object and receives a control instruction sent by the processor, the rotating speed of the motor is adjusted so as to meet the requirement in the control instruction.
In this embodiment of the present application, by determining whether an error is within an error threshold range, the error is a difference between an input value, which is a threshold value of a parameter of a controlled object, and an output value, which is a value of the parameter at a current time. And under the condition that the error is judged to be in the error threshold range, acquiring a first set value corresponding to the controlled object, generating a control instruction according to the first set value, and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The parameter can be accurately adjusted through judging the range of the error, the current error is calculated according to the acquired set value, the actual starting stage speed or temperature parameter can be finely adjusted, the problem that the PID algorithm can generate overshoot oscillation in the actual starting stage speed or temperature value can be solved, the control stability can be improved, and the control efficiency is improved.
Referring to fig. 2, fig. 2 is a flow chart of a data processing method according to an embodiment of the present application. As shown in fig. 2, the data processing method includes:
201. and calculating a first control amount according to the first set value.
In one possible implementation, the value of the first control quantity may consist of three parts, a differentiation term, an integration term and a proportionality term.
In one possible implementation manner, the differential term may be the sum of the differential control amount at the current time and the differential control amount at the previous time as the differential term control amount at the current time, specifically, the current change rate of the error is calculated first, that is, the difference between the error at the current time and the error at the previous time is used to obtain the current time change rate of the error, and then the third control amount is obtained according to the calculated product of the current time rate and the first threshold value as the corresponding value of the change trend of the error, where the corresponding value of the change trend is greater than zero and indicates an ascending trend, and the corresponding value of the change trend is less than zero and indicates a descending trend. The first threshold is a differential threshold corresponding to the error and is a constant that is not zero. After the conversion trend corresponding value is obtained, the product of the first set value and the value corresponding to the conversion trend is calculated, a third control amount is obtained, and the value of the sum of the third control amount and the first control amount is assigned to the first control amount, namely, the value of the first control amount is updated.
In one possible implementation manner, the trend of the error at the last time may be obtained based on the first control amount, and a second set value corresponding to the controlled object may be obtained according to the mapping relationship, where the second set value is a differential set value at the last time corresponding to the controlled object, and the second set value is a positive number less than 1. In the conventional PID algorithm, the differential term is calculated to obtain the control amount only according to the differential of the error at the current time, while in the data processing method provided in the present application, the product of the second set value and the value corresponding to the trend of change at the previous time is calculated to obtain the fourth control amount, and the sum of the fourth control amount and the first control amount is determined as the new first control amount on the basis of the first control amount.
In one possible implementation manner, after determining whether the error is within the error threshold range, an integral term may also be calculated, that is, the error at each time before the current time is obtained first and summed to obtain a first accumulated error, and then whether the error at the current time is smaller than a second threshold is determined, where the second threshold may be 0, and if it is determined that the error is smaller than the second threshold, the sum of the error and the first accumulated error is calculated to obtain a second accumulated error. And calculating the product of the second accumulated error and a third threshold value, which is an integral threshold value corresponding to the error, to obtain a fifth control quantity, wherein the third threshold value is a constant which is not zero. After the fifth control amount is calculated, the fifth control amount may be added as a new first control amount on the basis of the first control amount.
In one possible implementation manner, if the error is determined to be greater than or equal to the second threshold, a third set value corresponding to the controlled object is obtained according to the mapping relationship, where the third set value is an integral set value corresponding to the controlled object, and the third set value is a positive number that is not zero. The third setting value is used for controlling the changing speed of the values of the parameters, and can be set according to actual products, and the larger the third setting value is, the more obvious the parameter changes, and the smaller the third setting value is, the more gentle the parameter changes. After the third set value is obtained, calculating the product of the error and the third set value, and summing the result of the product and the first accumulated error to obtain a third accumulated error, which can be understood as that the third set value is a coefficient before the error at the current moment when summing, and the obtained summation result is the third accumulated error. Then, a product of the third accumulated error and the third threshold value is calculated to obtain a sixth control amount, and the operation of updating the first control amount is repeated to determine a sum of the first control amount, the third control amount, and the fifth control amount as a new first control amount.
In one possible implementation, after determining whether the error is within the error threshold range, a proportional term may be further calculated, where the proportional term multiplies the fourth threshold value by the current time error to obtain a seventh control amount, and the fourth threshold value is a constant that is not zero and is a proportionality coefficient, and after obtaining the sixth control amount, the first control amount is updated to obtain a new first control amount.
The first setting value, the second setting value, and the third setting value may be the same setting value or different setting values, and are not limited herein. The first threshold value, the third threshold value, and the fourth threshold value may be the same constant, may be different, or are not limited thereto.
202. And calculating the product of the first proportional coefficient and the first control quantity to obtain a first result.
The conventional PID algorithm directly adds the value of the first control quantity to the output value to obtain the second control quantity, so as to control the controlled object, and a scaling factor is added before the first control quantity and the output value respectively, namely, a first result is calculated according to the obtained first control quantity and the first scaling factor. The first scaling factor is a scaling factor of the control amount corresponding to the controlled object, which is obtained according to the corresponding relation between the controlled object and the scaling factor, and may be a scaling factor corresponding to a related product set by a technician, where the scaling factor is a positive number less than or equal to 1, which is not limited herein.
203. And calculating the product of the second proportionality coefficient and the output value to obtain a second result.
In a possible implementation manner, a second scaling factor is obtained according to an output value scaling factor corresponding to the controlled object obtained according to a correspondence between the controlled object and the scaling factor, where the second scaling factor is a positive number less than or equal to 1, and the first scaling factor and the second scaling factor may be the same or different, and the sum of the first scaling factor and the second scaling factor may be 1 or not 1, which is not limited herein. And calculating the basis of the output value and the second proportionality coefficient to obtain a second result, and taking the sum of the first result and the second result as a value to be adjusted at the next moment of the controlled object.
204. And calculating the sum of the first result and the second result to obtain a second control quantity.
In one possible implementation manner, a sum of the first result and the second result is calculated to obtain a second control quantity, the second control quantity is used as a value to which the controlled object needs to output at the current moment, a control instruction is generated, and the control instruction is sent to the controlled object by the processor, so that the controlled object can adjust the value of the parameter according to the second control quantity in the control instruction.
205. And generating a control instruction according to the second control quantity.
In one possible implementation manner, the processor generates a control instruction for sending to the controlled object after obtaining the calculation result, where the control instruction includes the second control amount, that is, after the controlled object receives the control instruction, the second control amount in the control instruction is compared with the output value at the current moment to determine the adjustment direction, and performs adjustment.
For example, the current time is 800 rpm of the motor in the circuit, the input value is 1000 rpm, and the processor calculates the second control amount to 900 rpm according to the error, and then the motor receives the control command sent by the processor to modulate the rotation speed of the motor by 900 rpm.
In this embodiment of the present application, by determining whether an error is within an error threshold range, the error is a difference between an input value, which is a threshold value of a parameter of a controlled object, and an output value, which is a value of the parameter at a current time. And under the condition that the error is judged to be in the error threshold range, acquiring a first set value corresponding to the controlled object, generating a control instruction according to the first set value, and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The parameter can be accurately adjusted through judging the range of the error, the current error is calculated according to the acquired set value, the actual starting stage speed or temperature parameter can be finely adjusted, the problem that the PID algorithm can generate overshoot oscillation in the actual starting stage speed or temperature value can be solved, the control stability can be improved, and the control efficiency is improved.
Referring to fig. 3, fig. 3 is an application scenario diagram of a data processing method according to an embodiment of the present application. As described above with reference to fig. 3, the present invention is illustrated by way of example in terms of dc low voltage motor speed control, and the method is not limited to dc low voltage motor speed, but may also be applied to ac motors, dc high voltage motors, ac high voltage motors, thermostat circuits, and the like.
As shown in fig. 3, which includes three parts, fig. 3 is only one circuit structure that may be implemented, and may be, but is not limited to, the circuit structure shown in fig. 3. 31 is a motor in a circuit, the rotation speed of the motor is a parameter in the embodiment of the application, 33 is a processor part is a microprocessor MCU1, 32 is a motor speed detection circuit, and the motor speed detection circuit can include one or more hall sensors or gratings and other devices.
The hardware circuit outputs different pulse widths according to the speed of the motor at the current moment and inputs the pulse widths to the 2 feet of the MCU1 of the microprocessor, the MCU1 detects the pulse widths of the 2 feet and obtains the actual speed Actualspeed of the motor at the current moment, and the microprocessor MCU1 obtains an error e (t), e (t) =setpeed-Actualspeed according to the difference between the set speed (setpeed) of the motor and the actual speed (Actualspeed) at the current moment.
Optionally, after the rotation speed of the actual motor is obtained, the speed of the motor can be filtered to obtain more accurate speed,
in one possible implementation manner, after the first set value is obtained, a differential term of the error, that is, a change rate of the error, may be expressed by a slope, in a curve, an ordinate is the error, an abscissa is time, and if the error at the current moment is expressed by e (t), the change rate of the error at the current moment is e (t) -e (t-1)/t- (t-1) =e (t) -e (t-1), that is, the error at the current moment is subtracted by the error at the previous moment, so as to obtain the current change rate.
Specifically, the change rate of the error at the current time is obtained from the speed at the last time (lastactual) and the actual speed at the current time (actual speed), E (t) -E (t-1)/t- (t-1), that is, the difference E (t) =setaped-lastactionable speed between the error at the last time E (t-1) =setaped-actionable speed and the error at the current time, and then the change rate e_d=e (t) -E (t-1) =setaped-actionable speed- (setaped-lastactionable speed) =lastactionable speed. It should be noted that, when e (t) is within the error threshold range, the derivative term of the current error is calculated, and when e (t) is not within the error threshold range, the value of the current derivative term is determined to be 0, so that the calculation of the integral term and the proportional term is not affected.
In one possible implementation manner, when the error e (t) is within the above error threshold range, for example, when-300 < e (t) <300, the current change rate is calculated as e (t) -e (t-1), and in the PID algorithm, the change rate is multiplied by the first threshold, that is, the differential threshold, as the change trend of the error, and when the differential threshold D is taken as an example, the change trend is D [ e (t) -e (t-1) ], and the relationship between the change trend corresponding value and 0 can be used to represent whether the change trend is an ascending trend or a descending trend.
After the first threshold value D is acquired, a change trend value of the error is calculated, and p_d=d [ e (t) -e (t-1) ], at this time, the change trend of the p_d error. Further, the Last change trend last_p_d of the error may be obtained, the first set value and the second set value set by the person may be obtained, and the fourth control amount may be obtained according to a product of the second set value and the corresponding value of the Last change trend. Here, taking the first setting value as 1/4 and the second setting value as 3/4 as an example, p_d=1/4p_d+3/4last_p_d, the value of p_d represents a first control value, and the second control value is the sum of the output value and the value of the first control amount. If it is determined that the error is not within the error threshold range, p_d=0, and the value of the first control amount is updated by the integral term and the proportional term.
On the basis of the obtained result, an integral term of the error can be calculated, wherein a first accumulated error is obtained, the first accumulated error is the sum of the errors at all times before the current time, whether the error is smaller than a second threshold value is judged, and if the error is smaller than the second threshold value, the sum of the error and the first accumulated error is calculated, so that a second accumulated error, namely if (e (t) < 0), is obtained; e_m+=e (t); and obtaining a fifth control quantity p_i=i×e_m according to the product of the second accumulated error and a third threshold value, wherein the third threshold value is I. And sums the updated first control amounts. When it is determined that the error is greater than or equal to the second threshold, calculating a sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error, e_m+ = (2*e (t)) by taking the third set value as 2 as an example; p_i=i×e_m. At this time, the value of p_i is the sixth control amount, and the first control amount is updated according to the fifth control amount.
Wherein, the value of the proportional term can be directly obtained according to the error on the basis of the differential and integral calculation results: p_p=p×e (t) (P is a fourth threshold, i.e., a scaling factor).
When calculating the sum of the first control quantity and the output value to obtain a second control quantity, if the second control quantity comprises the differential term, the integral term and the proportional term, the value of the first control quantity is p_o=p_p+p_i+p_d; the second control amount is mo_out=1/4mo_out+3/4p_o, where 1/4 is an example of the second scaling factor and 3/4 is an example of the first scaling factor, and specific values are not limited herein. The second control amount is used for generating a control command to adjust the rotating speed of the motor, namely, the PWM duty ratio is controlled according to the value of MO_OUT, so that the rotating speed of the motor is controlled.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present application. As shown in fig. 4, the data processing apparatus 4000 includes:
a first determining unit 401, configured to determine whether an error is within an error threshold range, where the error is a difference between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at a current time;
a first obtaining unit 402, configured to obtain a first set value corresponding to the controlled object according to a mapping relationship between the controlled object and a set value when the error is determined to be within the error threshold range, where the first set value is a differential set value corresponding to a current time of the controlled object;
A generating unit 403, configured to generate a control instruction according to the first set value;
a transmitting unit 404 configured to transmit the control command to the controlled object, the control command being used to adjust the value of the parameter.
In a possible implementation manner, the generating unit 403 is specifically configured to:
calculating a first control amount according to the first set value;
calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient;
calculating a product of a second proportionality coefficient and the output value to obtain a second result, wherein the second proportionality coefficient is the output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation;
calculating the sum of the first result and the second result to obtain a second control amount;
and generating a control instruction according to the second control quantity.
In a possible implementation manner, the generating unit 403 is specifically configured to:
determining a current rate of change of the error;
determining a change trend of the error according to the current change rate and a first threshold value, wherein the first threshold value is a differential threshold value corresponding to the error;
Calculating the product of the first set value and the corresponding value of the change trend to obtain a third control quantity;
and determining the first control amount according to the third control amount.
In a possible implementation manner, the generating unit 403 is specifically configured to:
acquiring the last change trend of the error, wherein the last change trend is the change trend at the last moment;
obtaining a second set value corresponding to the controlled object according to the mapping relation, wherein the second set value is a differential set value corresponding to the controlled object at the last moment;
calculating the product of the second set value and the corresponding value of the previous change trend to obtain a fourth control quantity;
and determining a first control amount according to the third control amount and the fourth control amount.
In a possible implementation manner, the generating unit 403 is specifically configured to:
acquiring a first accumulated error, wherein the first accumulated error is the sum of errors of all moments before the current moment;
judging whether the error is smaller than a second threshold value;
calculating the sum of the error and the first accumulated error to obtain a second accumulated error when the error is judged to be smaller than a second threshold value;
Calculating the product of the second accumulated error and a third threshold value to obtain a fifth control quantity, wherein the third threshold value is an integral threshold value corresponding to the error;
and determining a first control amount based on the third control amount, the fourth control amount, and the fifth control amount.
In a possible implementation manner, the generating unit 403 is further configured to:
when the error is greater than or equal to the second threshold, acquiring a third set value corresponding to the controlled object according to the mapping relation, wherein the third set value is an integral set value corresponding to the controlled object;
calculating the sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error;
calculating a product of the third accumulated error and the third threshold value to obtain a sixth control amount;
and determining a first control amount based on the third control amount, the fourth control amount, and the sixth control amount.
In a possible implementation manner, the generating unit 403 is specifically configured to:
calculating the product of the error and a fourth threshold value to obtain a seventh control quantity, wherein the fourth threshold value is a proportional threshold value corresponding to the error;
And determining a first control amount based on the third control amount, the fourth control amount, the fifth control amount, and the seventh control amount.
In this embodiment of the present application, by determining whether an error is within an error threshold range, the error is a difference between an input value, which is a threshold value of a parameter of a controlled object, and an output value, which is a value of the parameter at a current time. And under the condition that the error is judged to be in the error threshold range, acquiring a first set value corresponding to the controlled object, generating a control instruction according to the first set value, and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The parameter can be accurately adjusted through judging the range of the error, the current error is calculated according to the acquired set value, the actual starting stage speed or temperature parameter can be finely adjusted, the problem that the PID algorithm can generate overshoot oscillation in the actual starting stage speed or temperature value can be solved, the control stability can be improved, and the control efficiency is improved.
It may be appreciated that the functions of the first determining unit 401, the first obtaining unit 402, the generating unit 403, and the sending unit 404 of the data processing apparatus according to the embodiments of the present application may be specifically implemented according to the methods in the embodiments of the methods, and the specific implementation process may refer to the relevant descriptions of the embodiments of the methods and will not be repeated herein.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 5000 includes: one or more processors 501, an input device 502, an output device 503, and a memory 504. The processor 501, the input device 502, the output device 503, and the memory 504 are connected via a bus. The input device 502 is for receiving data and the output device 503 is for transmitting data. The memory 504 is used for storing a computer program comprising program instructions, the processor 501 is used for executing the program instructions stored by the memory 504, wherein the processor 501 is configured for invoking the program instructions to perform the steps of:
judging whether the error is within an error threshold range, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, and the output value is a value of the parameter at the current moment;
when the error is determined to be within the error threshold range, acquiring a first set value corresponding to the controlled object according to the mapping relation between the controlled object and the set value, wherein the first set value is a differential set value corresponding to the current time of the controlled object;
Generating a control instruction according to the first set value;
the processor 501 controls the output device 503 to transmit the control instruction for adjusting the value of the parameter to the controlled object.
In a possible implementation manner, the processor 501 generates a control instruction according to the first set value, including:
calculating a first control amount according to the first set value;
calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient;
calculating a product of a second proportionality coefficient and the output value to obtain a second result, wherein the second proportionality coefficient is the output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation;
calculating the sum of the first result and the second result to obtain a second control amount;
and generating a control instruction according to the second control quantity.
In one possible implementation, the calculating, by the processor 501, the first control amount according to the first set value includes:
determining a current rate of change of the error;
Determining a change trend of the error according to the current change rate and a first threshold value, wherein the first threshold value is a differential threshold value corresponding to the error;
calculating the product of the first set value and the corresponding value of the change trend to obtain a third control quantity;
and determining the first control amount according to the third control amount.
In one possible implementation, the determining, by the processor 501, the first control amount according to the third control amount includes:
acquiring the last change trend of the error, wherein the last change trend is the change trend at the last moment;
obtaining a second set value corresponding to the controlled object according to the mapping relation, wherein the second set value is a differential set value corresponding to the controlled object at the last moment;
calculating the product of the second set value and the corresponding value of the previous change trend to obtain a fourth control quantity;
and determining a first control amount according to the third control amount and the fourth control amount.
In one possible implementation manner, the determining, by the processor 501, the first control amount according to the third control amount and the fourth control amount includes:
acquiring a first accumulated error, wherein the first accumulated error is the sum of errors of all moments before the current moment;
Judging whether the error is smaller than a second threshold value;
calculating the sum of the error and the first accumulated error to obtain a second accumulated error when the error is judged to be smaller than a second threshold value;
calculating the product of the second accumulated error and a third threshold value to obtain a fifth control quantity, wherein the third threshold value is an integral threshold value corresponding to the error;
and determining a first control amount based on the third control amount, the fourth control amount, and the fifth control amount.
In one possible implementation manner, the processor 501 determines the first control amount according to the third control amount and the fourth control amount, and further includes:
when the error is greater than or equal to the second threshold, acquiring a third set value corresponding to the controlled object according to the mapping relation, wherein the third set value is an integral set value corresponding to the controlled object;
calculating the sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error;
calculating a product of the third accumulated error and the third threshold value to obtain a sixth control amount;
and determining a first control amount based on the third control amount, the fourth control amount, and the sixth control amount.
In one possible implementation manner, the determining, by the processor 501, the first control amount according to the third control amount, the fourth control amount, and the fifth control amount includes:
calculating the product of the error and a fourth threshold value to obtain a seventh control quantity, wherein the fourth threshold value is a proportional threshold value corresponding to the error;
and determining a first control amount based on the third control amount, the fourth control amount, the fifth control amount, and the seventh control amount.
It should be appreciated that in some possible embodiments, the above processor 501 may be a central processing unit (central processing unit, CPU), which may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field-programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 504 may include read only memory and random access memory and provide instructions and data to the processor 501. A portion of memory 504 may also include non-volatile random access memory. For example, the memory 504 may also store information of device type.
In a specific implementation, the information processing apparatus may execute the implementation provided by each step in fig. 1, fig. 2, and fig. 3 through each built-in functional module, and the implementation provided by each step may be specifically referred to, which is not described herein again.
In this embodiment of the present application, by determining whether an error is within an error threshold range, the error is a difference between an input value, which is a threshold value of a parameter of a controlled object, and an output value, which is a value of the parameter at a current time. And under the condition that the error is judged to be in the error threshold range, acquiring a first set value corresponding to the controlled object, generating a control instruction according to the first set value, and sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter. The parameter can be accurately adjusted through judging the range of the error, the current error is calculated according to the acquired set value, the actual starting stage speed or temperature parameter can be finely adjusted, the problem that the PID algorithm can generate overshoot oscillation in the actual starting stage speed or temperature value can be solved, the control stability can be improved, and the control efficiency is improved.
The computer readable storage medium may be the task processing device provided in any one of the foregoing embodiments or an internal storage unit of the information processing device, for example, a hard disk or a memory of the information processing device. The computer-readable storage medium may also be an external storage device of the information processing apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card) or the like, which are provided on the information processing apparatus. The computer readable storage medium may also include a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (random access memory, RAM), or the like. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the information processing apparatus. The computer-readable storage medium is used to store the computer program and other programs and data required by the information processing apparatus. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
The terms first, second and the like in the claims and in the description and drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments. The term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (9)
1. A method of data processing, comprising:
judging whether an error is in an error threshold range or not, wherein the error is a difference value between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, the threshold value of the parameter of the controlled object is a set value of the parameter of the controlled object, and the output value is a value of the parameter at the current moment;
Under the condition that the error is judged to be in the error threshold range, a first set value corresponding to the controlled object is obtained according to the mapping relation between the controlled object and the set value, wherein the first set value is a differential set value corresponding to the current moment of the controlled object;
calculating a first control amount according to the first set value;
calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient;
calculating the product of a second proportionality coefficient and a value output to the controlled object at the last moment to obtain a second result, wherein the second proportionality coefficient is an output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation;
calculating the sum of the first result and the second result to obtain a second control amount;
generating a control instruction according to the second control quantity, wherein the control instruction comprises a control quantity determined according to the first set value, and the control quantity is a differential control quantity corresponding to the current moment of the controlled object;
And sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter.
2. The method according to claim 1, wherein calculating a first control amount from the first set value includes:
determining a current rate of change of the error;
determining the change trend of the error according to the current change rate and a first threshold, wherein the first threshold is a differential threshold corresponding to the error;
calculating the product of the first set value and the corresponding value of the change trend to obtain a third control quantity;
and determining a first control amount according to the third control amount.
3. The method of claim 2, wherein the determining the first control amount from the third control amount comprises:
acquiring the last change trend of the error, wherein the last change trend is the change trend at the last moment;
acquiring a second set value corresponding to the controlled object according to the mapping relation, wherein the second set value is a differential set value corresponding to the controlled object at the last moment;
calculating the product of the second set value and the corresponding value of the last change trend to obtain a fourth control quantity;
And determining a first control amount according to the third control amount and the fourth control amount.
4. A method according to claim 3, wherein said determining a first control amount from said third control amount and said fourth control amount comprises:
acquiring a first accumulated error, wherein the first accumulated error is the sum of errors of all moments before the current moment;
judging whether the error is smaller than a second threshold value;
under the condition that the error is smaller than a second threshold value, calculating the sum of the error and the first accumulated error to obtain a second accumulated error;
calculating the product of the second accumulated error and a third threshold value to obtain a fifth control quantity, wherein the third threshold value is an integral threshold value corresponding to the error;
and determining a first control amount according to the third control amount, the fourth control amount and the fifth control amount.
5. The method of claim 4, wherein the determining a first control amount from the third control amount and the fourth control amount further comprises:
acquiring a third set value corresponding to the controlled object according to the mapping relation under the condition that the error is larger than or equal to the second threshold value, wherein the third set value is an integral set value corresponding to the controlled object;
Calculating the sum of the product of the error and the third set value and the first accumulated error to obtain a third accumulated error;
calculating the product of the third accumulated error and the third threshold value to obtain a sixth control amount;
and determining a first control amount according to the third control amount, the fourth control amount and the sixth control amount.
6. The method of claim 4, wherein the determining a first control amount from the third control amount, the fourth control amount, and the fifth control amount comprises:
calculating the product of the error and a fourth threshold value to obtain a seventh control quantity, wherein the fourth threshold value is a proportional threshold value corresponding to the error;
and determining a first control amount according to the third control amount, the fourth control amount, the fifth control amount and the seventh control amount.
7. A data processing apparatus, comprising:
a first judging unit, configured to judge whether an error is within an error threshold range, where the error is a difference between an input value and an output value, the input value is a threshold value of a parameter of a controlled object, the threshold value of the parameter of the controlled object is a set value of the parameter of the controlled object, and the output value is a value of the parameter at a current time;
The first acquisition unit is used for acquiring a first set value corresponding to the controlled object according to the mapping relation between the controlled object and the set value when the error is judged to be in the error threshold range, wherein the first set value is a differential set value corresponding to the current moment of the controlled object;
a generating unit for calculating a first control amount according to the first set value; calculating a product of a first proportional coefficient and the first control quantity to obtain a first result, wherein the first proportional coefficient is a control quantity proportional coefficient corresponding to a controlled object and obtained according to the corresponding relation between the controlled object and the proportional coefficient; calculating the product of a second proportionality coefficient and a value output to the controlled object at the last moment to obtain a second result, wherein the second proportionality coefficient is an output value proportionality coefficient corresponding to the controlled object obtained according to the corresponding relation; calculating the sum of the first result and the second result to obtain a second control amount; generating a control instruction according to the second control quantity, wherein the control instruction comprises a control quantity determined according to the first set value, and the control quantity is a differential control quantity corresponding to the current moment of the controlled object;
And the sending unit is used for sending the control instruction to the controlled object, wherein the control instruction is used for adjusting the value of the parameter.
8. An electronic device comprising a processor, a memory, an input device, and an output device, the processor, the memory, the input device, and the output device being interconnected, wherein the memory is configured to store a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the data processing method of any of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-6.
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