CN111352339A - Control method and control end of actuating mechanism of unmanned vehicle - Google Patents
Control method and control end of actuating mechanism of unmanned vehicle Download PDFInfo
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- G05B11/00—Automatic controllers
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- 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.
Abstract
The invention discloses a control method and a control end of an actuating mechanism of an unmanned vehicle, which are characterized in that each calling time of a PID control function positioned in a timer interrupt function is recorded, the timer interrupt function is positioned at the highest priority, the running time difference of the PID control function is obtained according to the calling time of the PID control function before and after the timer interrupt function, the output value of the PID control function is obtained, and the output value is used as the control quantity of the actuating mechanism of the unmanned vehicle. The invention can quickly obtain more accurate running time difference, so that the data of the error value, the total error and the incremental error related to the running time difference is relatively stable, namely the control quantity of the actuating mechanism of the unmanned vehicle is relatively stable, thereby enhancing the soundness of the PID control function, improving the real-time property and the stability of the PID control and ensuring the actuating mechanism to be executed in place.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control method and a control end of an actuating mechanism of an unmanned vehicle.
Background
The unmanned technology puts forward high requirements on the execution time and the execution accuracy of the control unit and the stability of the execution mechanism, and the control system can meet the unmanned requirements on the running control and the running according to the track of the vehicle only by ensuring that the vehicle can be executed in place in the corresponding execution process, so that the unmanned vehicle can run on the road safely and reliably. Therefore, in the development of unmanned vehicles, the stable control of the steering, braking, and accelerator of the vehicle is an important step. Among them, the PID control is widely applied to the field of industrial control, but the application of the PID control to the control of the actuator of the unmanned vehicle requires further optimization of the real-time performance and stability of the PID control.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are a control method and a control terminal for an actuator of an unmanned vehicle, which can improve the real-time performance and stability of PID control to ensure that the actuator is in position.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method of controlling an actuator of an unmanned vehicle, comprising the steps of:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a control terminal of an actuator of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
The invention has the beneficial effects that: a PID control function is placed in a timer interrupt function, and the timer interrupt function is set to be the highest priority, so that a relatively accurate running time difference can be quickly obtained, and data of an error value, a total error and an incremental error related to the running time difference are relatively stable, namely the control quantity of the actuating mechanism of the unmanned vehicle is relatively stable, therefore, the soundness of the PID control function is enhanced, the real-time performance and the stability of PID control are improved, and the actuating mechanism is ensured to be executed in place.
Drawings
FIG. 1 is a flow chart illustrating a method for controlling an actuator of an unmanned vehicle in accordance with an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control end of an actuator of an unmanned vehicle according to an embodiment of the present invention.
Description of reference numerals:
1. a control end of an actuator of an unmanned vehicle; 2. a processor; 3. a memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for controlling an actuator of an unmanned vehicle includes the steps of:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
From the above description, the beneficial effects of the present invention are: the PID control function is placed in the timer interruption function, and the timer interruption function is set to be the highest priority, so that accurate running time difference can be obtained quickly, error value, total error and increment error data related to the running time difference are relatively stable, namely control quantity of an actuating mechanism of the unmanned vehicle is relatively stable, and therefore the soundness of the PID control function is enhanced, the real-time performance and the stability of PID control are improved, and the actuating mechanism is ensured to be executed in place.
Further, the step S3 specifically includes the following steps:
obtaining a total error Se ═ e (t) dt and an increment error De ═ De (t)/dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value;
judging whether the incremental error De is larger than a first threshold value, if so, outputting a value y ═ kp × e (t) + ki × Se of the PID control function, otherwise, outputting the value y ═ kp × e (t) + ki × Se + kd De of the PID control function, wherein kp is a proportional coefficient, ki is an integral coefficient, and kd is a differential coefficient;
and taking the output value of the PID control function as the control quantity of the actuator of the unmanned vehicle.
From the above description, when the incremental error is obtained, if the incremental error is greater than the threshold, the differential value of this time is rejected, and only the proportional value and the integral value are adopted, so as to avoid introducing a large error due to sudden change of the differential.
Further, the step S3 specifically includes the following steps:
obtaining a total error Se' ═ ki × e (t) dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value, and ki is an integral term coefficient;
and obtaining an output value of the PID control function according to the total error Se' of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
From the above description, when the integral term coefficient is optimized, the integral value of the PID control function is easy to generate an abrupt change in the first optimization process because the total error and the corresponding integral value are accumulated values, and thus the change of the integral term coefficient causes the abrupt change of the accumulated value, and the preset expectation of the integral term coefficient is the optimization of the subsequent control, so that the total error is optimized from ^ e (t) dt to ensure the stability of the integral value.
Further, the step S3 specifically includes the following steps:
obtaining an integral value of the PID control function according to the running time difference t of the PID control function;
judging whether the integral value is larger than a maximum output value, if so, modifying the integral value into the maximum output value;
judging whether the integral value is smaller than a minimum output value, if so, modifying the integral value into the minimum output value;
and obtaining an output value of the PID control function according to the modified integral value, and using the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
As can be seen from the above description, if the integral value is greater than the maximum output value, the integral value is not accumulated, and if the integral value is less than the minimum output value, the calculation is not included in the calculation, so as to implement the optimization process against integral saturation.
Further, the method also comprises the following steps:
and if a PID control failure instruction is received, stopping accumulation of the integral value of the PID control function.
As can be seen from the above description, in the actual program running process, due to external disturbance or external interruption of the PID operating mechanism, in order to prevent the integral value calculated by the PID at this time from being continuously accumulated, the control quantity of the actuator cannot be output, which results in sudden change in the next effective situation, and in the case of failure of the PID mechanism, the PID control function is controlled to stop the integral value accumulation, so as to avoid the sudden change.
Referring to fig. 2, a control terminal of an actuator of an unmanned vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
From the above description, the beneficial effects of the present invention are: the PID control function is placed in the timer interruption function, and the timer interruption function is set to be the highest priority, so that accurate running time difference can be obtained quickly, error value, total error and increment error data related to the running time difference are relatively stable, namely control quantity of an actuating mechanism of the unmanned vehicle is relatively stable, and therefore the soundness of the PID control function is enhanced, the real-time performance and the stability of PID control are improved, and the actuating mechanism is ensured to be executed in place.
Further, when the processor executes the step S3, the following steps are specifically implemented:
obtaining a total error Se ═ e (t) dt and an increment error De ═ De (t)/dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value;
judging whether the incremental error De is larger than a first threshold value, if so, outputting a value y ═ kp × e (t) + ki × Se of the PID control function, otherwise, outputting the value y ═ kp × e (t) + ki × Se + kd De of the PID control function, wherein kp is a proportional coefficient, ki is an integral coefficient, and kd is a differential coefficient;
and taking the output value of the PID control function as the control quantity of the actuator of the unmanned vehicle.
From the above description, when the incremental error is obtained, if the incremental error is greater than the threshold, the differential value of this time is rejected, and only the proportional value and the integral value are adopted, so as to avoid introducing a large error due to sudden change of the differential.
Further, when the processor executes the step S3, the following steps are specifically implemented:
obtaining a total error Se' ═ ki × e (t) dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value, and ki is an integral term coefficient;
and obtaining an output value of the PID control function according to the total error Se' of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
From the above description, when the integral term coefficient is optimized, the integral value of the PID control function is easy to generate an abrupt change in the first optimization process because the total error and the corresponding integral value are accumulated values, and thus the change of the integral term coefficient causes the abrupt change of the accumulated value, and the preset expectation of the integral term coefficient is the optimization of the subsequent control, so that the total error is optimized from ^ e (t) dt to ensure the stability of the integral value.
Further, when the processor executes the step S3, the following steps are specifically implemented:
obtaining an integral value of the PID control function according to the running time difference t of the PID control function;
judging whether the integral value is larger than a maximum output value, if so, modifying the integral value into the maximum output value;
judging whether the integral value is smaller than a minimum output value, if so, modifying the integral value into the minimum output value;
and obtaining an output value of the PID control function according to the modified integral value, and using the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
As can be seen from the above description, if the integral value is greater than the maximum output value, the integral value is not accumulated, and if the integral value is less than the minimum output value, the calculation is not included in the calculation, so as to implement the optimization process against integral saturation.
Further, the processor, when executing the computer program, further implements the steps of:
and if a PID control failure instruction is received, stopping accumulation of the integral value of the PID control function.
As can be seen from the above description, in the actual program running process, due to external disturbance or external interruption of the PID operating mechanism, in order to prevent the integral value calculated by the PID at this time from being continuously accumulated, the control quantity of the actuator cannot be output, which results in sudden change in the next effective situation, and in the case of failure of the PID mechanism, the PID control function is controlled to stop the integral value accumulation, so as to avoid the sudden change.
Referring to fig. 1, a first embodiment of the present invention is:
the logic mainly relied on in conventional PID control is the following expression: y ═ kp · e (t) + ki · e (t) dt + kd · de (t)/dt. Wherein e (t) is an error value between the set target value and the input value, kp is a proportional coefficient, ki is an integral coefficient, kd is a differential coefficient, and y is a control quantity.
Accordingly, conventional programming is as follows:
in the present embodiment, in order to improve the rapidity, stability and accuracy of PID control, a control method of an actuator of an unmanned vehicle is provided, which includes the steps of:
s1, recording each calling time of a PID control function located in the timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as the control quantity of the actuator of the unmanned vehicle.
That is, in the conventional PID control function, the running time difference delta _ time of the PID control is determined by the time when the program calls the PID () function. In different procedures, there is a possibility of variations in this value due to several reasons: for example, programs are affected by other interrupt functions; the program receiving the message needs to parse or the program ADC calculates the introduced fluctuation, etc. Therefore, in the embodiment, the PID control function is placed in the timer interrupt function, and the timer interrupt function is set to the highest priority, and as can be known from the above coding, the program running time is in the us level, and the running of the main program is not affected, so that the running time of the timer can be set as short as possible according to the requirement of the program, and thus, a relatively accurate running time difference Delta _ time can be quickly obtained, and thus, the data of the error value e, the total error Sum _ Err and the incremental error Delta _ Err related to the running time difference Delta _ time is relatively stable, that is, the control quantity of the execution mechanism of the unmanned vehicle is relatively stable, and therefore, the soundness and thoroughness of the PID control function are enhanced, and the real-time performance and the stability of the PID control are improved, so as to ensure that the execution mechanism is executed in place.
In this embodiment, step S3 specifically includes the following steps:
obtaining a total error Se ═ ki × e (t) dt and an incremental error De ═ De (t)/dt of the PID control function according to the running time difference t of the PID control function, namely Se in the embodiment is an abbreviation of Sum _ Err, De is an abbreviation of Delta _ Err, e (t) corresponds to e in the program, and the running time difference t corresponds to Delta _ time in the program;
judging whether the integral value ki Se is larger than the maximum output value outMax or not, if so, modifying the integral value ki Se into the maximum output value outMax;
judging whether the integral value ki & ltSe & gt is smaller than the minimum output value outMin or not, and if yes, modifying the integral value ki & ltSe & gt into the minimum output value outMin;
judging whether the incremental error De is larger than a first threshold value, if so, judging that the output value y of the PID control function is kp e (t) + ki Se, otherwise, judging that the output value y of the PID control function is kp e (t) + ki Se + kd De;
the output value of the PID control function is used as the control amount of the actuator of the unmanned vehicle.
The time interval can be set to 1ms to ensure that the sampling time of the timing interval is sufficiently small, and meanwhile, when the incremental error Delta _ Err is obtained, when the incremental error Delta _ Err is larger than a threshold value, the differential value kd Delta _ Err is eliminated, and only a proportional value and an integral value are adopted, so that a huge error caused by differential mutation is avoided.
When the integral term coefficient is optimized, the integral value of the PID control function is easy to generate a sudden change in the first optimization process because the total error and the corresponding integral value are accumulated values, so that the change of the integral term coefficient causes the sudden change of the accumulated value, and the preset expectation of the integral term coefficient is the optimization of the subsequent control, so that the total error is optimized from ^ e (t) dt to ^ ki ^ e (t) dt to ensure the stability of the integral value.
If the integral value is larger than the maximum output value, the integral value is not accumulated, and if the integral value is smaller than the minimum output value, the calculation is not calculated, so that the optimization processing of integral saturation resistance is realized.
In this embodiment, the method further includes the following steps:
and if a PID control failure instruction is received, stopping accumulating the integral value of the PID control function.
In order to prevent the integral value calculated by the PID from continuously accumulating in the actual program running process due to external interference or the interruption of the PID action mechanism, the control quantity of the execution mechanism cannot be output, so that sudden change is generated under the next effective condition, and the PID control function is controlled to stop accumulating the integral value under the condition that the PID mechanism fails, so as to avoid the sudden change.
Referring to fig. 2, the second embodiment of the present invention is:
a control terminal 1 of an actuator of an unmanned vehicle comprises a memory 3, a processor 2 and a computer program stored on the memory 3 and operable on the processor 2, wherein the steps of the first embodiment are realized when the processor 2 executes the computer program.
In summary, according to the control method and the control terminal for the execution mechanism of the unmanned vehicle provided by the invention, the PID control function is placed in the timer interrupt function, and the timer interrupt function is set to the highest priority, so that a relatively accurate running time difference can be quickly obtained, and the data of the error value, the total error and the incremental error related to the running time difference are relatively stable; when the increment error is obtained, when the increment error is larger than a threshold value, the differential value of the time is rejected, and only a proportional value and an integral value are adopted, so that huge errors caused by differential mutation are avoided; optimizing the total error by ^ e (t) dt to ^ ki × e (t) dt to ensure the stability of the integral value; the optimization processing of integral saturation resistance is realized by judging the magnitude of the integral error; by controlling the on-off of the PID control function, the PID control function is controlled to stop the accumulation of the integral value under the condition that the PID mechanism fails, so that sudden change is avoided; therefore, the program execution condition of the PID control function is basically consistent with the PID simulation result, the fact that the execution condition and the simulation condition of the device come in and go out due to program writing is avoided, the rapidness, the stability and the accuracy of PID control are improved, and the execution of an execution mechanism is ensured to be in place.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields are included in the scope of the present invention.
Claims (10)
1. A method of controlling an actuator of an unmanned vehicle, comprising the steps of:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
2. The method for controlling the actuator of the unmanned vehicle according to claim 1, wherein the step S3 specifically includes the steps of:
obtaining a total error Se ═ e (t) dt and an increment error De ═ De (t)/dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value;
judging whether the incremental error De is larger than a first threshold value, if so, outputting a value y ═ kp × e (t) + ki × Se of the PID control function, otherwise, outputting the value y ═ kp × e (t) + ki × Se + kd De of the PID control function, wherein kp is a proportional coefficient, ki is an integral coefficient, and kd is a differential coefficient;
and taking the output value of the PID control function as the control quantity of the actuator of the unmanned vehicle.
3. The method for controlling the actuator of the unmanned vehicle according to claim 1, wherein the step S3 specifically includes the steps of:
obtaining a total error Se' ═ ki × e (t) dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value, and ki is an integral term coefficient;
and obtaining an output value of the PID control function according to the total error Se' of the PID control function, and taking the output value of the PID control function as a control quantity of an actuating mechanism of the unmanned vehicle.
4. The method for controlling the actuator of the unmanned vehicle according to claim 1, wherein the step S3 specifically includes the steps of:
obtaining an integral value of the PID control function according to the running time difference t of the PID control function;
judging whether the integral value is larger than a maximum output value, if so, modifying the integral value into the maximum output value;
judging whether the integral value is smaller than a minimum output value, if so, modifying the integral value into the minimum output value;
and obtaining an output value of the PID control function according to the modified integral value, and using the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
5. The control method of the actuator of the unmanned vehicle according to claim 1, characterized by further comprising the steps of:
and if a PID control failure instruction is received, stopping accumulation of the integral value of the PID control function.
6. A control terminal of an actuator of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:
s1, recording each calling time of a PID control function located in a timer interrupt function, wherein the timer interrupt function is in the highest priority;
s2, obtaining the running time difference of the PID control function according to the current calling time and the last calling time of the PID control function;
and S3, obtaining an output value of the PID control function according to the running time difference of the PID control function, and taking the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
7. The control terminal of an actuator of an unmanned vehicle according to claim 6, wherein the processor when executing the computer program of step S3 implements the following steps:
obtaining a total error Se ═ e (t) dt and an increment error De ═ De (t)/dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value;
judging whether the incremental error De is larger than a first threshold value, if so, outputting a value y ═ kp × e (t) + ki × Se of the PID control function, otherwise, outputting the value y ═ kp × e (t) + ki × Se + kd De of the PID control function, wherein kp is a proportional coefficient, ki is an integral coefficient, and kd is a differential coefficient;
and taking the output value of the PID control function as the control quantity of the actuator of the unmanned vehicle.
8. The control terminal of an actuator of an unmanned vehicle according to claim 6, wherein the processor when executing the computer program of step S3 implements the following steps:
obtaining a total error Se' ═ ki × e (t) dt of the PID control function according to the running time difference t of the PID control function, wherein e (t) is an error value of a target value and an input value, and ki is an integral term coefficient;
and obtaining an output value of the PID control function according to the total error Se' of the PID control function, and taking the output value of the PID control function as a control quantity of an actuating mechanism of the unmanned vehicle.
9. The control terminal of an actuator of an unmanned vehicle according to claim 6, wherein the processor when executing the computer program of step S3 implements the following steps:
obtaining an integral value of the PID control function according to the running time difference t of the PID control function;
judging whether the integral value is larger than a maximum output value, if so, modifying the integral value into the maximum output value;
judging whether the integral value is smaller than a minimum output value, if so, modifying the integral value into the minimum output value;
and obtaining an output value of the PID control function according to the modified integral value, and using the output value of the PID control function as a control quantity of an actuator of the unmanned vehicle.
10. The control terminal of an actuator of an unmanned vehicle according to claim 6, wherein the processor when executing the computer program further performs the steps of:
and if a PID control failure instruction is received, stopping accumulation of the integral value of the PID control function.
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| CN105739300A (en) * | 2016-01-13 | 2016-07-06 | 天津中科智能识别产业技术研究院有限公司 | Novel PID control method applied to emergency command unmanned aerial vehicle attitude control |
| CN108443057A (en) * | 2018-05-25 | 2018-08-24 | 云南电网有限责任公司电力科学研究院 | A kind of control method and control device of guide vanes of water turbine aperture |
| CN109857056A (en) * | 2019-03-08 | 2019-06-07 | 中冶华天南京电气工程技术有限公司 | A kind of Intelligent sewage processing control system |
| CN109974902A (en) * | 2019-03-29 | 2019-07-05 | 中国计量大学 | A kind of insulation accelerating calorimeter with dynamic thermal inertia amendment feature |
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