CN114114923A - Control parameter determination method, determination device, compressor system and storage medium - Google Patents

Control parameter determination method, determination device, compressor system and storage medium Download PDF

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Publication number
CN114114923A
CN114114923A CN202111424531.XA CN202111424531A CN114114923A CN 114114923 A CN114114923 A CN 114114923A CN 202111424531 A CN202111424531 A CN 202111424531A CN 114114923 A CN114114923 A CN 114114923A
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control parameter
frequency
parameter
test
transmission system
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CN114114923B (en
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李田
杨斌
胡善德
张鹏飞
贺伟衡
刘树清
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Midea Group Co Ltd
GD Midea Heating and Ventilating Equipment Co Ltd
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Midea Group Co Ltd
GD Midea Heating and Ventilating Equipment Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The invention provides a determination method and a determination device of a control parameter, a compressor system and a storage medium. The method for determining the control parameter comprises the following steps: carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test; after M times of frequency tests are carried out, determining target control parameters of the transmission system in M control parameters according to the test results of the M times of frequency tests; wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M. In the embodiment of the invention, the control parameters are iterated, then frequency testing is carried out based on the iterated control parameters to obtain the closed-loop response characteristics of the transmission system under different control parameter conditions, and the closed-loop response characteristics of the transmission system under different control parameters are compared to obtain the optimal control parameters.

Description

Control parameter determination method, determination device, compressor system and storage medium
Technical Field
The invention relates to the technical field of bearings, in particular to a method for determining control parameters, a device for determining control parameters, a compressor system and a readable storage medium.
Background
The parameters of the bearing controller greatly affect the dynamic response speed, the control bandwidth and the stability of the system operation of the bearing control system, and in the actual design process of the parameters, the design is usually carried out by depending on the experience of engineers, and the parameters cannot be guaranteed to be the optimal controller parameters.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, an aspect of the present invention is to propose a method for determining a control parameter.
Another aspect of the present invention is to provide a control parameter determining apparatus.
Yet another aspect of the present invention is directed to a compressor system.
Yet another aspect of the present invention is to provide a readable storage medium.
In view of the above, according to an aspect of the present invention, a method for determining a control parameter is provided, including: carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test; after M times of frequency tests are carried out, determining target control parameters of the transmission system in M control parameters according to the test results of the M times of frequency tests; wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, the closed-loop response characteristic of the transmission system is obtained by carrying out frequency sweep test on the transmission system, and the control effect of the corresponding control parameter is evaluated through the closed-loop response characteristic, so that the appropriate target control parameter of the transmission system can be determined.
Specifically, the control parameters are iterated, M-time frequency tests are respectively performed on the transmission system based on the iterated control parameters to obtain test results of the M-time frequency tests (the test results are also the closed-loop response characteristics of the transmission system), and finally the test results of the M-time frequency tests are compared to determine the optimal control parameters (also are the target control parameters).
Further, the transmission system can be controlled according to the target control parameter, and the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are ensured.
It should be noted that the drive system includes a compressor bearing system, such as a magnetic bearing system. The control parameters comprise parameters such as controller gain and controller damping of the transmission system. The closed loop response characteristic includes at least a response magnitude.
In the embodiment of the invention, the control parameters are iterated, then frequency testing is carried out based on the iterated control parameters to obtain the closed-loop response characteristics of the transmission system under different control parameter conditions, and the closed-loop response characteristics of the transmission system under different control parameters are compared to obtain the optimal control parameters.
The method for determining the control parameter according to the present invention may further have the following additional technical features:
in the above technical solution, the ith frequency test is performed on the transmission system based on the ith control parameter of the transmission system, and a test result of the ith frequency test is obtained, including: injecting N disturbance signals with preset frequency into the transmission system based on the ith control parameter to obtain N test results; wherein N is a positive integer greater than or equal to 1.
In the technical scheme, a sinusoidal disturbance signal is injected into an input end of reference displacement of a control system of a transmission system, a sinusoidal signal with the same frequency as the injected sinusoidal disturbance signal is excited in a displacement feedback signal of a rotor rotating shaft, the same frequency signal in the displacement feedback signal is obtained through Fourier decomposition, and the closed-loop response characteristic of the control system of the transmission system in a frequency domain can be obtained by dividing the same frequency signal by the sinusoidal disturbance signal.
It should be noted that for the injected sinusoidal disturbance signal, the injection amplitude is generally required to be small, and the normal suspension of the transmission system is not affected. After the initial frequency and the cut-off frequency are set, the injection frequency is changed from the initial frequency to the cut-off frequency according to a certain step length, namely, disturbance signals of N preset frequencies are injected in sequence until the preset frequency is greater than the cut-off frequency.
And (2) once frequency test, injecting N disturbance signals with sequentially increased frequencies, and obtaining a closed loop response characteristic (namely a test result) by injecting the disturbance signals every time, thereby obtaining N test results of the frequency test.
In the embodiment of the invention, the frequency test of the transmission system is realized by injecting N disturbance signals into the control system of the transmission system, so that the frequency in the rigid body operation mode of the compressor is covered as much as possible in the sweep frequency test range, and therefore, appropriate control parameters can be determined according to the test, and the dynamic response speed, the control bandwidth and the system operation stability of the transmission system are ensured.
In any of the above technical solutions, determining a target control parameter of the transmission system among M control parameters according to a test result of the M frequency tests includes: calculating the mean square error or the average value of the test result of the frequency test; and taking the control parameter corresponding to the mean square error or the average value which is less than or equal to the first threshold value as the target control parameter.
In the technical scheme, N test results are obtained by one-time frequency test. For each frequency test, the mean square deviations of the corresponding N test results are calculated, and then M mean square deviations are obtained. And further, comparing each mean square error with a first threshold, and when the mean square error does not exceed the first threshold, indicating that the vibration amplitude of the transmission system is smaller when the transmission system is controlled by using the corresponding control parameter, and then the control parameter is better. Illustratively, the control parameter corresponding to the minimum mean square error among the M mean square errors is taken as the target control parameter.
Or, for each frequency test, calculating the average value of the corresponding N test results, and obtaining M average values. Further, each average value is compared with a first threshold value, and when the average value does not exceed the first threshold value, the control parameter is better if the vibration amplitude of the control system controlled by the corresponding control parameter is smaller. Illustratively, the control parameter corresponding to the minimum average value among the M average values is taken as the target control parameter.
It should be noted that the first threshold compared with the mean square error may be different from the first threshold compared with the mean value, that is, the specific value of the first threshold may be different in both cases.
In the embodiment of the invention, the optimal control parameter is determined by comparing the frequency sweeping results (namely, the mean square error or the average value of the N test results and the like) under different control parameters, so that the parameter optimization of the transmission system is realized.
In any of the above technical solutions, the determining method further includes: determining an (i + 1) th control parameter according to the jth test result and the parameter adjusting mode; wherein j is greater than or equal to 1 and less than or equal to N, and the parameter adjustment mode comprises an increment mode or a decrement mode.
In this solution, a method of iteratively controlling the parameters is defined. Specifically, iteration of the control parameters is controlled, that is, a plurality of control parameters are automatically generated, according to the test result and the current parameter adjustment mode. The parameter adjusting mode is a decreasing mode or an increasing mode, the decreasing mode indicates that the iteration direction of the control parameter is decreasing, namely the latter control parameter is smaller than the former control parameter; the increment mode indicates that the iteration direction of the control parameter is increment, i.e. the latter control parameter is larger than the former control parameter.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In any of the above technical solutions, determining the (i + 1) th control parameter according to the jth test result and the parameter adjustment mode includes: and based on the j test result being greater than or equal to the second threshold and the parameter adjusting mode being the decreasing mode, taking the sum of the 1 st control parameter and the preset parameter step length as the (i + 1) th control parameter.
In the technical scheme, a specific method for iteratively controlling the parameters is defined. Specifically, under the condition that any test result of the frequency test exceeds a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is increased progressively according to the preset parameter step length on the basis of the 1 st control parameter to obtain a new control parameter.
It should be noted that, if the current control parameter is not the 1 st control parameter, that is, not the initial control parameter, the current control parameter is adjusted to the initial control parameter, and then the current control parameter is increased in step length according to the preset parameter to obtain a new control parameter, and then the frequency sweep test is performed based on the changed control parameter.
And further, comparing the (i + 1) th control parameter with the prestored maximum control parameter of the transmission system, and if the maximum control parameter is not exceeded, continuing to perform the frequency test according to the (i + 1) th control parameter.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In any of the above technical solutions, the determining method further includes: the parameter adjustment mode is adjusted to the incremental mode.
In this solution, in order to avoid a malfunction due to excessive vibration of the drive train, or in the case of a magnetic bearing system, possibly causing unstable levitation, a maximum amplitude (i.e. a second threshold) is set. And when any test result of the frequency test exceeds the second threshold value and the parameter adjusting mode is the descending mode, which indicates that the control parameter can not be reduced any more, the control parameter is increased in step length according to the preset parameter on the basis of the 1 st control parameter, and the parameter adjusting mode is adjusted from the original descending mode to the ascending mode.
In the embodiment of the invention, when the optimization iteration of the control parameters is executed, a certain preset parameter step length is determined on the basis of the initial control parameters, and the frequency sweep test is carried out on the basis of each changed control parameter according to the principle of 'first subtraction and then addition'. Specifically, when the test result exceeds the specified threshold, the control parameter is increased reversely after being restored to the initial control parameter, and then the sweep frequency test is continued until the control parameter adjustment is finally completed.
It should be noted that, relatively speaking, it is easier to find the target control parameter according to the decreasing mode, so the test efficiency can be improved according to the principle of "decrease first and then add".
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In any of the above technical solutions, determining the (i + 1) th control parameter according to the jth test result and the parameter adjustment mode includes: and taking the difference value between the ith control parameter and the preset parameter step length as the (i + 1) th control parameter based on the fact that the jth test result is smaller than the second threshold and the parameter adjusting mode is the decreasing mode.
In the technical scheme, a specific method for iteratively controlling the parameters is defined. Specifically, under the condition that any test result of the frequency test is smaller than a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is decreased according to the preset parameter step length on the basis of the current control parameter to obtain a new control parameter. And then, carrying out frequency sweep test based on the changed control parameters.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In any of the above technical solutions, the method further includes: and based on the j test result being smaller than the second threshold, taking the sum of the j preset frequency and the preset frequency step as the j +1 preset frequency.
In the technical scheme, a j-th disturbance signal with a preset frequency is injected into a transmission system to obtain a j-th test result, the j-th test result is compared with a second threshold, and the sum of the j-th preset frequency and the preset frequency step is used as the j + 1-th preset frequency under the condition that the j-th test result is smaller than the second threshold, namely, the preset frequency is controlled to increase progressively under the condition that the j-th test result is smaller than the second threshold.
And further, comparing the (j + 1) th preset frequency with a third threshold, and injecting a disturbance signal of the (j + 1) th preset frequency into the transmission system under the condition that the (j + 1) th preset frequency is less than or equal to the third threshold to obtain a (j + 1) th test result. The third threshold refers to a cut-off frequency, that is, in the case that the j +1 th preset frequency does not exceed the cut-off frequency, the disturbance signal continues to be injected into the transmission system.
By the mode, the frequency of the compressor in the rigid body operation mode is covered as much as possible in the sweep frequency test range, and therefore appropriate control parameters can be determined according to the test.
In any of the above technical solutions, taking a difference between an ith control parameter and a preset parameter step length as an i +1 th control parameter, includes: and taking the difference value between the ith control parameter and the preset parameter step length as the (i + 1) th control parameter based on the fact that the (j + 1) th preset frequency is greater than the third threshold.
In the technical scheme, under the condition that the jth test result of the frequency test is smaller than the second threshold, the jth +1 preset frequency is obtained, whether the jth +1 preset frequency is larger than a third threshold (namely, a cut-off frequency) is judged, and if the jth +1 preset frequency is smaller than or equal to the third threshold, the current frequency test is ended, and the test result corresponding to the current control parameter is obtained.
And further, continuously judging whether the parameter adjusting mode is a decreasing mode or an increasing mode, and if the parameter adjusting mode is the decreasing mode, decreasing according to the preset parameter step length on the basis of the current control parameter to obtain a new control parameter.
In the embodiment of the invention, after the preset frequency reaches the cut-off frequency, the current frequency test is stopped, the next control parameter is continuously determined, and the frequency test is continuously carried out. Through the mode, appropriate control parameters can be determined according to tests, so that the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are guaranteed.
In any of the above technical solutions, the determining method further includes: and performing (i + 1) th frequency test on the transmission system based on the (i + 1) th control parameter being larger than the fourth threshold.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter.
And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is greater than the fourth threshold, indicating that the test can be continued, and then performing the frequency test based on the control parameter.
According to the embodiment of the invention, the range of the test control parameter is reduced by setting the minimum control parameter, and the test efficiency is improved.
In any of the above technical solutions, the determining method further includes: based on the fact that the (i + 1) th control parameter is smaller than or equal to the fourth threshold, taking the sum of the (1) th control parameter and the preset parameter step length as the (i + 1) th control parameter; and performing (i + 1) th frequency test on the transmission system based on the (i + 1) th control parameter being smaller than the fifth threshold.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter.
And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is smaller than or equal to the fourth threshold, indicating that the control parameter can not be reduced any more, restoring the control parameter to the initial control parameter, increasing the control parameter in the reverse direction, and updating the control parameter.
Further, the updated control parameter is compared with a fifth threshold, where the fifth threshold is the maximum control parameter of the transmission system that is empirically set by the user, and the optimal control parameter is less than the minimum control parameter. And if the updated control parameter is smaller than the fifth threshold value, continuing to perform the frequency test according to the updated control parameter.
According to the embodiment of the invention, the range of the test control parameter is reduced by setting the maximum control parameter, and the test efficiency is improved.
In any of the above technical solutions, the determining method further includes: stopping the frequency test based on the (i + 1) th control parameter being greater than or equal to a fifth threshold; or stopping the frequency test based on the jth test result being greater than or equal to the second threshold and the parameter adjusting mode being the increasing mode.
In this technical solution, a method of controlling the frequency test to stop is defined.
In one case, when the new control parameter exceeds the maximum control parameter of the transmission system, indicating that the control parameter cannot be increased any more, the frequency test is stopped, increasing the test efficiency.
Under the other condition, when a certain test result exceeds the second threshold value, which indicates that the control parameter can not be increased progressively, and the parameter adjusting mode is just the increasing mode at the moment, the frequency test is stopped, and the test efficiency is improved.
According to another aspect of the present invention, there is provided a control parameter determining apparatus, including: the test module is used for carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test; the determining module is used for determining target control parameters of the transmission system in the M control parameters according to the test results of the M frequency tests after the M frequency tests are carried out; wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, the closed-loop response characteristic of the transmission system is obtained by carrying out frequency sweep test on the transmission system, and the control effect of the corresponding control parameter is evaluated through the closed-loop response characteristic, so that the appropriate target control parameter of the transmission system can be determined.
Specifically, the control parameters are iterated, M-time frequency tests are respectively performed on the transmission system based on the iterated control parameters to obtain test results of the M-time frequency tests (the test results are also the closed-loop response characteristics of the transmission system), and finally the test results of the M-time frequency tests are compared to determine the optimal control parameters (also are the target control parameters).
Further, the transmission system can be controlled according to the target control parameter, and the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are ensured.
In the embodiment of the invention, the control parameters are iterated, then frequency testing is carried out based on the iterated control parameters to obtain the closed-loop response characteristics of the transmission system under different control parameter conditions, and the closed-loop response characteristics of the transmission system under different control parameters are compared to obtain the optimal control parameters.
According to yet another aspect of the present invention, there is provided a compressor system comprising: a transmission system; a memory storing programs or instructions; a processor, which when executing a program or instructions implements the steps of the method for determining control parameters according to any of the above-mentioned embodiments.
The compressor system, program or instructions provided by the present invention, when executed by a processor, implement the steps of the method for determining control parameters according to any of the above-mentioned technical solutions, and therefore the compressor system includes all the advantages of the method for determining control parameters according to any of the above-mentioned technical solutions.
According to a further aspect of the present invention, a readable storage medium is proposed, on which a program or instructions are stored, which when executed by a processor implement the steps of the method for determining control parameters according to any one of the above-mentioned solutions.
The readable storage medium, program or instructions provided by the present invention, when executed by a processor, implement the steps of the method for determining control parameters according to any of the above technical solutions, and therefore the readable storage medium includes all the benefits of the method for determining control parameters according to any of the above technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows one of the flow diagrams of a method of determining a control parameter of an embodiment of the present invention;
FIG. 2 is a second flowchart of a method for determining control parameters according to an embodiment of the present invention;
FIG. 3 is a third flowchart illustrating a method for determining control parameters according to an embodiment of the present invention;
FIG. 4 is a fourth flowchart illustrating a method of determining control parameters according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a control system for the transmission system in accordance with an embodiment of the present invention;
FIG. 6 shows the result of frequency sweep test of the magnetic bearing control system of the embodiment of the present invention under the condition of small gain step;
FIG. 7 shows the result of frequency sweep test of the magnetic bearing control system according to the embodiment of the present invention under the condition of large gain step;
FIG. 8 shows a schematic block diagram of a control parameter determination apparatus of an embodiment of the present invention;
FIG. 9 shows a schematic block diagram of a compressor system of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The following describes a method for determining a control parameter, a device for determining a control parameter, a compressor system, and a readable storage medium according to embodiments of the present invention in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.
Example one
An embodiment of the present invention provides a method for determining a control parameter, and fig. 1 shows one of the flow diagrams of the method for determining a control parameter according to the embodiment of the present invention. Wherein, the method comprises the following steps:
102, carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test;
and step 104, after the M times of frequency tests are carried out, determining target control parameters of the transmission system in the M control parameters according to the test results of the M times of frequency tests.
Wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, the closed-loop response characteristic of the transmission system is obtained by carrying out frequency sweep test on the transmission system, and the control effect of the corresponding control parameter is evaluated through the closed-loop response characteristic, so that the appropriate target control parameter of the transmission system can be determined.
Specifically, the control parameters are iterated, M-time frequency tests are respectively performed on the transmission system based on the iterated control parameters to obtain test results of the M-time frequency tests (the test results are also the closed-loop response characteristics of the transmission system), and finally the test results of the M-time frequency tests are compared to determine the optimal control parameters (also are the target control parameters).
Further, the transmission system can be controlled according to the target control parameter, and the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are ensured.
It should be noted that the drive system includes a compressor bearing system, such as a magnetic bearing system. The control parameters comprise parameters such as controller gain and controller damping of the transmission system. The closed loop response characteristic includes at least a response magnitude.
In the embodiment of the invention, the control parameters are iterated, then frequency testing is carried out based on the iterated control parameters to obtain the closed-loop response characteristics of the transmission system under different control parameter conditions, and the closed-loop response characteristics of the transmission system under different control parameters are compared to obtain the optimal control parameters.
Example two
In this embodiment, fig. 2 shows a second flowchart of the method for determining the control parameter according to the embodiment of the present invention. Wherein, the method comprises the following steps:
202, injecting N disturbance signals with preset frequency into the transmission system on the basis of the ith control parameter, thereby obtaining N test results;
and step 204, after M frequency tests are performed, acquiring target control parameters of the transmission system from M control parameters according to the test result of each frequency test.
Wherein N is a positive integer greater than or equal to 1, M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, as shown in fig. 5, a sinusoidal disturbance signal e(s) is injected into an input end of a reference displacement of a control system of a transmission system, a sinusoidal signal with the same frequency as the injected sinusoidal disturbance signal e(s) is excited in a displacement feedback signal of a rotor rotating shaft, a same frequency signal u(s) in the displacement feedback signal is obtained through fourier decomposition, and a closed-loop response characteristic g(s) of the control system of the transmission system in a frequency domain can be obtained by dividing the same frequency signal u(s) by the sinusoidal disturbance signal e(s).
It should be noted that for the injected sinusoidal disturbance signal, the injection amplitude is generally required to be small, and the normal suspension of the transmission system is not affected. After the initial frequency and the cut-off frequency are set, the injection frequency is changed from the initial frequency to the cut-off frequency according to a certain step length, namely, disturbance signals of N preset frequencies are injected in sequence until the preset frequency is greater than the cut-off frequency.
And (2) once frequency test, injecting N disturbance signals with sequentially increased frequencies, and obtaining a closed loop response characteristic (namely a test result) by injecting the disturbance signals every time, thereby obtaining N test results of the frequency test.
In the embodiment of the invention, the frequency test of the transmission system is realized by injecting N disturbance signals into the control system of the transmission system, so that the frequency in the rigid body operation mode of the compressor is covered as much as possible in the sweep frequency test range, and therefore, appropriate control parameters can be determined according to the test, and the dynamic response speed, the control bandwidth and the system operation stability of the transmission system are ensured.
EXAMPLE III
In this embodiment, fig. 3 shows a third flowchart of a method for determining a control parameter according to an embodiment of the present invention. Wherein, the method comprises the following steps:
step 302, on the basis of the ith control parameter, injecting N disturbance signals with preset frequency into the transmission system, thereby obtaining N test results;
step 304, after M frequency tests are performed, obtaining M mean square deviations or mean values according to the mean square deviation or mean value of the test result of each frequency test;
step 306, determining a target mean square error or a target average value which is less than or equal to a first threshold value in the M mean square errors or average values;
and 308, determining the control parameter corresponding to the target mean square error or the target average value as the target control parameter in the M control parameters.
Wherein N is a positive integer greater than or equal to 1, M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, N test results are obtained by one-time frequency test. For each frequency test, the mean square deviations of the corresponding N test results are calculated, and then M mean square deviations are obtained. And further, comparing each mean square error with a first threshold, and when the mean square error does not exceed the first threshold, indicating that the vibration amplitude of the transmission system is smaller when the transmission system is controlled by using the corresponding control parameter, and then the control parameter is better. Illustratively, the control parameter corresponding to the minimum mean square error among the M mean square errors is taken as the target control parameter.
Or, for each frequency test, calculating the average value of the corresponding N test results, and obtaining M average values. Further, each average value is compared with a first threshold value, and when the average value does not exceed the first threshold value, the control parameter is better if the vibration amplitude of the control system controlled by the corresponding control parameter is smaller. Illustratively, the control parameter corresponding to the minimum average value among the M average values is taken as the target control parameter.
It should be noted that the first threshold compared with the mean square error may be different from the first threshold compared with the mean value, that is, the specific value of the first threshold may be different in both cases.
In the embodiment of the invention, the optimal control parameter is determined by comparing the frequency sweeping results (namely, the mean square error or the average value of the N test results and the like) under different control parameters, so that the parameter optimization of the transmission system is realized.
Example four
In this embodiment, a method of iteratively controlling parameters is defined.
Specifically, iteration of the control parameters is controlled, that is, a plurality of control parameters are automatically generated, according to the jth test result and the current parameter adjusting mode, wherein j is greater than or equal to 1 and less than or equal to N.
The parameter adjusting mode is a decreasing mode or an increasing mode, the decreasing mode indicates that the iteration direction of the control parameter is decreasing, namely the latter control parameter is smaller than the former control parameter; the increment mode indicates that the iteration direction of the control parameter is increment, i.e. the latter control parameter is larger than the former control parameter.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
EXAMPLE five
In this embodiment, a specific method of iteratively controlling the parameters is defined. Specifically, when the jth test result is greater than or equal to the second threshold and the parameter adjustment mode is the decreasing mode, the sum of the 1 st control parameter and the preset parameter step length is calculated and is used as the (i + 1) th control parameter.
In the technical scheme, under the condition that any test result of the frequency test exceeds a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is increased progressively according to the preset parameter step length on the basis of the 1 st control parameter to obtain a new control parameter.
It should be noted that, if the current control parameter is not the 1 st control parameter, that is, not the initial control parameter, the current control parameter is adjusted to the initial control parameter, and then the current control parameter is increased in step length according to the preset parameter to obtain a new control parameter, and then the frequency sweep test is performed based on the changed control parameter.
And further, comparing the (i + 1) th control parameter with the prestored maximum control parameter of the transmission system, and if the maximum control parameter is not exceeded, continuing to perform the frequency test according to the (i + 1) th control parameter.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In this embodiment, the determining method further includes: and in the case that any test result of the frequency test exceeds the second threshold value and the parameter adjusting mode is the decreasing mode, adjusting the parameter adjusting mode from the original decreasing mode to the increasing mode.
In this solution, in order to avoid a malfunction due to excessive vibration of the drive train, or in the case of a magnetic bearing system, possibly causing unstable levitation, a maximum amplitude (i.e. a second threshold) is set. And when any test result of the frequency test exceeds the second threshold value and the parameter adjusting mode is the descending mode, which indicates that the control parameter can not be reduced any more, the control parameter is increased in step length according to the preset parameter on the basis of the 1 st control parameter, and the parameter adjusting mode is adjusted from the original descending mode to the ascending mode.
In the embodiment of the invention, when the optimization iteration of the control parameters is executed, a certain preset parameter step length is determined on the basis of the initial control parameters, and the frequency sweep test is carried out on the basis of each changed control parameter according to the principle of 'first subtraction and then addition'. Specifically, when the test result exceeds the specified threshold, the control parameter is increased reversely after being restored to the initial control parameter, and then the sweep frequency test is continued until the control parameter adjustment is finally completed.
It should be noted that, relatively speaking, it is easier to find the target control parameter according to the decreasing mode, so the test efficiency can be improved according to the principle of "decrease first and then add".
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
EXAMPLE six
In this embodiment, a specific method of iteratively controlling the parameters is defined. Specifically, when the jth test result is smaller than the second threshold and the parameter adjusting mode is the decreasing mode, the difference between the ith control parameter and the preset parameter step length is calculated, and the difference is used as the (i + 1) th control parameter.
In the technical scheme, under the condition that any test result of the frequency test is smaller than a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is decreased according to a preset parameter step length on the basis of the current control parameter to obtain a new control parameter. And then, carrying out frequency sweep test based on the changed control parameters.
By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
EXAMPLE seven
In this embodiment, the determining method further includes: and under the condition that the jth test result is smaller than a second threshold value, calculating the sum of the jth preset frequency and the preset frequency step length, and taking the sum as the (j + 1) th preset frequency.
In the technical scheme, a j-th disturbance signal with a preset frequency is injected into a transmission system to obtain a j-th test result, the j-th test result is compared with a second threshold, and the sum of the j-th preset frequency and the preset frequency step is used as the j + 1-th preset frequency under the condition that the j-th test result is smaller than the second threshold, namely, the preset frequency is controlled to increase progressively under the condition that the j-th test result is smaller than the second threshold.
And further, comparing the (j + 1) th preset frequency with a third threshold, and injecting a disturbance signal of the (j + 1) th preset frequency into the transmission system under the condition that the (j + 1) th preset frequency is less than or equal to the third threshold to obtain a (j + 1) th test result. The third threshold refers to a cut-off frequency, that is, in the case that the j +1 th preset frequency does not exceed the cut-off frequency, the disturbance signal continues to be injected into the transmission system.
By the mode, the frequency of the compressor in the rigid body operation mode is covered as much as possible in the sweep frequency test range, and therefore appropriate control parameters can be determined according to the test.
Example eight
In this embodiment, the step of calculating a difference between the ith control parameter and a preset parameter step length, and taking the difference as the (i + 1) th control parameter specifically includes: and under the condition that the j +1 th preset frequency is judged to be larger than the third threshold, calculating the difference value between the ith control parameter and the preset parameter step length, and taking the difference value as the i +1 th control parameter.
In the technical scheme, under the condition that the jth test result of the frequency test is smaller than the second threshold, the jth +1 preset frequency is obtained, whether the jth +1 preset frequency is larger than a third threshold (namely, a cut-off frequency) is judged, and if the jth +1 preset frequency is smaller than or equal to the third threshold, the current frequency test is ended, and the test result corresponding to the current control parameter is obtained.
And further, continuously judging whether the parameter adjusting mode is a decreasing mode or an increasing mode, and if the parameter adjusting mode is the decreasing mode, decreasing according to the preset parameter step length on the basis of the current control parameter to obtain a new control parameter.
In the embodiment of the invention, after the preset frequency reaches the cut-off frequency, the current frequency test is stopped, the next control parameter is continuously determined, and the frequency test is continuously carried out. Through the mode, appropriate control parameters can be determined according to tests, so that the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are guaranteed.
Example nine
In this embodiment, the determining method further includes: and under the condition that the (i + 1) th control parameter is judged to be larger than the fourth threshold value, carrying out (i + 1) th frequency test on the transmission system on the basis of the (i + 1) th control parameter.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter.
And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is greater than the fourth threshold, indicating that the test can be continued, and then performing the frequency test based on the control parameter.
According to the embodiment of the invention, the range of the test control parameter is reduced by setting the minimum control parameter, and the test efficiency is improved.
Example ten
In this embodiment, the determining method further includes: under the condition that the (i + 1) th control parameter is judged to be smaller than or equal to the fourth threshold value, calculating the sum of the (1) th control parameter and the preset parameter step length, and taking the sum as the (i + 1) th control parameter; and under the condition that the (i + 1) th control parameter is judged to be smaller than the fifth threshold, carrying out (i + 1) th frequency test on the transmission system on the basis of the (i + 1) th control parameter.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter.
And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is smaller than or equal to the fourth threshold, indicating that the control parameter can not be reduced any more, restoring the control parameter to the initial control parameter, increasing the control parameter in the reverse direction, and updating the control parameter.
Further, the updated control parameter is compared with a fifth threshold, where the fifth threshold is the maximum control parameter of the transmission system that is empirically set by the user, and the optimal control parameter is less than the minimum control parameter. And if the updated control parameter is smaller than the fifth threshold value, continuing to perform the frequency test according to the updated control parameter.
According to the embodiment of the invention, the range of the test control parameter is reduced by setting the maximum control parameter, and the test efficiency is improved.
EXAMPLE eleven
In this embodiment, the determining method further includes: in a case where it is determined that the i +1 th control parameter is greater than or equal to the fifth threshold value, control stops the frequency test.
In this technical solution, a method of controlling the frequency test to stop is defined.
When the new control parameter exceeds the maximum control parameter of the transmission system, the control parameter is indicated to be incapable of being increased any more, the frequency test is stopped, and the test efficiency is improved.
Example twelve
In this embodiment, the determining method further includes: in the case where it is determined that the jth test result is greater than or equal to the second threshold value and the parameter adjustment mode is the increment mode, control stops the frequency test.
In this technical solution, a method of controlling the frequency test to stop is defined.
And when a certain test result exceeds the second threshold value, the control parameter cannot be increased progressively, and the parameter adjusting mode is just the increasing mode, the frequency test is stopped, and the test efficiency is improved.
EXAMPLE thirteen
In this embodiment, the transmission system is a magnetic bearing system, and fig. 4 shows a fourth flowchart of the method for determining the control parameter according to the embodiment of the present invention. Wherein, the method comprises the following steps:
step 402, determining test parameters;
wherein the test parameters include: the method comprises the following steps of initial disturbance frequency, frequency increasing step length, cut-off frequency, initial control parameters, parameter iteration step length, minimum parameters, maximum parameters and amplitude threshold values.
Step 404, injecting a disturbance signal;
step 406, obtaining a response amplitude and a phase;
high-frequency small signals (namely disturbance signals) are injected into a reference displacement input end of the magnetic suspension bearing system, and the same-frequency signals are decomposed at a displacement feedback output end by utilizing Fourier transform to obtain the amplitude and the phase of the magnetic suspension bearing system at the frequency point.
Step 408, judging whether the amplitude is larger than an amplitude threshold value, if so, entering step 430, otherwise, entering step 410;
step 410, the disturbance frequency is increased progressively according to the frequency increasing step;
step 412, judging whether the disturbance frequency is greater than the cut-off frequency, if so, entering step 414, otherwise, returning to step 404;
step 414, obtaining the amplitude-frequency and phase-frequency response results under the control parameters;
step 416, judging whether the iteration direction of the parameter is decreasing, if so, entering step 418, otherwise, entering step 424;
418, controlling the parameters to decrease according to the iteration step length of the parameters;
step 420, judging whether the control parameter is smaller than the minimum parameter, if so, entering step 422, otherwise, returning to step 402;
step 422, the control parameters are restored to the initial control parameters, and meanwhile, the iteration direction of the control parameters is changed to be increased progressively;
step 424, the control parameter is increased according to the parameter iteration step size;
step 426, judging whether the control parameter is larger than the maximum parameter, if so, entering step 428, otherwise, returning to step 402;
step 428, ending the control parameter adjustment;
in step 430, it is determined whether the iteration direction of the parameter is decreasing, if so, step 422 is entered, otherwise, step 428 is entered.
When the control parameter adjustment is finished and the rotor stops floating, the optimal control parameters are determined and the parameters are optimized by comparing frequency sweep results (mean square error, mean value and the like of amplitude values of the frequency sweep results) under different control parameters.
Fig. 6 is a frequency sweep test result of the magnetic bearing control system under the condition of a small gain step, and fig. 7 is a frequency sweep test result of the magnetic bearing control system under the condition of a large gain step. Wherein the abscissa represents frequency in Hz and the ordinate represents amplitude in dB. And when the controller parameters are iterated, carrying out frequency sweep test based on the iterated controller parameters. The amplitude response of the magnetic bearing control system in different frequency bands under different controller parameter conditions can be obviously seen from the graph of fig. 6 and fig. 7. Specifically, the curves a, B, C, D, E, F, G, and H in fig. 6 respectively represent amplitude-frequency response curves when the gain decreases 1 time, decreases 2 times, decreases 3 times, decreases 4 times, increases 1 time, increases 2 times, increases 3 times, and increases 4 times. In fig. 7, curves I, J, K, L, M, and N respectively represent amplitude-frequency response curves when the gain decreases 1 time, decreases 2 times, increases 1 time, increases 2 times, increases 3 times, and increases 4 times. As can be seen from fig. 6 and 7, the magnitude-frequency results of the magnetic bearing system response in the frequency domain range differ significantly when the difference in controller gain is large.
It should be noted that, in some embodiments, the related operations may also be performed directly on the simulation model of the magnetic bearing control system, since the actual simulation software may generate the root locus diagram, the nyquist diagram or the bode diagram according to the closed-loop control system, but the accuracy of the simulation model is higher in this scheme. The method utilizing the sweep frequency test can avoid instability risk caused by difference between off-line and on-line.
Example fourteen
An embodiment of the present invention provides a control parameter determining apparatus, and fig. 8 shows a schematic block diagram of a control parameter determining apparatus 800 according to an embodiment of the present invention, where the control parameter determining apparatus 800 includes: a test module 802 and a determination module 804.
The test module 802 can perform an ith frequency test on the transmission system on the basis of an ith control parameter of the transmission system to obtain a test result of the ith frequency test; the determining module 804 may obtain the target control parameter of the transmission system among the M control parameters according to the test result of the M frequency tests after the M frequency tests are performed.
Wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
In the technical scheme, the closed-loop response characteristic of the transmission system is obtained by carrying out frequency sweep test on the transmission system, and the control effect of the corresponding control parameter is evaluated through the closed-loop response characteristic, so that the appropriate target control parameter of the transmission system can be determined.
Specifically, the control parameters are iterated, M-time frequency tests are respectively performed on the transmission system based on the iterated control parameters to obtain test results of the M-time frequency tests (the test results are also the closed-loop response characteristics of the transmission system), and finally the test results of the M-time frequency tests are compared to determine the optimal control parameters (also are the target control parameters).
Further, the transmission system can be controlled according to the target control parameter, and the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are ensured.
In the embodiment of the invention, the control parameters are iterated, then frequency testing is carried out based on the iterated control parameters to obtain the closed-loop response characteristics of the transmission system under different control parameter conditions, and the closed-loop response characteristics of the transmission system under different control parameters are compared to obtain the optimal control parameters.
In the technical scheme, a sinusoidal disturbance signal is injected into an input end of reference displacement of a control system of a transmission system, a sinusoidal signal with the same frequency as the injected sinusoidal disturbance signal is excited in a displacement feedback signal of a rotor rotating shaft, the same frequency signal in the displacement feedback signal is obtained through Fourier decomposition, and the closed-loop response characteristic of the control system of the transmission system in a frequency domain can be obtained by dividing the same frequency signal by the sinusoidal disturbance signal. And (2) once frequency test, injecting N disturbance signals with sequentially increased frequencies, and obtaining a closed loop response characteristic (namely a test result) by injecting the disturbance signals every time, thereby obtaining N test results of the frequency test. In the embodiment of the invention, the frequency test of the transmission system is realized by injecting N disturbance signals into the control system of the transmission system, so that the frequency in the rigid body operation mode of the compressor is covered as much as possible in the sweep frequency test range, and therefore, appropriate control parameters can be determined according to the test, and the dynamic response speed, the control bandwidth and the system operation stability of the transmission system are ensured.
In the technical scheme, N test results are obtained by one-time frequency test. For each frequency test, the mean square deviations of the corresponding N test results are calculated, and then M mean square deviations are obtained. And further, comparing each mean square error with a first threshold, and when the mean square error does not exceed the first threshold, indicating that the vibration amplitude of the transmission system is smaller when the transmission system is controlled by using the corresponding control parameter, and then the control parameter is better. Illustratively, the control parameter corresponding to the minimum mean square error among the M mean square errors is taken as the target control parameter. Or, for each frequency test, calculating the average value of the corresponding N test results, and obtaining M average values. Further, each average value is compared with a first threshold value, and when the average value does not exceed the first threshold value, the control parameter is better if the vibration amplitude of the control system controlled by the corresponding control parameter is smaller. Illustratively, the control parameter corresponding to the minimum average value among the M average values is taken as the target control parameter. In the embodiment of the invention, the optimal control parameter is determined by comparing the frequency sweeping results (namely, the mean square error or the average value of the N test results and the like) under different control parameters, so that the parameter optimization of the transmission system is realized.
In this solution, a method of iteratively controlling the parameters is defined. Specifically, iteration of the control parameters is controlled, that is, a plurality of control parameters are automatically generated, according to the test result and the current parameter adjustment mode. The parameter adjusting mode is a decreasing mode or an increasing mode, the decreasing mode indicates that the iteration direction of the control parameter is decreasing, namely the latter control parameter is smaller than the former control parameter; the increment mode indicates that the iteration direction of the control parameter is increment, i.e. the latter control parameter is larger than the former control parameter. By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In the technical scheme, a specific method for iteratively controlling the parameters is defined. Specifically, under the condition that any test result of the frequency test exceeds a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is increased progressively according to the preset parameter step length on the basis of the 1 st control parameter to obtain a new control parameter. And further, comparing the (i + 1) th control parameter with the prestored maximum control parameter of the transmission system, and if the maximum control parameter is not exceeded, continuing to perform the frequency test according to the (i + 1) th control parameter. By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In this solution, in order to avoid a malfunction due to excessive vibration of the drive train, or in the case of a magnetic bearing system, possibly causing unstable levitation, a maximum amplitude (i.e. a second threshold) is set. And when any test result of the frequency test exceeds the second threshold value and the parameter adjusting mode is the descending mode, which indicates that the control parameter can not be reduced any more, the control parameter is increased in step length according to the preset parameter on the basis of the 1 st control parameter, and the parameter adjusting mode is adjusted from the original descending mode to the ascending mode. In the embodiment of the invention, when the optimization iteration of the control parameters is executed, a certain preset parameter step length is determined on the basis of the initial control parameters, and the frequency sweep test is carried out on the basis of each changed control parameter according to the principle of 'first subtraction and then addition'. Specifically, when the test result exceeds the specified threshold, the control parameter is increased reversely after being restored to the initial control parameter, and then the sweep frequency test is continued until the control parameter adjustment is finally completed. By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In the technical scheme, a specific method for iteratively controlling the parameters is defined. Specifically, under the condition that any test result of the frequency test is smaller than a second threshold value, whether the parameter adjusting mode is a decreasing mode or an increasing mode is judged, and if the parameter adjusting mode is the decreasing mode, the parameter adjusting mode is decreased according to the preset parameter step length on the basis of the current control parameter to obtain a new control parameter. And then, carrying out frequency sweep test based on the changed control parameters. By the method, the automatic iteration of the control parameters in the frequency testing process is realized, and a plurality of control parameters are obtained, so that the optimal control parameters can be tested from the control parameters, and the testing efficiency and the accuracy of the optimal control parameters are improved.
In the technical scheme, a j-th disturbance signal with a preset frequency is injected into a transmission system to obtain a j-th test result, the j-th test result is compared with a second threshold, and the sum of the j-th preset frequency and the preset frequency step is used as the j + 1-th preset frequency under the condition that the j-th test result is smaller than the second threshold, namely, the preset frequency is controlled to increase progressively under the condition that the j-th test result is smaller than the second threshold. And further, comparing the (j + 1) th preset frequency with a third threshold, and injecting a disturbance signal of the (j + 1) th preset frequency into the transmission system under the condition that the (j + 1) th preset frequency is less than or equal to the third threshold to obtain a (j + 1) th test result. The third threshold refers to a cut-off frequency, that is, in the case that the j +1 th preset frequency does not exceed the cut-off frequency, the disturbance signal continues to be injected into the transmission system. By the mode, the frequency of the compressor in the rigid body operation mode is covered as much as possible in the sweep frequency test range, and therefore appropriate control parameters can be determined according to the test.
In the technical scheme, under the condition that the jth test result of the frequency test is smaller than the second threshold, the jth +1 preset frequency is obtained, whether the jth +1 preset frequency is larger than a third threshold (namely, a cut-off frequency) is judged, and if the jth +1 preset frequency is smaller than or equal to the third threshold, the current frequency test is ended, and the test result corresponding to the current control parameter is obtained. And further, continuously judging whether the parameter adjusting mode is a decreasing mode or an increasing mode, and if the parameter adjusting mode is the decreasing mode, decreasing according to the preset parameter step length on the basis of the current control parameter to obtain a new control parameter. In the embodiment of the invention, after the preset frequency reaches the cut-off frequency, the current frequency test is stopped, the next control parameter is continuously determined, and the frequency test is continuously carried out. Through the mode, appropriate control parameters can be determined according to tests, so that the dynamic response speed, the control bandwidth and the stability of system operation of the transmission system are guaranteed.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter. And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is greater than the fourth threshold, indicating that the test can be continued, and then performing the frequency test based on the control parameter. According to the embodiment of the invention, the range of the test control parameter is reduced by setting the minimum control parameter, and the test efficiency is improved.
In this solution, the user sets the minimum control parameter (i.e. the fourth threshold) of the transmission system empirically, and the optimal control parameter is greater than the minimum control parameter. And comparing the iterated new control parameter with a fourth threshold, and if the control parameter is smaller than or equal to the fourth threshold, indicating that the control parameter can not be reduced any more, restoring the control parameter to the initial control parameter, increasing the control parameter in the reverse direction, and updating the control parameter. Further, the updated control parameter is compared with a fifth threshold, where the fifth threshold is the maximum control parameter of the transmission system that is empirically set by the user, and the optimal control parameter is less than the minimum control parameter. And if the updated control parameter is smaller than the fifth threshold value, continuing to perform the frequency test according to the updated control parameter. According to the embodiment of the invention, the range of the test control parameter is reduced by setting the maximum control parameter, and the test efficiency is improved.
In this technical solution, a method of controlling the frequency test to stop is defined. In one case, when the new control parameter exceeds the maximum control parameter of the transmission system, indicating that the control parameter cannot be increased any more, the frequency test is stopped, increasing the test efficiency. Under the other condition, when a certain test result exceeds the second threshold value, which indicates that the control parameter can not be increased progressively, and the parameter adjusting mode is just the increasing mode at the moment, the frequency test is stopped, and the test efficiency is improved.
Example fifteen
In an embodiment of the present invention, a compressor system is provided, and fig. 9 shows a schematic block diagram of a compressor system according to an embodiment of the present invention, wherein the compressor system 900 comprises a transmission system 902, a memory 904, and a processor 906.
The memory 904 stores a program or an instruction, and the processor 906 implements the steps of the method for determining the control parameter according to any one of the above-mentioned embodiments when executing the program or the instruction.
Wherein the memory 904 and the processor 906 may be connected by a bus or other means. The Processor 906 may include one or more Processing units, and the Processor 906 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.
The compressor system, program or instructions provided by the present invention, when executed by a processor, implement the steps of the method for determining control parameters according to any of the above-mentioned technical solutions, and therefore the compressor system includes all the advantages of the method for determining control parameters according to any of the above-mentioned technical solutions.
Example sixteen
An embodiment of the present invention provides a readable storage medium, on which a program or an instruction is stored, where the program or the instruction is executed by a processor to implement the steps of the method for determining a control parameter according to any one of the above technical solutions.
The readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The readable storage medium, program or instructions provided by the present invention, when executed by a processor, implement the steps of the method for determining control parameters according to any of the above technical solutions, and therefore the readable storage medium includes all the benefits of the method for determining control parameters according to any of the above technical solutions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. A method for determining a control parameter, comprising:
carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test;
after M times of frequency tests are carried out, determining target control parameters of the transmission system in M control parameters according to test results of the M times of frequency tests;
wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
2. The method according to claim 1, wherein the step of performing an ith frequency test on the transmission system based on an ith control parameter of the transmission system to obtain a test result of the ith frequency test comprises:
injecting N disturbance signals with preset frequency into the transmission system based on the ith control parameter to obtain N test results;
wherein N is a positive integer greater than or equal to 1.
3. The method of claim 2, wherein determining the target control parameter for the driveline among the M control parameters based on the test results of the M frequency tests comprises:
calculating the mean square error or the average value of the test results of the frequency test;
and taking the control parameter corresponding to the mean square error or the average value which is less than or equal to the first threshold value as the target control parameter.
4. The method of claim 2, further comprising:
determining an (i + 1) th control parameter according to the jth test result and the parameter adjusting mode;
wherein j is greater than or equal to 1 and less than or equal to N, and the parameter adjustment mode comprises an increment mode or a decrement mode.
5. The method of claim 4, wherein determining the (i + 1) th control parameter according to the jth test result and the parameter adjustment mode comprises:
and taking the sum of the 1 st control parameter and the preset parameter step length as the (i + 1) th control parameter based on the j test result being greater than or equal to the second threshold and the parameter adjusting mode being the decreasing mode.
6. The method of claim 5, further comprising:
adjusting the parameter adjustment mode to the incremental mode.
7. The method of claim 4, wherein determining the (i + 1) th control parameter according to the jth test result and the parameter adjustment mode comprises:
and taking the difference value between the ith control parameter and the preset parameter step length as the (i + 1) th control parameter based on the condition that the jth test result is smaller than a second threshold value and the parameter adjusting mode is a decreasing mode.
8. The method of claim 7, further comprising:
and based on the jth test result being smaller than a second threshold, taking the sum of the jth preset frequency and a preset frequency step length as the (j + 1) th preset frequency.
9. The method according to claim 8, wherein the step of taking the difference between the ith control parameter and a preset parameter step as the (i + 1) th control parameter comprises:
and taking the difference value between the ith control parameter and the preset parameter step length as the (i + 1) th control parameter based on the fact that the (j + 1) th preset frequency is greater than a third threshold value.
10. The method of any of claims 4 to 9, further comprising:
and performing the (i + 1) th frequency test on the transmission system based on the (i + 1) th control parameter being larger than the fourth threshold value.
11. The method of any of claims 4 to 9, further comprising:
based on the fact that the (i + 1) th control parameter is smaller than or equal to a fourth threshold value, taking the sum of the (1) th control parameter and a preset parameter step length as the (i + 1) th control parameter;
and performing (i + 1) th frequency test on the transmission system based on the (i + 1) th control parameter being smaller than a fifth threshold value.
12. The method of claim 11, further comprising:
stopping the frequency test based on the (i + 1) th control parameter being greater than or equal to the fifth threshold; or
Stopping the frequency test based on the jth test result being greater than or equal to a second threshold and the parameter adjustment mode being an increment mode.
13. An apparatus for determining a control parameter, comprising:
the test module is used for carrying out ith frequency test on the transmission system based on the ith control parameter of the transmission system to obtain a test result of the ith frequency test;
the determining module is used for determining target control parameters of the transmission system in the M control parameters according to the test results of the M frequency tests after the M frequency tests are carried out;
wherein M is a positive integer, i is greater than or equal to 1 and less than or equal to M.
14. A compressor system, comprising:
a transmission system;
a memory storing programs or instructions;
a processor which, when executing the program or instructions, carries out the steps of the method of determining a control parameter according to any one of claims 1 to 12.
15. A readable storage medium on which a program or instructions are stored, characterized in that said program or instructions, when executed by a processor, implement the steps of the method of determining a control parameter according to any one of claims 1 to 12.
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