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

Abstract

The application discloses a control method, a control device, a control system and a computer readable storage medium, wherein the method comprises the following steps: actually controlling a time delay system based on a first controller to obtain a first operation parameter; virtually controlling the delay system based on at least one second controller to obtain at least one second operating parameter; re-determining a target controller actually controlling the time delay system based on the first operating parameter, the at least one second operating parameter, and a target parameter, wherein the target controller is derived from the first controller and the at least one second controller.

Description

Control method, device and system and computer readable storage medium

Technical Field

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

Background

The time delay system is a system with a certain time delay in feedback and control, and is widely applied to various production and living control scenes, such as cigarette loosening and moisture regaining control, mineral powder moisture content control and the like.

At present, the delay system is controlled by a single and fixed controller; or the delay system is controlled based on adaptive control, which, even though the parameters of the controller can be adjusted by adaptive methods, still relies on a single controller.

In the related art, if the use of fixed parameters is applicable only to a steady system, it is impossible to cope with a change in system characteristics; even if the parameters of the controller are adjusted, a single controller is still used, so that the advantages of different controllers cannot be exerted, and variable or abnormal control scenes cannot be dealt with, thereby affecting the control precision.

Disclosure of Invention

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

The technical scheme of the embodiment of the application is realized as follows:

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

actually controlling a time delay system based on a first controller to obtain a first operation parameter;

virtually controlling the delay system based on at least one second controller to obtain at least one second operating parameter;

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

The embodiment of the application provides a control system, which is used for controlling a time delay system and comprises a first controller, at least one second controller and a processor; further comprising:

A memory for storing a computer program operable on the processor;

wherein the computer program realizes the above control method when executed by a processor.

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

the first obtaining module is used for actually controlling the time delay system based on the first controller to obtain a first operation parameter;

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

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

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

The embodiment of the application provides a control method, a device, a system and a computer readable storage medium, wherein the control method comprises the following steps: firstly, actually controlling a time delay system through a first controller so as to obtain a first operation parameter; at the same time, the time delay system is virtually controlled based on at least one second controller, so that at least one second operation parameter is obtained; finally, a target controller for the actual control of the time delay system is determined again on the basis of the first operating parameter, the at least one second operating parameter and the target parameter, by means of which the time delay system is controlled, wherein the target controller is derived from the first controller and the at least one second controller. When the time delay system is controlled, the time delay system is actually controlled through the first controller, the time delay system is virtually controlled through the at least one second controller, and finally the target controller adaptive to the time delay system is determined through the actually controlled first operation parameter, the virtually controlled second operation parameter and the target parameter, so that the time delay system is accurately controlled through the target controller. Whether the time delay system is a steady system or a steady system, the control method can determine a target controller adaptive to the time delay system from the first controller and the at least one second controller based on the actual situation of the time delay system, and realize accurate control of the time delay system.

Drawings

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

FIG. 1 is a schematic diagram of a control system framework according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of an implementation of the control method according to the embodiment of the present application;

fig. 3 is a schematic flowchart of an implementation process of a virtual control method according to an embodiment of the present application;

FIG. 4 is a schematic flow chart illustrating an implementation of a target determination controller according to an embodiment of the present application;

FIG. 5 is another schematic diagram of a control system framework according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a control system framework according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a control system according to an embodiment of the present disclosure.

Detailed Description

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

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

In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order, but rather the terms "first \ second \ third" are used to interchange specific orders or sequences, where appropriate, so as to enable the embodiments of the application described herein to be practiced in other than the order shown or described herein.

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

Based on the problems in the related art, the embodiments of the present application provide a control method, which is applied to a control system, for example, the control system shown in fig. 1. In some embodiments, the computer program may be executed by a processor of the control system. Fig. 2 is a schematic flow chart of an implementation of a control method provided in an embodiment of the present application, and as shown in fig. 2, the control method includes:

Step S201, a first operation parameter is obtained based on the actual control of the delay system by the first controller.

Here, the delay system refers to a system in which feedback and control have a certain time delay, and the delay system may be a constant delay system, or may be a non-constant delay system. The constant time delay system means that the self property of the system does not change along with time; by an unsteady time-delay system is meant that the nature of the system itself varies with time.

Illustratively, the time delay system can be a cigarette loosening and moisture regaining control system, a mineral powder moisture content control system and the like.

In the embodiment of the present application, the actual control refers to controlling the time delay system by using the first controller in the current control stage, wherein the first controller may be the controller of the optimal time delay system determined by the time delay system based on the operation condition of the last control stage. Thereby accurately controlling the time delay system by using the first controller in the current control stage.

Referring to fig. 1, the solid line representation of the connection of the input and output of the first controller 101 is the actual control of the delay system G by the first controller_pAnd finally obtaining the first operation parameter.

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

Step S202, at least one second operation parameter is obtained based on at least one second controller virtual control delay system.

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

In practical implementation, a simulation system for the delay system is established in advance, so that in the embodiment of the application, the simulation system for the delay system is obtained; the simulation system is then controlled separately by at least one second controller, resulting in at least one second control parameter, which may be humidity, moisture content, temperature, etc., similar to the first operating parameter. The second control parameters correspond to the second controllers one by one, so that the number of the second control parameters is the same as that of the second controllers.

In the embodiment of the present application, referring to fig. 1, the control system includes not only the first controller 101, but also a plurality of second controllers 102, the second controllers 102 may be the same type of control of different parameters as the first controller 101, and the second controllers 102 may also be different types of controllers as the first controller 101. That is, the control system includes a controller library, thereby enriching the variety of controllers. And the most adaptive controller actually controls the time delay system each time, and the rest controllers control the simulation systems corresponding to the time delay system to obtain second operation parameters corresponding to the rest controllers, so that a basis is provided for determining a target controller of the adaptive time delay system in the next control stage.

With continued reference to FIG. 1, a second controlThe dashed line connecting the input and output of the controller 102 represents the virtual control of the delay system G by the second controller_pAnd finally obtaining a second operation parameter.

Step S203, re-determining a target controller of the actual control delay system based on the first operating parameter, the at least one second operating parameter, and the target parameter.

Here, if the target parameter is an optimal parameter expected to be obtained, determining an operating parameter closest to the target parameter from the first operating parameter and the at least one second operating parameter, where the operating parameter of the closest target parameter can represent that the control effect on the delay system is optimal, and therefore, determining the operating parameter closest to the target parameter as the target operating parameter, and then determining a controller corresponding to the target operating parameter as a target controller, where the target controller is a controller that actually controls the delay system in a next control stage. Wherein the target controller is derived from the first controller and the at least one second controller. The target parameter may be a desired humidity, moisture content, temperature, etc.

In the embodiment of the present application, if there is target difference information smaller than the first difference information in the second difference information; and then, judging the magnitude relation between the target difference information and the difference threshold value, and if the target difference information is smaller than the difference threshold value, representing that a controller which is more matched with the time delay system exists in the second controller. Then, the second operation parameter corresponding to the target difference information is determined as the target second operation parameter, and the second controller corresponding to the target second operation parameter is determined as the target controller.

In the embodiment of the present application, through the steps S201 to S203, the first controller actually controls the time delay system to obtain a first operating parameter; meanwhile, the time delay system is also virtually controlled based on at least one second controller, so that at least one second operation parameter is obtained; finally, a target controller for the actual control of the time delay system is determined again on the basis of the first operating parameter, the at least one second operating parameter and the target parameter, by means of which the time delay system is controlled, wherein the target controller is derived from the first controller and the at least one second controller. When the time delay system is controlled, the time delay system is actually controlled through the first controller, the time delay system is virtually controlled through the at least one second controller, and finally a target controller adaptive to the time delay system is determined from the first controller and the second controller through the actually controlled first operation parameter, the virtually controlled second operation parameter and the target parameter, so that the time delay system is accurately controlled through the target controller. Whether the time delay system is a steady system or a steady system, the control method can determine a target controller adaptive to the time delay system from the first controller and the at least one second controller based on the actual situation of the time delay system, and realize accurate control of the time delay system.

In some embodiments, the first controller includes an inner loop controller and an outer loop controller, that is, the control system is a double closed loop control system, the delay system is rapidly stabilized by strong control of the inner loop controller, and then steady-state errors are eliminated by weak control of the outer loop controller, so as to ensure stable and efficient operation of the delay system. The inner ring controller includes a plurality of candidate inner ring controllers, the outer ring controller includes a plurality of candidate outer ring controllers, that is, the inner ring controller is derived from a plurality of selectable candidate inner ring controllers, and the outer ring controller is derived from a plurality of selectable candidate outer ring controllers, and the control method provided by the embodiment of the present application further includes: and alternately updating the inner ring controller and the outer ring controller based on the candidate inner ring controllers and the candidate outer ring controllers to respectively obtain an inner ring target controller and an outer ring target controller. The inner ring target controller and the outer ring target controller after the alternate update are different, or the inner ring target controller and the outer ring target controller are the same.

Here, the number of candidate inner ring controllers and the number of candidate outer ring controllers may be the same or different. Under the condition that the number of the candidate inner ring controller and the candidate outer ring controller is the same, the types and the parameters of the candidate inner ring controller and the candidate outer ring controller can be the same or different, and whether the types and the parameters of the candidate inner ring controller and the candidate outer ring controller are the same or not depends on the characteristics of the time delay system. The candidate inner ring controller is equivalent to a controller library corresponding to the inner ring controller, and the candidate outer ring controller is equivalent to a controller library corresponding to the outer ring controller.

For example, the candidate inner-loop Controller may include a proportional-Integral-derivative (PID) Controller, an Artificial Neural Network (ANN) Controller, a Fuzzy Controller (Fuzzy), an enhanced Learning Controller (RLC), and the like.

In practical implementation, when the number and the type of the candidate inner-loop controller and the candidate outer-loop controller are the same and the parameters of the candidate inner-loop controller and the candidate outer-loop controller are different, the candidate inner-loop controller may include a PID controller, an ANN controller and Fuzzy, and the candidate outer-loop controller may also include a PID controller, an ANN controller and Fuzzy, but the parameters of the two controllers are different. Based on this, the inner ring target controller and the outer ring target controller determined therefrom are not the same.

And under the condition that the number, the type and the parameters of the candidate inner ring controller and the candidate outer ring controller are the same, the inner ring target controller and the outer ring target controller determined from the candidate inner ring controller may be the same or different.

In the embodiment of the present application, when the time delay system is running, the controller may update the inner ring controller and the outer ring controller alternately, for example, assuming that the time delay system is controlled by the inner ring controller and the outer ring controller in the last control stage, in the current control stage, if it is determined that the first update occasion corresponding to the inner ring controller is reached, the inner ring controller is updated based on the candidate inner ring controller; and if the second updating opportunity corresponding to the outer ring controller is determined to be reached, updating the outer ring controller based on the candidate outer ring controller.

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

In practical implementation, the inner ring target controller and the outer ring target controller are updated alternately, that is, at a certain time, either the inner ring target controller or the outer ring target controller is updated, and neither controller is updated at the same time. The updating idea in the embodiment of the application is as follows: one of the controllers is fixed and the other controller is updated. The process of updating the controller is also equivalent to the process of optimizing the controller.

When the updating is actually performed, taking the updating of the inner ring controller as an example, the operation parameters corresponding to the inner ring controller and the candidate inner ring controller are obtained, the optimal operation parameter is determined from the operation parameters, and the inner ring controller corresponding to the optimal operation parameter is determined as the updated inner ring controller, which can be recorded as the inner ring target controller. Based on this, in the next control stage, the time delay system is controlled based on the inner loop target controller and the outer loop controller, so that the more adaptive controller can be updated in time according to the actual scene or change of the time delay system, and the control precision is improved.

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

step S2021, acquiring a simulation system for the delay system.

Here, a simulation system for the time delay system is established in advance, and the simulation system for the time delay system can be obtained by acquiring the instruction, wherein the simulation system is used for simulating the time delay system.

Step S2022, controlling the simulation system by at least one second controller, respectively, to obtain at least one second operating parameter, and storing the at least one second operating parameter.

Here, the at least one second controller may include an inner loop target controller and a plurality of candidate outer loop controllers, and the at least one second controller may also include an outer loop target controller and a plurality of candidate inner loop controllers. Taking the example that the at least one second controller comprises an inner ring target controller and a plurality of candidate outer ring controllers, each candidate outer ring controller in the plurality of candidate outer ring controllers and the inner ring target controller form a double controller respectively; and then, respectively controlling the simulation system by using each double controller to obtain a second operation parameter corresponding to the double controller.

In practical implementation, referring to fig. 3, step S2022 can be implemented by the following steps S221 to S225:

step S221, determining whether the at least one second controller includes an inner loop target controller and a plurality of candidate outer loop controllers.

Here, each controller includes identification information, and whether the control area is an inner-loop controller or an outer-loop controller can be distinguished by the controller identification information. Based on this, the identification information of each controller in the at least one second controller may be obtained, and if the identification information of each controller represents that the controller includes one inner ring target controller and a plurality of candidate outer ring controllers, the step S222 is performed; and if the identification information of each controller indicates that one outer ring target controller and a plurality of candidate inner ring controllers are included, step S224 is proceeded to.

Step S222, obtaining a first preset time corresponding to the inner ring target controller.

In this embodiment of the present application, a first preset time duration corresponding to an inner ring target controller may be set in advance, where the first preset time duration refers to an operation time duration of a current inner ring target controller, and when the operation time duration of the inner ring target controller reaches the first preset time duration, it is considered that a first update time is reached, the inner ring target controller may be updated, so as to obtain an updated inner ring target controller, where the updated inner ring target controller is an inner ring controller matched with a time delay system.

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

Step S223, the inner loop target controller and each candidate outer loop controller are utilized to control the simulation system to operate for a first preset time period, so as to obtain at least one second operation parameter.

Here, any one of the candidate outer ring controllers and the inner ring target controller is combined to obtain a combined controller; and then, respectively controlling the simulation system to operate for a first preset time by using each combined controller, thereby obtaining at least one second operation parameter.

Step S224, a second preset duration corresponding to the outer ring target controller is obtained.

Here, the implementation process of step S224 is similar to the implementation process of step S222 described above, and therefore, the implementation process of step S224 may refer to the implementation process of step S222 described above. And when the operation time of the outer ring target controller reaches the second preset time, the outer ring target controller is updated to obtain an updated outer ring target controller, and the updated outer ring target controller is an outer ring controller matched with the time delay system.

And step S225, controlling the simulation system to operate for a second preset time by using each candidate inner ring controller and each candidate outer ring target controller to obtain at least one second operation parameter.

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

In the embodiment of the present application, through the above step S2021 and step S2022, while the time delay system is actually controlled by the first controller, the time delay system is also virtually controlled by the at least one second controller, that is, the simulation system of the time delay system is controlled by the at least one second controller, so as to obtain the at least one second operation parameter, provide a basis for determining the target controller, improve the determination speed and accuracy of the target controller,

in some embodiments, as shown in fig. 4, the step S203 "re-determining the target controller of the actual control time delay system based on the first operating parameter, the at least one second operating parameter and the target parameter" includes the following steps S2031 to S2033:

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

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

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

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

Step S2033, determining a target controller of the actual control delay system based on the first difference information, the second difference information, and the difference threshold.

Here, the magnitude relation between the first difference information and the second difference information is compared, if there is difference information smaller than the first difference information in the second difference information, and the difference information smaller than the first difference information is also smaller than the difference threshold, the difference information smaller than the first difference information is determined as target second difference information; then, determining a target second operation parameter corresponding to the target second difference information, and then, enabling a target second controller corresponding to the target second operation parameter; and finally, determining the target second controller as a target controller to accurately control the time delay system through the target controller, so that the time delay system stably and efficiently operates.

And if the second difference information is larger than the first difference information, determining the first controller as a target controller, namely, continuously utilizing the first controller to actually control the time delay system.

The difference threshold may be a default value or a custom value, and may be 0.1, 0.5, 1, or the like.

In the embodiment of the present application, through the steps S2031 to S2033, difference information between the first operation parameter, the second operation parameter, and the target parameter is respectively determined to obtain first difference information and second difference information; then, the target controller is re-determined based on the first difference information, the second difference information and the difference threshold, the target controller may be the first controller or one of the second controllers, and in any case, the operation parameter of the target controller is the closest to the target parameter, so that the time delay system can be stably, efficiently and accurately controlled by the target controller.

Based on the foregoing embodiments, the present application provides a control method, a control block diagram of which is shown in fig. 5, the controller includes an inner loop controller library 501 and an outer loop controller library 502, wherein a delay system passes through G _pTo characterize e^-tsAnd (5) characterizing the time delay. The control method comprises the following four steps:

step one, a control model base is constructed, and a PID controller, an ANN controller, a Fuzzy controller, an RLC and other controllers are incorporated into the control model base.

Setting operation intervals, and adjusting the model and parameters once after each time interval is finished; and the controller adjustments of the inner and outer rings are performed alternately.

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

And step three, setting corresponding performance indexes, such as Process Capability Index (CPK), so as to evaluate the control accuracy of the model and corresponding parameters.

And step four, in each time period, when the optimal model is actually controlled, other models in the model library are subjected to virtual control in the background, the control result is stored, and the output of the control quantity is not performed during the virtual control.

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

The embodiment of the present application further provides another control block diagram, as shown in fig. 6, taking the update of the outer loop controller as an example, at this time, the inner loop controller is a fixed PID controller 601, and the RLC controller 602 and the PID controller 601 actually control the delay system G _pAnd is controlled by ANNSimulation system G of virtual control delay system of device 603 and PID controller 601_p', also through Fuzzy 604 and PID controller 601 virtual control time delay system simulation system G_p', also virtually controlling the simulation system G of the delay system by the PID controller 605 and the PID controller 601_p', to obtain a virtual output corresponding to the dashed line. Wherein the parameters of PID controller 605 and PID controller 601 may be different.

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

By the control method provided by the embodiment of the application, only rough simulation is needed to be carried out to determine the initial parameters before the time delay system is deployed, and the time and labor cost of system simulation are greatly simplified. The optimal model and the corresponding control parameters can be selected in a self-adaptive manner according to the time delay system parameters, and the control precision is improved. In addition, the controlled time delay system is not limited to a constant time delay system, and a conventional controller can be used for accurately controlling an unsteady time delay system.

Based on the foregoing embodiments, the present application provides a control apparatus, where each module included in the apparatus and each unit included in each module may be implemented by a processor in a computer device; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the processor may be a CPU, a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.

Fig. 7 is a schematic structural diagram of a control device provided in an embodiment of the present application, and as shown in fig. 7, the control device 700 includes:

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

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

a determining module 703, configured to re-determine a target controller actually controlling the time delay system based on the first operating parameter, the at least one second operating parameter and a target parameter, where the target controller is derived from the first controller and the at least one second controller.

In some embodiments, the first controller comprises an inner loop controller and an outer loop controller, wherein the inner loop controller comprises a plurality of candidate inner loop controllers and the outer loop controller comprises a plurality of candidate outer loop controllers, the control apparatus 700 further comprising: :

and the updating module is used for alternately updating the inner ring controller and the outer ring controller based on the candidate inner ring controllers and the candidate outer ring controllers to respectively obtain an inner ring target controller and an outer ring target controller.

In some embodiments, the second obtaining module 702 comprises:

the first acquisition submodule is used for acquiring a simulation system aiming at the time delay system;

and the first control sub-module is used for respectively controlling the simulation system by utilizing the at least one second controller to obtain at least one second operation parameter and storing the at least one second operation parameter.

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

the second obtaining submodule is used for obtaining a first preset duration corresponding to the inner ring target controller;

and the second control sub-module is used for controlling the simulation system to operate for the first preset time by utilizing the inner ring target controller and each candidate outer ring controller to obtain the at least one second operation parameter.

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

the third obtaining submodule is used for obtaining a second preset duration corresponding to the outer ring target controller;

And the third control sub-module is used for controlling the simulation system to operate for the second preset time by utilizing each candidate inner ring controller and the outer ring target controller to obtain at least one second operation parameter.

In some embodiments, the determining module 703 comprises:

a first determining sub-module, configured to determine first difference information between the first operating parameter and the target parameter;

a second determining sub-module for determining second difference information between the at least one second operating parameter and the target parameter;

and the third determining submodule is used for determining a target controller for actually controlling the time delay system based on the first difference information, the second difference information and the difference threshold value.

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

It should be noted that, in the embodiment of the present application, if the system upgrading method is implemented in the form of a software functional module and is sold or used as a standalone product, the system upgrading method may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the related art may be embodied in the form of a software product stored in a storage medium, and including several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

Accordingly, embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the control method provided in the above embodiments.

An embodiment of the present application provides a control system, fig. 8 is a schematic structural diagram of a composition of the control system provided in the embodiment of the present application, and as shown in fig. 8, the control system 800 includes: a processor 801, at least one communication bus 802, a user interface 803, at least one external communication interface 804, a memory 805, a first controller 806, and at least one second controller 807. Wherein the communication bus 802 is configured to enable connective communication between these components. Where the user interface 803 comprises a display screen, the external communication interface 804 may comprise a standard wired interface and a wireless interface. Wherein the processor 801 is configured to execute the program of the control method stored in the memory to realize the control method provided in the above-described embodiment.

In some embodiments, the control system may further include a plurality of candidate inner loop controllers and a plurality of candidate outer loop controllers.

The above description of the control system and storage medium embodiments is similar to the description of the method embodiments above, with similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the control system and storage medium of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not imply any order of execution, and the order of execution of the processes should be determined by their functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description, and do not represent the advantages and disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and other division manners may be available in practical implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the systems or units may be electrical, mechanical or in other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps of implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer-readable storage medium, and when executed, executes the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.

Alternatively, the integrated unit described above may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present application, which are essentially or partly contributory to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling an AC to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program code, such as removable storage devices, ROMs, magnetic or optical disks, etc.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A control method, the method comprising:

actually controlling a time delay system based on a first controller to obtain a first operation parameter;

virtually controlling the delay system based on at least one second controller to obtain at least one second operating parameter;

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

2. The method of claim 1, the first controller comprising an inner loop controller and an outer loop controller, wherein the inner loop controller comprises a plurality of candidate inner loop controllers and the outer loop controller comprises a plurality of candidate outer loop controllers, the method further comprising:

And alternately updating the inner ring controller and the outer ring controller based on the candidate inner ring controllers and the candidate outer ring controllers to respectively obtain an inner ring target controller and an outer ring target controller.

3. The method of claim 2, wherein the inner target controls after the alternate update are different from the outer target controls or the inner target controls are the same as the outer target controls.

4. The method of claim 1, wherein virtually controlling the latency system based on at least one second controller to obtain at least one second operating parameter comprises:

acquiring a simulation system aiming at the time delay system;

and respectively controlling the simulation system by utilizing the at least one second controller to obtain at least one second operation parameter, and storing the at least one second operation parameter.

5. The method of claim 4, wherein the at least one second controller comprises an inner loop target controller and a plurality of candidate outer loop controllers, and the virtually controlling the latency system based on the at least one second controller to obtain at least one second operating parameter comprises:

Acquiring a first preset time corresponding to the inner ring target controller;

and controlling the simulation system to operate for the first preset time by utilizing the inner ring target controller and each candidate outer ring controller to obtain at least one second operation parameter.

6. The method of claim 4, the at least one second controller comprising an outer loop target controller and a plurality of candidate inner loop controllers, the virtually controlling the latency system based on the at least one second controller, the obtaining at least one second operating parameter comprising:

acquiring a second preset time length corresponding to the outer ring target controller;

and controlling the simulation system to operate for the second preset time by utilizing each candidate inner ring controller and the outer ring target controller to obtain at least one second operation parameter.

7. The method of any of claims 1-6, said re-determining a target controller that actually controls the time delay system based on the first operating parameter, the at least one second operating parameter, and a target parameter, comprising:

determining first difference information between the first operating parameter and the target parameter;

determining second difference information between the at least one second operating parameter and the target parameter;

And determining a target controller for actually controlling the time delay system based on the first difference information, the second difference information and a difference threshold value.

8. A control system for controlling a time delay system, the control system comprising a first controller, at least one second controller and a processor; further comprising:

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

wherein the computer program, when executed by a processor, implements the control method recited in claim 1.

9. The control system of claim 8, further comprising:

the candidate inner ring controllers are used for updating the inner ring controllers to obtain inner ring target controllers;

the candidate outer ring controllers are used for updating the outer ring controllers to obtain outer ring target controllers; wherein the inner loop controller and the outer loop controller are alternately updated to actually control the time delay system through the inner loop target controller and the outer loop target controller.

10. A control device, the control device comprising:

the first obtaining module is used for obtaining a first operation parameter based on the actual control delay system of the first controller;

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

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

Images