CN115542722A

CN115542722A - PID control system and control method

Info

Publication number: CN115542722A
Application number: CN202211214594.7A
Authority: CN
Inventors: 刘清明; 孙铁军
Original assignee: Qingdao Hisense Hitachi Air Conditioning System Co Ltd
Current assignee: Qingdao Hisense Hitachi Air Conditioning System Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-30

Abstract

The embodiment of the application provides a PID control system and a control method, relates to the field of automatic control, and solves the problems that in the related art, due to the fact that controlled parameters slowly change, large external interference needs to be introduced to enable each adjusting item to play an adjusting role, and the stability and the dynamic responsiveness of the control system are poor. The control system includes: a collection device; a PID adjusting device; a controller; the controller is configured to perform: when the to-be-input quantity input to the PID adjusting device comprises that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to a preset deviation threshold, acquiring each control deviation quantity of each sampling period before the current sampling period; determining a first target deviation increment of the current sampling period according to each control deviation amount, wherein the absolute value of the first target deviation increment is greater than a preset deviation threshold; and determining a target input quantity input to the PID adjusting device according to the first target deviation increment so that the PID adjusting device adjusts the corresponding target adjusting item.

Description

PID control system and control method

Technical Field

The present application relates to the field of automatic control, and in particular, to a PID control system and a control method.

Background

PID (proportional integral derivative) control devices are widely used in various automated control systems. The PID adjusting device relates to three adjusting items of proportional adjustment, integral adjustment and differential adjustment, wherein the three adjusting items correspond to three adjusting coefficients. In practical application, the control deviation amount and the control deviation increment of the controlled parameter in a certain fixed sampling period are input into a PID regulating device, and the output feedback amount of each sampling period is obtained according to the control deviation amount of each sampling period and the regulating coefficient corresponding to each sampling period. The control deviation amount corresponding to each sampling period is the difference value between the output feedback amount of one sampling period and the output feedback amount of the last sampling period.

In the control process of the control mode, when the controlled parameter changes very slowly, the control deviation amount is small and even close to zero. In this case, the normal response of the control system is generally ensured by increasing the three adjustment coefficients. However, the regulation method needs to introduce large external interference, so that the stability of the whole control process is poor, and the control of the automatic control system fails.

Disclosure of Invention

The application provides a PID control system and a control method, which are used for solving the problems of poor stability and poor dynamic responsiveness of a control system caused by the fact that large external interference needs to be introduced to enable each regulating item to play a regulating role due to slow change of controlled parameters.

In a first aspect, a PID control system is provided, the control system comprising: the acquisition device is used for sequentially acquiring the control deviation amount and the control deviation increment of the controlled parameter according to the sampling period; the PID adjusting device is used for outputting corresponding output feedback quantity according to the input quantity input in each sampling period; controlling the deviation value to represent the difference of the output feedback values of the front and the back adjacent sampling periods; the controller is respectively connected with the acquisition device and the PID adjusting device; the controller is configured to perform: when the to-be-input quantity input to the PID adjusting device comprises that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to a preset deviation threshold, acquiring each control deviation quantity of each sampling period before the current sampling period; determining a first target deviation increment of the current sampling period according to each control deviation amount, wherein the absolute value of the first target deviation increment is greater than a preset deviation threshold; and determining a target input quantity input to the PID adjusting device according to the first target deviation increment so that the PID adjusting device adjusts the corresponding target adjusting item.

It should be noted that the target adjustment term at least includes one or two of a proportional adjustment term and a differential adjustment term, and usually the differential adjustment term does not exist separately, and when the target adjustment term includes the differential adjustment term, the target adjustment term may be a target adjustment term in which the proportional adjustment term and the differential adjustment term are combined; a target adjustment term that may also be a combination of an integral adjustment term and a derivative adjustment term; the target adjustment term may be a combination of a proportional adjustment term, an integral adjustment term, and a derivative adjustment term. And the input corresponding to the proportional adjustment item is determined based on the control deviation increment of each sampling period, and the input corresponding to the differential adjustment item is determined based on the difference value of the control deviation increments of two adjacent sampling periods. Therefore, the embodiments of the present application are implemented based on a scenario in which the target adjustment term includes at least a proportional adjustment term and a differential adjustment term.

The preset deviation threshold value can be determined according to the acquisition precision of the acquisition device, so that the acquisition device can acquire the first target deviation value, and the precision requirement on the acquisition device is reduced. The preset deviation threshold may be set according to experience of a person skilled in the art, or may be determined according to a change characteristic of the controlled parameter (e.g., a functional characteristic of an input quantity function corresponding to the controlled parameter, such as monotonicity or smoothness). Therefore, the present application does not specifically limit the specific implementation of the preset deviation threshold.

The technical scheme provided by the embodiment of the application at least has the following beneficial effects: after the control deviation amount and the control deviation increment of each sampling period are acquired according to the sampling period, the control deviation increment acquired to the current sampling period is not directly input to a PID adjusting device; the acquired control deviation values are utilized to adjust the target deviation increment (namely the first target deviation increment) input to the PID adjusting device, so that the absolute value of the target control deviation increment input to the PID adjusting device is larger than or equal to a preset deviation threshold value, and therefore the target input quantity determined based on the target control deviation increment is in a reasonable and controllable range, and the target adjusting item corresponding to the PID adjusting device can play a reasonable adjusting role. Based on this, under the condition that the controlled parameter changes slowly, external interference or larger external interference does not need to be introduced, the target adjusting item corresponding to the PID adjusting device can play an adjusting role through the redetermined target input quantity, and the stability and the dynamic response capability of the control system are improved.

In some embodiments, the controller is configured to perform the determining a first target deviation increment at the current sampling period based on the respective control deviation amounts, including: determining at least one control deviation amount of which the absolute value of the difference value with the control deviation amount of the current sampling period is larger than a preset deviation threshold value from each control deviation amount; determining at least one control deviation amount as a candidate control deviation amount; determining the candidate control deviation amount with the minimum time interval between the corresponding sampling period and the current sampling period in each candidate control deviation amount as a control deviation amount corresponding to a first target sampling period, wherein the first target sampling period is the sampling period corresponding to the candidate control deviation amount with the minimum time interval between the current sampling period and the current sampling period; and determining the difference value between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as a first target deviation increment.

In this embodiment, the controller takes, as a candidate control deviation amount, a control deviation amount that satisfies a preset condition, among the control deviation amounts corresponding to the respective sampling periods. And then determining the sampling period with the minimum time interval with the current sampling period as a first target sampling period from the sampling period corresponding to the at least one candidate control deviation amount, so as to determine the difference value between the control deviation difference value of the current sampling period and the control deviation amount of the first target sampling period as a first target deviation increment. And the preset condition is that the absolute value of the difference value of the control deviation amount of the current sampling period is greater than a preset deviation threshold value.

Based on the above, the determined first target deviation increment meets both the preset condition and the condition of minimum period difference time interval, so that the control system has small fluctuation range and high response speed when adjusting the target adjustment item according to the target input quantity; the problem that large external interference needs to be introduced due to too small target input quantity is avoided, and the problems that the response speed of a control system is slow and the stability is poor due to too large change of the original parameter adjustment quantity of a target adjustment item caused by too large interval between the introduced first target sampling period and the current sampling period are also avoided.

In some embodiments, the target adjustment term comprises a proportional adjustment term; the target input quantity comprises a proportional adjustment item input quantity; the controller is configured to specifically perform determining a target input quantity to the PID adjusting device based on the first target deviation increment, including: determining whether the first target deviation increment is consistent with the positive or negative of the first deviation amount; the consistency of the positive and negative characters indicates that the two reference quantities are both positive numbers or both negative numbers; the first deviation amount is the difference value of the control deviation amount of the current sampling period and the control deviation amount of the last sampling period of the current sampling period; a first target deviation increment is determined as the proportional adjustment term input.

The output feedback amount does not have a single change characteristic depending on the time change, that is, the change characteristic of the control deviation amount in each sampling period is complicated.

In this embodiment, if the target adjustment term includes a differential adjustment term, it is necessary to set a corresponding differential adjustment term input amount to the proportional adjustment term, and adjust the proportional adjustment term. After the controller determines the first target deviation increment, the controller judges the positive and negative of the first target deviation increment. And under the condition that the positive and negative of the first target deviation positive increment are ensured to be consistent with the positive and negative of the difference value of the control deviation amount of the current sampling period and the control deviation amount of the last sampling period of the current sampling period, the first target deviation increment is used as the input amount of the proportional adjustment item, and the proportional adjustment item of the control system is controlled and adjusted. Based on this, when the target regulation item comprises the proportional regulation item, the determined input quantity of the proportional regulation item can be made to conform to the change characteristic of the output feedback quantity output by the PID regulation device along with the change of time, so that the PID regulation device is ensured to accurately control the control system, and the problem that the control result is inaccurate because the input quantity of the proportional regulation item does not conform to the change characteristic of the output feedback quantity is avoided. In some embodiments, the controller is further configured to perform in particular: determining whether the first target deviation increment and the first deviation amount are inconsistent in positive and negative; the inconsistency of the positive and negative characters represents two comparison quantities, wherein one comparison quantity is a positive number, and the other comparison quantity is a negative number; respectively determining the absolute value of each deviation difference value; each deviation difference value is the difference value of the control deviation value of the current sampling period and the control deviation value of the sampling period which is different from the period before the current sampling period, and the period difference is the number of the sampling periods which are different from the first target sampling period; and determining the deviation difference with the largest absolute value in the deviation differences as the input quantity of the proportional control term.

In the above embodiment, in the case where the first target deviation positive increment is positive or negative, and the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is not positive or negative, the proportional control item input amount is newly determined based on the difference between the control deviation amount of the current sampling period and the control deviation amount of the period-different sampling period, so that the determined proportional control item input amount conforms to the time-varying characteristic of the output feedback amount output by the PID adjustment device.

In some embodiments, the target adjustment term comprises a differential adjustment term; the target input deviation amount includes a differential adjustment term input amount, and the controller is configured to specifically perform determining the target input amount to the PID adjusting device in accordance with the first target deviation increment, and further includes: determining a second target deviation increment of the last sampling period according to the first target deviation increment; determining a difference value between the first target deviation increment and the second target deviation increment as a target deviation change value; determining whether the target deviation change value is consistent with the current deviation change value of the current sampling period in positive and negative; the deviation change value of the current sampling period is the difference value of the first deviation amount and the second deviation amount; the second deviation amount is the difference value of the control deviation amount of the last sampling period of the current sampling period and the control deviation amount of the last sampling period of the current sampling period; the target deviation variation value is determined as a differential adjustment term input amount.

In this embodiment, the target adjustment term includes a differential adjustment term to which a corresponding differential adjustment term input amount needs to be allocated, and the differential adjustment term is adjusted. The controller determines a first target deviation increment and a second target deviation increment. And then, the judgment is carried out based on the positive and negative of the difference value of the first target deviation increment and the second target deviation increment. And under the condition of ensuring that the difference between the first target deviation increment and the second target deviation increment is consistent with the difference between the first deviation amount and the second deviation amount in positive and negative, taking the first target deviation increment as the input amount of the proportional control item, and controlling and adjusting the proportional control item of the control system. Based on the control deviation increment, the determined input quantity of the differential regulation item can be in accordance with the change characteristic of the control deviation increment of each sampling period along with the time, so that the PID regulation device is ensured to accurately control the control system, and the problem that the control result is inaccurate because the input quantity of the input differential regulation item is not in accordance with the change characteristic of the control deviation increment and the control system is subjected to error regulation control is solved.

In some embodiments, the respective sampling periods are ordered in chronological order, the controller being configured to perform in particular: determining a second target deviation increment of the last sampling period according to the first target deviation increment; the method comprises the following steps: according to the period difference corresponding to the first target deviation increment, determining the sampling period of the bit sequence corresponding to the sampling period which is separated from the last sampling period of the current sampling period by the period difference as a second target sampling period in each sampling period; and determining the difference value of the control deviation value of the last sampling period of the current sampling period and the control deviation value of the second target sampling period as a second target deviation value.

In this embodiment, on the premise that the period difference values of the first target deviation increment and the second target deviation increment spanning the sampling periods are the same, the second target sampling period is obtained according to the number of the sampling periods of the first target deviation increment spanning and the span starting point of the sampling period which is the last sampling period of the current sampling period.

In some embodiments, the controller is further configured to perform in particular: determining whether the target deviation change value is inconsistent with the positive or negative of the current deviation change value of the current sampling period; determining the difference value of the third target deviation increment and the fourth target deviation increment as a differential adjustment item input quantity; the third target deviation increment is the difference value of the control deviation amount of the current sampling period and the control deviation amount of the third target sampling period, the fourth target deviation increment is the difference value of the control deviation amount of the third sampling period and the control deviation amount of the fourth target sampling period, the period interval difference of the current sampling period and the third target sampling period is the same as the period interval difference of the third target sampling period and the fourth target sampling period; the value of the periodic interval difference is an integer value rounded up to half the value of the periodic difference.

In the above embodiment, in the case where the difference between the first target deviation increment and the second target deviation increment is equal in sign to the difference between the first deviation amount and the second deviation amount, the differential adjustment term input amount is newly determined based on the difference between the third target deviation increment and the fourth target deviation increment so that the determined differential adjustment term input amount conforms to the time-varying characteristic of the control deviation increment for each sampling period.

In some embodiments, the controller is further configured to perform: inputting the target input quantity into a target regulation item corresponding to the PID regulation device, so that the PID regulation device outputs the output feedback quantity of the current sampling period by regulating the target regulation item; and acquiring the output feedback quantity of the current sampling period.

It should be noted that the target input quantity may be one or two of a proportional adjustment term input quantity and a differential adjustment term input quantity, and usually, the differential adjustment term input quantity does not exist separately, and when the target input quantity includes the differential adjustment term input quantity, the target input quantity may be a target input quantity of a combination of the proportional adjustment term input quantity and the differential adjustment term input quantity; a target input amount that may also be a combination of the integral adjustment term input amount and the derivative adjustment term input amount; a target input amount that is a combination of the proportional adjustment term input amount, the integral adjustment term input amount, and the derivative adjustment term input amount is also included.

Based on the embodiment, the acquisition of the output feedback quantity of the current sampling period is realized.

In some embodiments, the controller is further configured to perform: and when the quantity to be input comprises that the absolute value of the control deviation increment of the current sampling period is larger than a preset deviation threshold, determining the input target quantity according to the control deviation increment of the current sampling period.

In this embodiment, for a scenario in which the absolute value of the control deviation increment of the current sampling period is greater than the preset deviation threshold, the input target amount is determined based on the control deviation increment of the current sampling period.

In a second aspect, an embodiment of the present application provides a PID control method, where the method includes: when the to-be-input quantity to be input into the PID regulating device comprises that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to a preset deviation threshold, acquiring each control deviation quantity of each sampling period before the current sampling period; controlling the deviation value to represent the difference of the output feedback values of the front and the back adjacent sampling periods; determining a first target deviation increment of the current sampling period according to each control deviation amount, wherein the absolute value of the first target deviation increment is greater than a preset deviation threshold; and determining a target input quantity input to the PID adjusting device according to the first target deviation increment so that the PID adjusting device adjusts the corresponding target adjusting item.

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on any one of the apparatuses, the instructions cause the apparatus to execute a control method of any one of the PID control systems.

In a fourth aspect, an embodiment of the present application provides a chip, including: a processor and a memory; the memory is used for storing computer execution instructions, the processor is connected with the memory, and when the chip runs, the processor executes the computer execution instructions stored in the memory, so that the chip executes the control method of any PID control system.

In a fifth aspect, embodiments of the present application provide a computer program product containing instructions that, when run on any one of the above apparatuses, cause the apparatus to perform any one of the above methods for controlling a PID control system.

In the embodiments of the present application, the names of the components of the above-mentioned apparatus do not limit the apparatus itself, and in practical implementations, these components may appear by other names. Provided that the function of each component is similar to that of the embodiments of the present application, are within the scope of the present application and its equivalent technology.

In addition, the technical effects brought by any one of the design methods of the second aspect to the fifth aspect can be referred to the technical effects brought by the different design methods of the first aspect, and are not described herein again.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a circuit architecture diagram of a PID control system provided herein;

FIG. 2 is a schematic control process diagram of a PID control system according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a PID adjustment apparatus according to an embodiment of the present application;

FIG. 4 is a flow chart of a control method of a PID control system according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of a control method of a PID control system according to an embodiment of the present application;

FIG. 6 is a flow chart of a control method of a PID control system according to an embodiment of the present application;

FIG. 7 is a flow chart of a control method of a PID control system according to an embodiment of the present application;

FIG. 8 is a graph illustrating the variation of the control deviation with time according to an embodiment of the present disclosure;

FIG. 9 is a flow chart of a control method of a PID control system according to an embodiment of the application;

FIG. 10 is a flow chart of a control method of a PID control system according to an embodiment of the application;

FIG. 11 is a graph illustrating a variation of the control deviation with time according to an embodiment of the present application;

fig. 12 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

It should be noted that all the directional indicators (such as upper, lower, 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 motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

The terms "first", "second" and "first" are used for descriptive purposes only 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 one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art. In addition, when a pipeline is described, the terms "connected" and "connected" are used in this application to have a meaning of conducting. The specific meaning is to be understood in conjunction with the context.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The PID control device is widely used in various automatic control systems. The PID adjusting device relates to three adjusting items of proportional adjustment, integral adjustment and differential adjustment, wherein the three adjusting items correspond to three adjusting coefficients. In practical application, the control deviation amount and the control deviation increment of the controlled parameter in a certain fixed sampling period are input into a PID regulating device, and the output feedback amount of each sampling period is obtained according to the control deviation amount of each sampling period and the regulating coefficient corresponding to each sampling period. The control deviation amount corresponding to each sampling period is the difference value between the output feedback amount of one sampling period and the output feedback amount of the last sampling period.

In the control process of the control mode, when the controlled parameter changes very slowly, the control deviation amount is small and even close to zero. In this case, the normal response of the control system is generally ensured by increasing the adjustment modes of the three adjustment coefficients. However, the regulation method needs to introduce large external interference, so that the stability of the whole control process is poor, and the control of the automatic control system fails.

In view of this, the embodiment of the present application provides a PID control system, after acquiring the control deviation amount and the control deviation increment of each sampling period according to the sampling period, the control deviation increment acquired to the current sampling period is not directly input to the PID adjusting device; the acquired control deviation values are utilized to adjust the target deviation increment (namely the first target deviation increment) input to the PID adjusting device, so that the absolute value of the target control deviation increment input to the PID adjusting device is larger than or equal to a preset deviation threshold value, and therefore the target input quantity determined based on the target control deviation increment is in a reasonable and controllable range, and the target adjusting item corresponding to the PID adjusting device can play a reasonable adjusting role. Based on this, under the condition that the controlled parameter changes slowly, external interference or larger external interference does not need to be introduced, the target adjusting item corresponding to the PID adjusting device can play an adjusting role through the redetermined target input quantity, and the stability and the dynamic response capability of the control system are improved.

To further describe aspects of the present application, an air conditioning system provided by an embodiment of the present application is described below with reference to an exemplary control system architecture diagram shown in fig. 1.

As shown in fig. 1, the PID control system includes: the device comprises a collecting device 101, a PID regulating device 102 and a controller 103.

The acquisition device 101 is used for sequentially acquiring the control deviation amount and the control deviation increment of the controlled parameter according to the sampling period; the PID adjusting device 102 is used for outputting corresponding output feedback quantity according to the input quantity input in each sampling period; controlling the deviation value to represent the difference of the output feedback values of the front and the back adjacent sampling periods; and the controller 103 are respectively connected with the acquisition device 101 and the PID adjusting device 102.

Referring to the schematic diagram of the PID control system control process shown in fig. 2, the acquisition device 101 includes a detection sensor and an acquisition device. The detection sensor detects the output feedback quantity according to the sampling period. In the current sampling period, the collector collects the output feedback quantity of the current sampling period, and then the difference value between the output feedback quantity of the current sampling period and the output feedback quantity of the last sampling period of the current sampling period is used as a control deviation quantity, and the control deviation quantity can be detected by the detection sensor and transmitted to the collector. The controller 103 controls the target input amount input to the PID adjusting device 102 to be adjusted using a control algorithm based on the control deviation amount. The PID adjusting means 102 outputs an output feedback amount for each sampling period based on the target input amount.

In some embodiments, as shown in FIG. 3, the PID adjustment means 102 includes a proportional regulator 31, an integral regulator 32, and a derivative regulator 33. The proportional control item corresponding to the proportional controller 31 of the PID control device 102 is used for playing a proportional role; the integral regulator 32 is assigned an integral regulating term for exerting an integral action and the derivative regulator 33 is assigned a derivative regulating term for exerting a derivative action. The proportional adjustment term corresponds to a proportional adjustment term, the integral adjustment term corresponds to an integral adjustment coefficient, and the differential adjustment term corresponds to a differential adjustment coefficient.

The parameters that affect the functioning of the PID controller 102 include: the coefficient, sampling period and input control deviation amount, control deviation increment and change value of the control deviation increment corresponding to each adjusting item. Therefore, when the three adjustment items need to be adjusted, the parameters corresponding to the adjustment items can be adjusted, for example, when the proportion needs to be increased, the proportion adjustment coefficient can be increased or the control deviation increment can be increased; when the integral function needs to be increased, the integral adjusting coefficient can be increased; when it is desired to increase the differentiation, the derivative adjustment coefficient or the change value of the control deviation increment may be increased.

In some embodiments, the PID tuning device 102 adjusts the target control term by the following algorithm.

Wherein ek represents the deviation amount at the k-th sampling; ei represents a control deviation amount at the ith sampling; ek-1 denotes the deviation amount of the (k-1) th sampling period; Δ e _k ＝e _k -e _k-1 Represents the control deviation increment at the k-th sampling; Δ e _k-1 ＝e _k-1 -e _k-2 A control deviation increment representing a (k-1) th sampling period; delta delta e _k ＝Δe _k -Δe _k-1 A change value representing a control deviation increment of a k-th sampling period; uk denotes the output of the regulator at the kth sampling; Δ uk represents the regulator output increment at the kth sample; KP represents a proportionality coefficient; KI represents an integral coefficient; KD denotes a differential coefficient; t denotes a sampling period.

Based on the PID incremental formula (1), when the change of the controlled parameter is slow, and the sampling period is small, i.e. the sampling time interval is small, for example, in some temperature control occasions, because the change of the controlled parameter is smaller than the sampling precision of the sensor, the control deviation is increasedQuantity Δ e _k ＝e _k -e _k-1 And the amount of change Δ δ e of the control deviation increment _k ＝Δe _k -Δe _k-1 The integral term only plays a role, and the proportional term and the differential term can not play a role in regulation, so that a PID control system becomes unstable, the dynamic response becomes poor, and the PID control system vibrates seriously and cannot work normally.

If increasing K is adopted _P 、K _D The adjustment by the method of the coefficients requires that the coefficients are amplified by many times, which introduces relatively large external disturbances and causes the output of the control system to deviate from the true value.

In other embodiments, by increasing Δ e _k And Δ δ e _k By appropriately increasing Δ e _k Of sampling period of (a) to make Δ e _k Involving a longer time variation of the deviation, an increase Δ e is achieved _k And Δ δ e _k The object of (1). Specifically, the above-described control deviation increment Δ e _k ＝e _k -e _k-1 The correction is made as the following formula (2) and the amount of change Δ δ e of the control deviation increment is added _k ＝Δe _k -Δe _k-1 The correction is as follows (3).

Δe _k ＝e _k -e _k-n Formula (2)

Δδe _k ＝Δe _k -Δe _k-n

＝e _k -2·e _k-n +e _k-2n Formula (3)

In some embodiments, the controller 103 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal, and instruct the control system to execute the control instruction. Illustratively, the controller 103 may be a Central Processing Unit (CPU), a general purpose processor Network Processor (NP), a Digital Signal Processor (DSP), a Programmable Logic Device (PLD), a microprocessor, a microcontroller 103, or any combination thereof. The controller 103 may also be other devices with processing functions, such as a circuit, a device, or a software module, which is not limited in any way by the embodiments of the present application.

In some embodiments, the control system further comprises: a display 104. The display 104 may be used to display a control panel of the control system or other image information. For example, the control system may display the processing procedure of the current controlled parameter of the control system or the waveform of the output feedback amount via the display 104.

In addition, the display 104 may be a liquid crystal display 104, an organic light-emitting diode (OLED) display 104. The particular type, size, resolution, etc. of the display 104 is not limiting, and those skilled in the art will appreciate that the display 104 may be modified in performance and configuration as desired.

In some embodiments, the control system further comprises a communication device 105, the communication device 105 being a component for communicating with external devices or external servers according to various communication protocol types. For example: the communication device 105 may include at least one of a Wi-Fi chip, a bluetooth communication protocol chip, a wired ethernet communication protocol chip, or other network communication protocol chip or near field communication protocol chip, and an infrared receiver.

In some embodiments, the control system may transmit control signals and data signals to and from a server of a terminal device (e.g., a mobile phone, a tablet computer, a wearable mobile device, etc.) used by the user via the communication device 105.

In some embodiments, the control system further comprises a human interaction device 106 for enabling interaction between a user and the control system. The human-computer interaction device 106 may include one or more of a physical key, a touch display panel, or a voice recognition device. In some embodiments, the control system further comprises a power supply 107 for providing power supply support to the control system from power input from an external power source under the control of the controller 103.

Based on the PID control system, as shown in fig. 4, an embodiment of the present application provides a PID control method, where the PID control method is executed by the controller, and the method includes the following steps:

step S401, when the quantity to be input which is input into the PID adjusting device includes that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to the preset deviation threshold, each control deviation quantity of each sampling period before the current sampling period is obtained.

It should be understood that the above-mentioned control deviation amount characterizes a difference of output feedback amounts of two adjacent sampling periods before and after. The output feedback amount is an output amount output in accordance with the input amount input for each sampling period. The sampling periods correspond to the control deviation amount of the controlled parameter one by one. The control deviation increment of the method is the difference of the control deviation amounts of two adjacent different sampling periods.

Step S402, determining a first target deviation increment of the current sampling period according to each control deviation amount.

Wherein the absolute value of the first target deviation increment is greater than a preset deviation threshold.

The preset deviation threshold value can be determined according to the acquisition precision of the acquisition device so as to ensure that the acquisition device can acquire the first target deviation value, thereby reducing the precision requirement on the acquisition device. The preset deviation threshold may be set according to experience of a person skilled in the art, or may be determined according to a change characteristic of the controlled parameter (e.g., a functional characteristic of an input quantity function corresponding to the controlled parameter, such as monotonicity or smoothness). Therefore, the present application does not specifically limit the specific implementation of the preset deviation threshold.

In contrast to this step scenario, in some embodiments, the controller is further configured to perform: and when the quantity to be input comprises that the absolute value of the control deviation increment of the current sampling period is larger than a preset deviation threshold, determining the input target quantity according to the control deviation increment of the current sampling period.

And step S403, determining a target input quantity input to the PID adjusting device according to the first target deviation increment so that the PID adjusting device adjusts the corresponding target adjusting item.

The target adjusting term at least comprises one or two of a proportional adjusting term and a differential adjusting term, and usually the differential adjusting term does not exist independently, so when the target adjusting term comprises the differential adjusting term, the target adjusting term can be a target adjusting term of a combination of the proportional adjusting term and the differential adjusting term; a target adjustment term that may also be a combination of an integral adjustment term and a derivative adjustment term; the target adjustment term may be a combination of a proportional adjustment term, an integral adjustment term, and a derivative adjustment term. And the input corresponding to the proportional adjustment term is determined based on the control deviation increment of each sampling period, and the input corresponding to the differential adjustment term is determined based on the difference value of the control deviation increments of two adjacent sampling periods. Therefore, the embodiment of the present application is implemented based on a scenario in which the target adjustment term includes at least a proportional adjustment term and a differential adjustment term.

The technical solution shown in fig. 4 brings at least the following beneficial effects: after the control deviation amount and the control deviation increment of each sampling period are acquired according to the sampling period, the control deviation increment acquired in the current sampling period is not directly input into a PID (proportion integration differentiation) adjusting device; the acquired control deviation values are utilized to adjust the target deviation increment (namely the first target deviation increment) input to the PID adjusting device, so that the absolute value of the target control deviation increment input to the PID adjusting device is larger than or equal to a preset deviation threshold value, and therefore the target input quantity determined based on the target control deviation increment is in a reasonable and controllable range, and the target adjusting item corresponding to the PID adjusting device can play a reasonable adjusting role. Based on this, under the condition that the controlled parameter changes slowly, external interference or larger external interference does not need to be introduced, the target adjusting item corresponding to the PID adjusting device can play an adjusting role through the redetermined target input quantity, and the stability and the dynamic response capability of the control system are improved.

As a possible implementation manner, as shown in fig. 5, in the step S402, when determining the first target deviation increment in the current sampling period according to each control deviation amount, the controller specifically implements the following steps:

in step S501, at least one control deviation amount, of which the absolute value of the difference from the control deviation amount of the current sampling period is greater than a preset deviation threshold, is determined from the respective control deviation amounts.

In step S502, at least one control deviation amount is determined as a candidate control deviation amount.

In step S503, the candidate control deviation amount with the smallest time interval between the corresponding sampling period and the current sampling period in each candidate control deviation amount is determined as the control deviation amount corresponding to the first target sampling period.

In this step, the first target sampling period is a sampling period corresponding to a candidate control deviation amount with a minimum time interval of the current sampling period.

Step S504, determining a difference between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as a first target deviation increment.

In this implementation manner, the controller takes, as a candidate control deviation amount, a control deviation amount that satisfies a preset condition, among the control deviation amounts corresponding to the respective sampling periods. And then determining the sampling period with the minimum time interval with the current sampling period as a first target sampling period from the sampling period corresponding to the at least one candidate control deviation amount, so as to determine the difference value between the control deviation difference value of the current sampling period and the control deviation amount of the first target sampling period as a first target deviation increment. And the preset condition is that the absolute value of the difference value of the control deviation amount of the current sampling period is greater than a preset deviation threshold value.

As one possible implementation, as shown in fig. 6, for the case where the target adjustment term includes a differential adjustment term. In the step S403, when the controller determines the target input amount to be input to the PID controller according to the first target deviation increment, the following steps are specifically implemented:

step S601, determining that the first target deviation increment is consistent with the positive and negative of the first deviation amount; the consistency of the positive and negative values indicates that the two control amounts are both positive or both negative.

In step S602, the first deviation amount is a difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period.

In step S603, the first target deviation increment is determined as the proportional adjustment term input amount.

Illustratively, if the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a positive number (e.g., 1), and the first target deviation increment is a positive number (e.g., 3), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period and the first target deviation increment are positive or negative. If the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is negative (e.g., -3) and the first target deviation increment is negative (e.g., -2), the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period and the first target deviation increment are consistent in positive and negative.

It should be noted that the variation characteristic of the output feedback amount with time based on each sampling period is not an application scenario of a single variation characteristic in general. When the output feedback amount is not a single variation characteristic based on time variation, the variation characteristic of the control deviation amount for each sampling period is also complicated.

In this implementation, the target adjustment term includes a differential adjustment term, and then a corresponding differential adjustment term input amount needs to be configured for the proportional adjustment term, so as to adjust the proportional adjustment term. After the controller determines the first target deviation increment, the controller judges the positive and negative of the first target deviation increment. And under the condition that the positive and negative of the first target deviation positive increment are ensured to be consistent with the positive and negative of the difference value of the control deviation amount of the current sampling period and the control deviation amount of the last sampling period of the current sampling period, the first target deviation increment is used as the input amount of the proportional adjustment item, and the proportional adjustment item of the control system is controlled and adjusted.

Based on this, when the target regulation item comprises the proportional regulation item, the determined input quantity of the proportional regulation item can be made to conform to the change characteristic of the output feedback quantity output by the PID regulation device along with the change of time, so that the PID regulation device is ensured to accurately control the control system, and the problem that the control result is inaccurate because the input quantity of the proportional regulation item does not conform to the change characteristic of the output feedback quantity is avoided.

As one possible implementation, as shown in fig. 7, for the case where the target adjustment term includes a differential adjustment term. The step S403 can be realized by the following steps.

Step S701 determines that the first target deviation increment and the first deviation amount do not match in positive or negative.

Wherein, the inconsistency of the positive and negative characters represents that one of the two reference quantities is a positive number, and the other reference quantity is a negative number.

It can be understood that the control deviation amounts corresponding to the first target sampling period and the current sampling period respectively are in a function interval where the monotonicity of the functions in the function of the control deviation amounts changing with time is inconsistent.

In step S702, the absolute values of the deviation differences are determined.

The deviation difference values are the difference values of the control deviation amount of the current sampling period and the control deviation amount of the period before the current sampling period, and the period difference is the number of sampling periods with the difference between the current sampling period and the first target sampling period.

In step S703, the deviation difference value with the largest absolute value among the deviation difference values is determined as the input amount of the proportional control item.

Illustratively, if the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a positive number (e.g., -1), and the first target deviation increment is a negative number (e.g., 3), then the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period, and the first target deviation increment are non-coincident with each other. If the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period is a negative number (e.g., -3) and the first target deviation increment is a positive number (e.g., 2), the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period and the first target deviation increment are inconsistent in positive and negative.

For another example, the first target sampling period is the 5 th sampling period, the current sampling period is the 15 th sampling period, and the period difference is 10.

As a specific embodiment, as shown in fig. 8, in a function curve of the control deviation amount with time, the change characteristic of the control deviation amount is not a single increasing characteristic or a single decreasing characteristic. Therefore, the embodiment obtains the deviation function curve of the control deviation relative to the time according to the control deviation of each sampling period, and analyzes the monotonicity of the function which is separated from the first target period by the range of the period difference number. And determining an extreme point based on the monotonicity analysis result, and taking the difference value of the control deviation amount corresponding to the current sampling period and the control deviation amount of the sampling period corresponding to the extreme point as the input amount of the proportional adjustment item.

Specifically, the control deviation amount corresponding to the current sampling period is taken as e _k And taking the control deviation amount corresponding to the first target sampling period as e _k-n For example, the following description will be made on the difference in the positive and negative of the first target deviation increment and the first deviation amount, with the period difference n.

Sequentially acquiring control deviation increments from the (k-n) th time to the k (current sampling period) th time to obtain a sequence E = { E) including (n + 1) values _k-n ，e _k-n+1 ，…，e _k The numerical terms in the sequence are sequentially marked as E [0 ]]＝e _k-n ，E[1]＝e _k-n+1 ，…，E[n]＝e _k (ii) a According to data in sequence EIn reverse order, i.e. according to En]，E[n-1]，…，E[0]Sequentially, starting to calculate epsilon sequentially _i ＝E[n]-E[i]Wherein i is a number from 0 to (n-1), and ε is selected _i Middle absolute maximum epsilon _i As a proportional adjustment term input.

For example, the control deviation amount change characteristic of the controlled curve in fig. 8 in which the control deviation amount changes with time will be described below with n being 5 as an example. Each sampling period corresponds to a sampling moment in the present application. The control deviation increment at the sampling time k is Δ e _k Namely Δ e _k ＝e _k -e _k-5 < 0, but it is the case that the controlled curve reaches the extreme point at point k-2 and starts to increase after that, Δ e _k Is greater than zero, so that the direction of the scaling at point k is wrong and must be corrected.

In the above implementation, for the case where the positive and negative values of the first target deviation positive increment and the positive and negative values of the difference between the control deviation amount of the current sampling period and the control deviation amount of the previous sampling period of the current sampling period are inconsistent, the proportional control item input amount is re-determined according to the difference between the control deviation amount of the current sampling period and the control deviation amount of the period-different sampling period, so that the determined proportional control item input amount conforms to the time-varying change characteristic of the output feedback amount output by the PID adjusting device.

As one possible implementation, as shown in fig. 9, for the case where the input deviation amount includes a differential adjustment term input amount, the target adjustment term includes a differential adjustment term. The step S403 can be realized by the following steps.

Step S901, determining a second target offset increment of the previous sampling period according to the first target offset increment.

In step S902, a difference between the first target deviation increment and the second target deviation increment is determined as a target deviation change value.

Step S903, determining whether the target deviation change value is consistent with the current deviation change value of the current sampling period in positive and negative.

The deviation change value of the current sampling period is the difference value of the first deviation value and the second deviation value; the second deviation amount is a difference value between the control deviation amount of the last sampling period of the current sampling period and the control deviation amount of the last sampling period of the current sampling period.

In step S904, the target deviation variation value is determined as the differential adjustment term input amount.

In this implementation, the target adjustment term includes a differential adjustment term, and a corresponding differential adjustment term input amount needs to be configured for the differential adjustment term, so as to adjust the differential adjustment term. The controller determines a first target deviation increment and a second target deviation increment. And then, the judgment is carried out based on the positive and negative of the difference value of the first target deviation increment and the second target deviation increment. And under the condition of ensuring that the difference between the first target deviation increment and the second target deviation increment is consistent with the difference between the first deviation amount and the second deviation amount in positive and negative, taking the first target deviation increment as the input amount of the proportional control item, and controlling and adjusting the proportional control item of the control system.

Based on the control deviation increment, the determined input quantity of the differential regulation item can be in accordance with the change characteristic of the control deviation increment of each sampling period along with the time, so that the PID regulation device is ensured to accurately control the control system, and the problem that the control result is inaccurate because the input quantity of the input differential regulation item is not in accordance with the change characteristic of the control deviation increment and the control system is subjected to error regulation control is solved.

As one implementation, the second target deviation amount is determined by: determining a second target deviation increment of the last sampling period according to the first target deviation increment; the method comprises the following steps: according to the period difference corresponding to the first target deviation increment, determining the sampling period of the bit sequence corresponding to the sampling period which is separated from the last sampling period of the current sampling period by the period difference as a second target sampling period in each sampling period; and determining the difference value between the control deviation amount of the last sampling period of the current sampling period and the control deviation amount of the second target sampling period as a second target deviation amount.

The implementation mode is based on the premise that the period difference values of the first target deviation increment and the second target deviation increment span sampling periods are the same, and the second target sampling period is obtained according to the number of the sampling periods of the first target deviation increment span and the span starting point which takes the last sampling period of the current sampling period as one sampling period.

As one possible implementation, as shown in fig. 10, for the case where the input deviation amount includes a differential adjustment term input amount, the target adjustment term includes a differential adjustment term. The step S403 can be realized by the following steps.

And step S111, determining whether the target deviation change value is inconsistent with the positive or negative of the current deviation change value of the current sampling period.

In step S112, the difference between the third target deviation increment and the fourth target deviation increment is determined as the differential adjustment term input amount.

The third target deviation increment is the difference value of the control deviation amount of the current sampling period and the control deviation amount of the third target sampling period, the fourth target deviation increment is the difference value of the control deviation amount of the third sampling period and the control deviation amount of the fourth target sampling period, the period interval difference of the current sampling period and the third target sampling period is the same as the period interval difference of the third target sampling period and the fourth target sampling period; the value of the periodic interval difference is an integer value rounded up to half the value of the periodic difference.

In some embodiments, a control deviation amount change function curve of the control deviation increment relative to time is obtained according to the control deviation amount of each sampling period, and the concave-convex property of the control deviation amount change function curve is analyzed. The control deviation increment change characteristic will be described below with reference to the controlled curve in fig. 11 in which the control deviation amount changes with time, taking n as an example 5. The change value delta e of the control deviation increment at the sampling time k _k Using a correction of delta e _k ＝Δe _k -Δe _k-n Calculating a change value delta e of the control deviation increment _k Is Δ δ e _k Is greater than 0, and in fact the controlled curve has changed from concave to convex from inflection point (k-3), the curve delta e before the inflection point _k > 0, delta e after inflection point _k The real case for the < 0,k point should be Δ δ e _k < 0, from the figure, Δ δ e of the correction formula is used as long as the sampling time k is at any time from the inflection point to the sampling time C _k ＝Δe _k -Δe _k-n The calculation of the change value of the control deviation increment is erroneous.

Illustratively, the control deviation increment from the (k-2 n) th time to the k (current sampling period) time is acquired in sequence, and the control deviation amount corresponding to the current sampling period is taken as e _k And taking the control deviation amount corresponding to the first target sampling period as e _k-n For example, if the period difference is n, the period interval difference is m; if n is an odd number, taking m = (n + 1)/2; if n is an even number, take m = n/2. When the target deviation change value is inconsistent with the positive or negative of the current deviation change value of the current sampling period, the input quantity of the differential regulation term is corrected delta e _k I.e. delta e _k ＝Δe _k -Δe _k-m ＝e _k -2·e _k-m +e _k-2m . When the target deviation change value is consistent with the positive or negative of the current deviation change value of the current sampling period, the input quantity of the differential regulation term is delta e _k And can be expressed as the following formula (4).

The following description will be made on a case where the target deviation variation value does not match the current deviation variation value of the current sampling period in the positive or negative polarity.

Note that in this application e _j When the middle subscript j is less than or equal to 0, e _j Is 0, e.g. (k-2 m) is less than zero _k-2m Equal to 0.

In some embodiments, the characteristic values E of the n control deviation variables correspond to (k-2 n) sampling periods to (k-n) sampling periods, respectively ₁ And (k-n) to k segments ₂ . The characteristic value E is determined by the following formula (5) and formula (6) ₁ And a characteristic value E ₂ Whether the difference is the same number or not is judged, if yes, the target deviation change value is determined to be consistent with the positive and negative of the current deviation change value of the current sampling period, and if not, the target deviation change value is determined to be consistent with the current deviation change value of the current sampling periodThe variation values of the deviation are not consistent in the positive and negative.

As an implementation manner, the following steps may be further performed after the above step S403 is performed. Inputting the target input quantity into a target regulation item corresponding to the PID regulation device, so that the PID regulation device outputs the output feedback quantity of the current sampling period by regulating the target regulation item; and acquiring the output feedback quantity of the current sampling period.

For example, the input quantity of the adjustment term is taken as the target input quantity as an example, and the content of the output feedback quantity is described in detail. The controller inputs the input quantity of the proportional control item to the proportional control item corresponding to the PID regulating device. And the PID adjusting device adjusts the proportional adjusting item according to the proportional adjusting item and outputs the feedback quantity after the proportional adjusting item is adjusted.

In still another example, the output feedback amount including the content will be described in detail by taking the target input amount as the proportional adjustment term input amount and the differential adjustment term input amount as examples. The controller controls the proportional regulation item input quantity to be input to a proportional regulation item corresponding to the PID regulation device, and controls the differential regulation item input quantity to be input to a differential regulation item corresponding to the PID regulation device. And the PID regulating device regulates the proportional regulating item according to the proportional regulating item, regulates the differential regulating item according to the differential regulating item, and outputs the feedback quantity after the proportional regulating item regulation and the differential regulating item regulation are comprehensively regulated.

Based on the implementation mode, the output feedback quantity of the current sampling period is obtained.

It can be seen that the foregoing describes the solution provided by the embodiments of the present application primarily from a methodological perspective. In order to implement the functions described above, the embodiments of the present application provide corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed in hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiment of the present application, the controller may be divided into the functional modules according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. Optionally, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and another division manner may be provided in actual implementation.

The embodiment of the application also provides a hardware structure schematic diagram of the controller. As shown in fig. 12, the controller 300 includes a processor 301, and optionally, a memory 302 and a communication interface 303 connected to the processor 301. The processor 301, memory 302 and communication interface 303 are connected by a bus 304.

The processor 301 may be a Central Processing Unit (CPU), a general purpose processor Network Processor (NP), a Digital Signal Processor (DSP), a microprocessor, a microcontroller, a Programmable Logic Device (PLD), or any combination thereof. The processor 301 may also be any other device having processing functionality, such as a circuit, a device, or a software module. The processor 301 may also include multiple CPUs, and the processor 301 may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, or processing cores that process data (e.g., computer program instructions).

The memory 302 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disk read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, which is not limited by the embodiments herein. The memory 302 may be separate or integrated with the processor 301. The memory 302 may have computer program code embodied therein. The processor 301 is configured to execute the computer program code stored in the memory 302, so as to implement the control method provided by the embodiment of the present application.

Communication interface 303 may be used to communicate with other devices or communication networks (e.g., ethernet, radio Access Network (RAN), wireless Local Area Networks (WLAN), etc.) communication interface 303 may be a module, circuitry, transceiver, or any device capable of communicating.

The bus 304 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 304 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 12, but this is not intended to represent only one bus or type of bus.

The embodiment of the present application further provides a computer-readable storage medium, which includes computer-executable instructions, and when the computer-readable storage medium runs on a computer, the computer is enabled to execute the audio signal processing method of any one of the sound devices provided in the above embodiments.

The embodiment of the present application further provides a computer program product containing computer executable instructions, which when run on a computer, causes the computer to execute any one of the audio signal processing methods of the sound equipment provided by the above embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer executable instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer executable instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application.

Claims

1. A PID control system, characterized in that the control system comprises:

the acquisition device is used for sequentially acquiring the control deviation amount and the control deviation increment of the controlled parameter according to the sampling period;

the PID adjusting device is used for outputting corresponding output feedback quantity according to the input quantity input in each sampling period; the control deviation amount represents the difference of the output feedback amounts of the front and the back adjacent sampling periods;

the controller is respectively connected with the acquisition device and the PID adjusting device;

the controller is configured to perform:

when the to-be-input quantity input to the PID adjusting device comprises that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to a preset deviation threshold, acquiring each control deviation quantity of each sampling period before the current sampling period;

determining a first target deviation increment of the current sampling period according to each control deviation amount, wherein the absolute value of the first target deviation increment is greater than the preset deviation threshold;

and determining a target input quantity input to the PID adjusting device according to the first target deviation increment so that the PID adjusting device adjusts the corresponding target adjusting item.

2. The PID control system of claim 1, wherein the controller is configured to specifically perform the determining the first target deviation increment at the current sampling period as a function of the respective control deviation amounts, including:

determining at least one control deviation amount of which the absolute value of the difference value with the control deviation amount of the current sampling period is larger than the preset deviation threshold value from the control deviation amounts;

determining the at least one control deviation amount as a candidate control deviation amount;

determining the candidate control deviation amount with the smallest time interval between the corresponding sampling period and the current sampling period in each candidate control deviation amount as a control deviation amount corresponding to a first target sampling period, wherein the first target sampling period is the sampling period corresponding to the candidate control deviation amount with the smallest time interval between the corresponding sampling periods and the current sampling period;

and determining the difference value between the control deviation amount corresponding to the current sampling period and the control deviation amount of the first target sampling period as the first target deviation increment.

3. The PID control system of claim 2, wherein the target adjustment term comprises a proportional adjustment term; the target input quantity comprises a proportional adjustment item input quantity; the controller is configured to specifically execute the determining a target input quantity to the PID adjustment device based on the first target deviation increment, including:

determining the first target deviation increment, which is consistent with the positive and negative of the first deviation amount; the positive and negative consistency represents that the two reference quantities are both positive numbers or both negative numbers; the first deviation amount is a difference value between the control deviation amount of the current sampling period and the control deviation amount of the last sampling period of the current sampling period;

determining the first target deviation increment as the proportional adjustment term input amount.

4. The PID control system of claim 3, wherein the controller is further configured to perform in particular:

determining that the first target deviation increment and the first deviation amount are not consistent in positive and negative; the inconsistency of the positive and negative characters represents that one of the two reference quantities is a positive number, and the other reference quantity is a negative number;

respectively determining the absolute value of each deviation difference value; each deviation difference value is a difference value of a control deviation value of the current sampling period and a control deviation value of a sampling period which is different from a period before the current sampling period, and the period difference is the number of sampling periods which are different from the first target sampling period;

and determining the deviation difference with the largest absolute value in the deviation differences as the input quantity of the proportional control item.

5. The PID control system of claim 4, wherein the target adjustment term comprises a derivative adjustment term; the target input deviation amount comprises a differential adjustment term input amount, the controller is configured to specifically execute the determining a target input amount input to the PID adjusting device in accordance with the first target deviation increment, further comprising:

determining a second target deviation increment of the last sampling period according to the first target deviation increment;

determining a difference between the first target deviation increment and the second target deviation increment as a target deviation change value;

determining whether the target deviation change value is consistent with the current deviation change value of the current sampling period in positive and negative; the deviation change value of the current sampling period is the difference value between the first deviation amount and the second deviation amount of 0; the second deviation amount is a difference value between the control deviation amount of the last sampling period of the current sampling period and the control deviation amount of the last sampling period of the current sampling period;

and determining the target deviation change value as a differential adjustment term input quantity.

6. The PID control system of claim 5, wherein the respective sampling periods are ordered in a chronological order, the controller being configured to perform in particular: determining a second target deviation increment of the last sampling period according to the first target deviation increment; the method comprises the following steps:

according to the period difference corresponding to the first target deviation increment, determining the sampling period of the bit sequence corresponding to the sampling period which is separated from the last sampling period of the current sampling period by the period difference in each sampling period as a second target sampling period;

and determining a difference value between the control deviation amount of the last sampling period of the current sampling period and the control deviation amount of the second target sampling period as the second target deviation amount.

7. The PID control system of claim 6, wherein the controller is further configured to specifically perform:

determining whether the target deviation change value is inconsistent with the positive or negative of the current deviation change value of the current sampling period;

determining the difference value of the third target deviation increment and the fourth target deviation increment as the input quantity of the differential adjustment item; the third target deviation increment is the difference value between the control deviation amount of the current sampling period and the control deviation amount of a third target sampling period, the fourth target deviation increment is the difference value between the control deviation amount of the third sampling period and the control deviation amount of a fourth target sampling period, the period interval difference between the current sampling period and the third target sampling period is different, and the period interval difference between the third target sampling period and the fourth target sampling period is the same; the value of the periodic interval difference is an integer value rounded up by half the value of the periodic interval difference.

8. The PID control system according to any one of claims 1 to 7, wherein the controller is further configured to perform:

inputting the target input quantity into the target regulation item corresponding to the PID regulation device, so that the PID regulation device outputs the output feedback quantity of the current sampling period by regulating the target regulation item;

and acquiring the output feedback quantity of the current sampling period.

9. The PID control system according to any one of claims 1 to 7, wherein the controller is further configured to perform:

and when the amount to be input comprises the absolute value of the control deviation increment of the current sampling period is greater than the preset deviation threshold, determining the input target amount according to the control deviation increment of the current sampling period.

10. A PID control method, characterized in that the method comprises:

when the to-be-input quantity to be input into the PID adjusting device comprises that the absolute value of the control deviation increment of the current sampling period is smaller than or equal to a preset deviation threshold, acquiring each control deviation quantity of each sampling period before the current sampling period; the control deviation amount represents the difference of the output feedback amounts of the front and the back adjacent sampling periods;