use vova07\console\ConsoleRunner;
$cr = new ConsoleRunner(['file' => '@my/path/to/yii']);
$cr->run('controller/action param1 param2 ...');

// config.php
...
components [
    'consoleRunner' => [
        'class' => 'vova07\console\ConsoleRunner',
        'file' => '@my/path/to/yii' // or an absolute path to console file
    ]
]
...

// some-file.php
Yii::$app->consoleRunner->run('controller/action param1 param2 ...');