CN103389749A - Temperature control system - Google Patents

Temperature control system Download PDF

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Publication number
CN103389749A
CN103389749A CN2013102746267A CN201310274626A CN103389749A CN 103389749 A CN103389749 A CN 103389749A CN 2013102746267 A CN2013102746267 A CN 2013102746267A CN 201310274626 A CN201310274626 A CN 201310274626A CN 103389749 A CN103389749 A CN 103389749A
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temperature
error
output
average
control
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CN2013102746267A
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CN103389749B (en
Inventor
何闻
徐冠华
周杰
潘龙
洪起
徐祥
贾叔仕
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

A temperature control system comprises a plurality of distributed heat sources and a plurality of temperature sensors. Each heat source is connected with a respective power drive module, all power drive modules are controlled by a temperature controller, and a temperature control system takes a target temperature as reference input and output temperatures of the temperature sensors as feedback; tracking errors between the reference input and the output temperatures are input in the temperature controller, and the temperature controller converts the tracking errors into average errors, obtains error deviations between the average control quantity and the tracking errors and the average errors through calculation according to the average errors, obtains the superposition control quantity of each heat source according to the average errors and takes sum signals of the average control quantity and the superposition control quantities as the final output of the temperature controller. The temperature control system has the advantages of being low in dependence on single channels, high in anti-interference capacity and capable of performing uniformity control on temperatures of temperature boxes with distributed heat sources.

Description

A kind of temperature control system
Technical field
The invention belongs to mechanical engineering heating field, is a kind of sweat box with distributed thermal source to be carried out the temperature controlled control system of homogeneity, namely utilizes a plurality of well heaters that temperature the temperature inside the box is controlled to be equally distributed control system on the whole.
Background technology
The sweat box that uses in complex test environment is installed on the end of hydro-extractor horn, is subject to centrifugation.Due to the existence of thermograde in heating process, air is subject to the impact of acceleration of gravity, centrifugal acceleration, Corioli's acceleration and moves in sweat box, temperature field is produced very large inhomogeneous.For this reason, arrange a plurality of distributed thermals source on sweat box, arrange a plurality of temperature sensors in sweat box, form the temperature control system of a multiple-input and multiple-output (MIMO), wish by distributed thermal source being controlled the homogeneity that realizes temperature field.
Existing MIMO control system, generally need to carry out complicated Decoupling Controller Design, and especially for the control object with pure delay time, its Decoupling design is more complicated, need to identify accurately model.Especially, for the problem that many heat source temperatures field is controlled, existing technology is that the space in temperature field is divided into the multi-path temperature-control passage, and each passage comprises the elements such as a temperature sensor, PID controller, well heater, and each passage independently carries out closed-loop control.The shortcoming of this mode is that the required time of control is longer, and the temperature of diverse location place (being different temperature control passages) is always even not.
Chinese patent ZL01822061.4 has disclosed a kind of control system and control device, and above-mentioned a plurality of passages (are supposed to add up to ) be divided into a main control channel and Individual from control channel, with the reference input of target temperature as main control channel, and with the output of main control channel as all reference inputs from control channel.Can make like this tracking target temperature of the temperature fast and stable of main channel, and make the temperature of other passages follow the tracks of this main channel, can realize the homogeneity in whole temperature field.The shortcoming of this control system is: as temperature controlled reference value, in case main channel is disturbed or break down in main channel, whole system can't work with the main channel temperature.This control system is large to the dependence of main channel, and is high to the performance requirement of main channel, a little less than antijamming capability.
Summary of the invention
In order to overcome existing homogeneity temperature control system take dedicated tunnel as main control channel, with the temperature of main control channel as the reference input from control channel, performance requirement to main control channel is high, the shortcoming of poor anti jamming capability, the invention provides a kind of dependence to single channel (as main control channel) low, the homogeneity temperature control system that antijamming capability is strong.
Temperature control system, comprise a plurality of distributed thermals source and a plurality of temperature sensor, thermal source is corresponding one by one with temperature sensor, each thermal source is connected with power driver module separately, all power driver modules all are controlled by temperature controller, temperature control system is used target temperature as with reference to input, uses the output temperature of each temperature sensor as feedback;
It is characterized in that: in the tracking error input temp controller between reference input and output temperature, temperature controller is converted to tracking error average error and according to average error, calculates the error deviation that obtains between average control amount and tracking error and average error, the superposing control amount that obtains again each thermal source according to error deviation, with adding and the final output of signal as temperature controller of average control amount and superposing control amount.
Thermal source and temperature sensor be corresponding referring to for each thermal source one by one, and given its step input, have certain unique temperature sensor maximum to its response, and temperature sensor corresponding to different heat sources do not repeat.
Further, temperature controller comprises the error converting unit that is converted to average error with reference to the tracking error between input and output temperature, the mean value that average error is converted to the average control amount is followed the tracks of control module, and the error deviation of average error and tracking error is converted to the multichannel tracking control module of superposing control amount.
Further, temperature control system comprises the first subtracter that obtains the tracking error between reference input and output, the output terminal of the first subtracter connects respectively error converting unit and the second subtracter, is preset with the error transition matrix that tracking error is converted to average error in the error converting unit , , average error , wherein For tracking error; The output terminal of error converting unit connects respectively mean value and follows the tracks of control module With the second subtracter, mean value is followed the tracks of control module and is utilized average error Calculate system average control amount
, and meet , wherein For input The z conversion, For average error The z conversion.
Further, the error deviation between the second subtracter output tracking error and average error , the output terminal of the second subtracter and multichannel are followed the tracks of control module Connect, multichannel is followed the tracks of control module and is utilized error deviation Calculate the superposing control amount of each passage
, and meet , wherein For the superposing control amount The z conversion; For error deviation The z conversion.
Further, temperature controller also comprises totalizer, and two input ends of totalizer connect respectively mean value and follow the tracks of the output terminal of control module and the output terminal that multichannel is followed the tracks of control module, and totalizer is output as the final output of temperature controller , namely meet .
Further, the homogeneity of temperature controller is controlled and is comprised the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output of system , wherein Be The temperature value of individual temperature sensor output;
Obtain the reference input of system , wherein For temperature control system The reference input value of passage,, because this temperature control system is the homogeneity control system, meet
2), calculate reference input Export with system Tracking error , , wherein Expression the Error amount between the reference input of passage and output, meet
3), with tracking error Be converted to average error , , wherein Expression average error value,
Calculate the error deviation between tracking error and average error , , wherein
4), utilizing mean value to follow the tracks of control module carries out calculus of differences, draws system average control amount Utilize multichannel to follow the tracks of control module and carry out calculus of differences, draw the superposing control amount
5), calculate the input of distributed thermal source , wherein , and will As the output action of controller in control object;
6), again obtain each temperature sensor output temperature, this temperature, as the output feedback, is re-executed step 1) – 6).
Technical conceive of the present invention is: consider that different spaces point is different to the steady-state gain of same input, i.e. the contribution amount difference of same input to difference output, with the Individual input The output of the peak response that causes is as Individual output , when output While with the mean value of all outputs, error being arranged, can input by change Do rapid adjustment, and the impact that will input these other outputs is considered as disturbing.
Controlled quentity controlled variable Be divided into two parts, namely .Wherein Be used for making the track reference input of the mean value fast and stable of all outputs, Be used for making the mean value of the output system for tracking output of multiple spot.Temperature controller of the present invention also consists of two parts core, and namely mean value is followed the tracks of control module and multichannel tracking control module.Utilize mean value to follow the tracks of control module and make the track reference input of the medial temperature fast and stable in sweat box, make the medial temperature of the current output of tracking that each road output can fast and stable and utilize multichannel to follow the tracks of control module, thereby realize that the homogeneity in temperature field controls.
Because adopting the mean value of output, system draws the average control amount of system as value of feedback, if certain sensor has been subject to while detecting disturbing and can feeding back and reduce departure by average temperature value, guarantee system rejection to disturbance, compared the advantage that the method that adopts principal and subordinate's control channel has the dependence to some passages to reduce.In addition, when number of sensors was more, the radix of averaging was larger, and the effect that reduces error is better, and the anti-interference of system is better.
Beneficial effect of the present invention is: 1, do not need numerous and diverse Decoupling Controller Design, especially for the control object with pure delay time, its Decoupling design is more complicated.2, do not need model is carried out accurate identification, mean value follow the tracks of control module and multichannel follow the tracks of control module can independent design, can adopt the various controller method for designing.3, the dependence to single channel is low, and antijamming capability is strong.
Description of drawings
Fig. 1 is the hardware composition diagram of temperature control system.
Fig. 2 is the schematic diagram with sweat box of distributed thermal source and temperature sensor.
Fig. 3 is control system block diagram of the present invention.
Embodiment
With reference to Fig. 1, temperature control system, comprise a plurality of distributed thermals source and a plurality of temperature sensor, thermal source is corresponding one by one with temperature sensor, each thermal source is connected with power driver module separately, all power driver modules all are controlled by temperature controller, and temperature controller is used target temperature as with reference to input, uses the output temperature of each temperature sensor as feedback.
In tracking error input temp controller between reference input and output temperature, temperature controller is converted to tracking error average error and according to average error, calculates the error deviation that obtains between average control amount and tracking error and average error, the superposing control amount that obtains again each thermal source according to error deviation, with adding and the final output of signal as temperature controller of average control amount and superposing control amount.
In the present embodiment, temperature control system also comprises computing machine, MCU, PWM generator, AD acquisition module.Thermal source adopts semiconductor chilling plate, and power driver module is comprised of mosfet driver and H bridge driving circuit.Semiconductor chilling plate is installed on the sweat box wall, and temperature sensor is arranged on sweat box inside.The output of MCU is controlled semiconductor chilling plate by PWM generator, power driver module, and the output of temperature sensor feeds back to MCU by the AD acquisition module, thereby forms the temperature control system of closed loop.Computing machine is by RS232 and MCU communication, thereby carries out status monitoring and man-machine interaction.
Thermal source and temperature sensor be corresponding referring to for each thermal source one by one, and given its step input, have certain unique temperature sensor maximum to its response, and temperature sensor corresponding to different heat sources do not repeat.With reference to Fig. 2, thermal source 1 corresponding temperature sensor 2, thermal source 3 corresponding temperature sensors 4, thermal source 5 corresponding temperature sensors 6, thermal source 7 corresponding temperature sensors 8.
Temperature controller comprises the error converting unit that is converted to average error with reference to the error between input and output temperature, and the mean value that average error is converted to the average control amount is followed the tracks of control module , and the multichannel that the error deviation of mean value and error is converted to the superposing control amount is followed the tracks of control module .
With reference to Fig. 3, temperature control system comprises the first subtracter that obtains the tracking error between reference input and output, the output terminal of the first subtracter connects respectively error converting unit and the second subtracter, is preset with the error transition matrix that tracking error is converted to average error in the error converting unit , , average error , wherein For tracking error; The output terminal of error converting unit connects respectively mean value and follows the tracks of control module With the second subtracter, mean value is followed the tracks of control module and is utilized average error Calculate acquisition system average control amount
, and meet , wherein For input The z conversion, For average error The z conversion.
Error deviation between the second subtracter output tracking error and average error , the output terminal of the second subtracter and multichannel are followed the tracks of control module Connect, multichannel is followed the tracks of control module and is utilized error deviation Calculate the superposing control amount of each passage
, and meet , wherein For the superposing control amount The z conversion; For error deviation The z conversion.
Temperature controller also comprises totalizer, and two input ends of totalizer connect respectively mean value and follow the tracks of the output terminal of control module and the output terminal that multichannel is followed the tracks of control module, and totalizer is output as the final output of temperature controller , namely meet .
The homogeneity of temperature controller is controlled and is comprised the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output of system , wherein Be The temperature value of individual temperature sensor output;
Obtain the reference input of system , wherein For temperature control system The reference input value of passage,, because this temperature control system is the homogeneity control system, meet
2), calculate reference input Export with system Tracking error , , wherein Expression the Error amount between the reference input of passage and output, meet
3), with tracking error Be converted to average error , , wherein Expression average error value,
Calculate the error deviation between tracking error and average error , , wherein
4), utilizing mean value to follow the tracks of control module carries out calculus of differences, draws system average control amount Utilize multichannel to follow the tracks of control module and carry out calculus of differences, draw the superposing control amount
In the present embodiment, mean value is followed the tracks of the element of control module Adopt the PID controller, difference equation is arranged
Wherein, , , , Be respectively mean value and follow the tracks of scale-up factor, integration time constant, derivative time constant, the sampling period of control module, For keeping the input value of stable state output;
Multichannel is followed the tracks of the element of control module Adopt the PID controller to realize, difference equation is arranged
Wherein, , , Be respectively multichannel and follow the tracks of scale-up factor, integration time constant, the derivative time constant of control module;
5), calculate the input of distributed thermal source , wherein , and will As the output action of controller in control object;
6), again obtain each temperature sensor output temperature, this temperature, as the output feedback, is re-executed step 1) – 6).
Technical conceive of the present invention is: consider that different spaces point is different to the steady-state gain of same input, i.e. the contribution amount difference of same input to difference output, with the Individual input The output of the peak response that causes is as Individual output , when output While with the mean value of all outputs, error being arranged, can input by change Do rapid adjustment, and the impact that will input these other outputs is considered as disturbing.
Controlled quentity controlled variable Be divided into two parts, namely .Wherein Be used for making the track reference input of the mean value fast and stable of all outputs, Be used for making the mean value of the output system for tracking output of multiple spot.Temperature controller of the present invention also consists of two parts core, and namely mean value is followed the tracks of control module and multichannel tracking control module.Utilize mean value to follow the tracks of control module and make the track reference input of the medial temperature fast and stable in sweat box, make the medial temperature of the current output of tracking that each road output can fast and stable and utilize multichannel to follow the tracks of control module, thereby realize that the homogeneity in temperature field controls.
Because adopting the mean value of output, system draws the average control amount of system as value of feedback, if certain sensor has been subject to while detecting disturbing and can feeding back and reduce departure by average temperature value, guarantee system rejection to disturbance, compared the advantage that the method that adopts principal and subordinate's control channel has the dependence to some passages to reduce.In addition, when number of sensors was more, the radix of averaging was larger, and the effect that reduces error is better, and the anti-interference of system is better.
Beneficial effect of the present invention is: 1, do not need numerous and diverse Decoupling Controller Design, especially for the control object with pure delay time, its Decoupling design is more complicated.2, do not need model is carried out accurate identification, mean value follow the tracks of control module and multichannel follow the tracks of control module can independent design, can adopt the various controller method for designing.3, the dependence to single channel is low, and antijamming capability is strong.
The described content of this instructions embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention also reaches conceives the equivalent technologies means that can expect according to the present invention in those skilled in the art.

Claims (6)

1. temperature control system, comprise a plurality of distributed thermals source and a plurality of temperature sensor, thermal source is corresponding one by one with temperature sensor, each thermal source is connected with power driver module separately, all power driver modules all are controlled by temperature controller, temperature control system is used target temperature as with reference to input, uses the output temperature of each temperature sensor as feedback;
It is characterized in that: in the tracking error input temp controller between reference input and output temperature, temperature controller is converted to tracking error average error and according to average error, calculates the error deviation that obtains between average control amount and tracking error and average error, the superposing control amount that obtains again each thermal source according to error deviation, with adding and the final output of signal as temperature controller of average control amount and superposing control amount.
2. temperature control system as claimed in claim 1, it is characterized in that: temperature controller comprises the error converting unit that is converted to average error with reference to the tracking error between input and output temperature, the mean value that average error is converted to the average control amount is followed the tracks of control module, and the error deviation of average error and tracking error is converted to the multichannel tracking control module of superposing control amount.
3. temperature control system as claimed in claim 2, it is characterized in that: temperature control system comprises the first subtracter that obtains the tracking error between reference input and output, the output terminal of the first subtracter connects respectively error converting unit and the second subtracter, is preset with the error transition matrix that tracking error is converted to average error in the error converting unit , , average error , wherein For tracking error; The output terminal of error converting unit connects respectively mean value and follows the tracks of control module With the second subtracter, mean value is followed the tracks of control module and is utilized average error Calculate system average control amount
, and meet , wherein For input The z conversion, For average error The z conversion.
4. temperature control system as claimed in claim 3, is characterized in that: the error deviation between the second subtracter output tracking error and average error , the output terminal of the second subtracter and multichannel are followed the tracks of control module Connect, multichannel is followed the tracks of control module and is utilized error deviation Calculate the superposing control amount of each passage
, and meet , wherein For the superposing control amount The z conversion; For error deviation The z conversion.
5. temperature control system as claimed in claim 4, it is characterized in that: temperature controller also comprises totalizer, two input ends of totalizer connect respectively mean value and follow the tracks of the output terminal of control module and the output terminal that multichannel is followed the tracks of control module, and totalizer is output as the final output of temperature controller , namely meet .
6. temperature control system as claimed in claim 5 is characterized in that: the homogeneity of temperature controller is controlled and is comprised the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output of system , wherein Be The temperature value of individual temperature sensor output;
Obtain the reference input of system , wherein For temperature control system The reference input value of passage,, because this temperature control system is the homogeneity control system, meet
2), calculate reference input Export with system Tracking error , , wherein Expression the Error amount between the reference input of passage and output, meet
3), with tracking error Be converted to average error , , wherein Expression average error value,
Calculate the error deviation between tracking error and average error , , wherein
4), utilizing mean value to follow the tracks of control module carries out calculus of differences, draws system average control amount Utilize multichannel to follow the tracks of control module and carry out calculus of differences, draw the superposing control amount
5), calculate the input of distributed thermal source , wherein , and will As the output action of controller in control object;
6), again obtain each temperature sensor output temperature, this temperature, as the output feedback, is re-executed step 1) – 6).
CN201310274626.7A 2013-07-01 2013-07-01 A kind of temperature control system Expired - Fee Related CN103389749B (en)

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CN107678459A (en) * 2017-11-17 2018-02-09 北京强度环境研究所 A kind of control system for Centrifugal Environment heat run
CN110592329A (en) * 2019-09-30 2019-12-20 华中科技大学 Laser quenching temperature control method based on interference observer compensation
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CN111580580A (en) * 2020-05-20 2020-08-25 电子科技大学 Temperature field measurement and control system and method based on differential equation
CN111903111A (en) * 2018-03-27 2020-11-06 华为技术有限公司 Terminal equipment and method for determining external environment temperature
CN111954436A (en) * 2019-05-16 2020-11-17 南宁富桂精密工业有限公司 Electronic device with heat radiation module
CN112698570A (en) * 2020-12-09 2021-04-23 河南知汇电力技术有限公司 PI control system and method based on empirical error

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CN104898734B (en) * 2015-05-18 2017-12-29 中国地质大学(武汉) A kind of dynamic type temperature difference controls tape deck
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CN110678823A (en) * 2017-05-29 2020-01-10 理化工业株式会社 Control system design device and control system
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CN107678459A (en) * 2017-11-17 2018-02-09 北京强度环境研究所 A kind of control system for Centrifugal Environment heat run
CN111903111A (en) * 2018-03-27 2020-11-06 华为技术有限公司 Terminal equipment and method for determining external environment temperature
CN111954436A (en) * 2019-05-16 2020-11-17 南宁富桂精密工业有限公司 Electronic device with heat radiation module
CN110592329A (en) * 2019-09-30 2019-12-20 华中科技大学 Laser quenching temperature control method based on interference observer compensation
CN110592329B (en) * 2019-09-30 2020-08-28 华中科技大学 Laser quenching temperature control method based on interference observer compensation
CN111580580A (en) * 2020-05-20 2020-08-25 电子科技大学 Temperature field measurement and control system and method based on differential equation
CN112698570A (en) * 2020-12-09 2021-04-23 河南知汇电力技术有限公司 PI control system and method based on empirical error

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