CN103389749B - A kind of temperature control system - Google Patents

A kind of temperature control system Download PDF

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Publication number
CN103389749B
CN103389749B CN201310274626.7A CN201310274626A CN103389749B CN 103389749 B CN103389749 B CN 103389749B CN 201310274626 A CN201310274626 A CN 201310274626A CN 103389749 B CN103389749 B CN 103389749B
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error
temperature
average
output
control system
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CN103389749A (en
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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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Abstract

A kind of temperature control system, comprise multiple distributed thermal source and multiple temperature sensor, each thermal source is connected with respective power driver module, all power driver modules are all controlled by temperature controller, temperature control system inputs, using the output temperature of each temperature sensor as feedback using target temperature as reference; In tracking error input temp controller between reference input and output temperature, tracking error is converted to average error and calculates the superposing control amount obtaining average control amount and the error deviation between tracking error and average error, obtain each thermal source again according to error deviation according to average error by temperature controller, using adding and the final output of signal as temperature controller of average control amount and superposing control amount.The present invention has the dependence of single channel low, the advantage that antijamming capability is strong, can carry out the uniformity controlling of temperature to the sweat box with distributed thermal source.

Description

A kind of temperature control system
Technical field
The invention belongs to mechanical engineering heating art, is that a kind of sweat box to having distributed thermal source carries out the temperature controlled control system of homogeneity, namely utilizes multiple well heater to control temperature the temperature inside the box for equally distributed control system on the whole.
Background technology
The sweat box used 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, in sweat box air be subject to acceleration of gravity, centrifugal acceleration, Corioli's acceleration impact and move, temperature field is produced very large uneven.For this reason, sweat box is arranged multiple distributed thermal source, in sweat box, arrange multiple temperature sensor, form the temperature control system of a multiple-input and multiple-output (MIMO), wish by controlling distributed thermal source and realize the homogeneity in temperature field.
Existing MIMO control system, general needs carries out complicated Decoupling Controller Design, and especially for the control object with pure delay time, its Decoupling design is more complicated, needs to identify accurately model.Especially, for the problem of multi-heat source Temperature Field Control, existing technology is that the space in temperature field is divided into multi-path temperature-control passage, and each passage comprises the elements such as temperature sensor, PID controller, a well heater, and each passage independently carries out closed-loop control.The shortcoming of this mode be control needed for time longer, and the temperature of diverse location place (i.e. different temperature control passage) is always even not.
Chinese patent ZL01822061.4 discloses a kind of control system and control device, above-mentioned multiple passages (are supposed to add up to and n) are divided into a main control channel and n-1 from control channel, using the reference input of target temperature as main control channel, and using the output of main control channel as all reference inputs from control channel.The tracking target temperature of the temperature fast and stable of main channel can be made like this, and make the temperature of other passages follow the tracks of this main channel, the homogeneity in whole temperature field can be realized.The shortcoming of this control system is: using main channel temperature as temperature controlled reference value, once main channel is disturbed or break down in main channel, then whole system cannot normally work.This control system is large to the dependence of main channel, and high to the performance requirement of main channel, antijamming capability is weak.
Summary of the invention
Be main control channel to overcome existing homogeneity temperature control system with dedicated tunnel, using the temperature of main control channel as the reference input from control channel, high to the performance requirement of main control channel, the shortcoming of poor anti jamming capability, the invention provides a kind of low to the dependence of single channel (as main control channel), the homogeneity temperature control system that antijamming capability is strong.
Temperature control system, comprise multiple distributed thermal source and multiple temperature sensor, thermal source and temperature sensor one_to_one corresponding, each thermal source is connected with respective power driver module, all power driver modules are all controlled by temperature controller, temperature control system inputs, using the output temperature of each temperature sensor as feedback using target temperature as reference;
It is characterized in that: in the tracking error input temp controller between reference input and output temperature, tracking error is converted to average error and calculates the superposing control amount obtaining average control amount and the error deviation between tracking error and average error, obtain each thermal source again according to error deviation according to average error by temperature controller, using adding and the final output of signal as temperature controller of average control amount and superposing control amount.
Thermal source and temperature sensor one_to_one corresponding refer to for each thermal source, its Stepped Impedance Resonators given, have certain unique temperature sensor maximum to its response, and temperature sensor corresponding to different heat sources does not repeat.
Further, tracking error between temperature controller comprises with reference to constrained input temperature is converted to the error converting unit of average error, average error is converted to the mean value tracing control unit of average control amount, and the error deviation of average error and tracking error is converted to the multichannel tracing control unit of superposing control amount.
Further, temperature control system comprises the first subtracter of the tracking error obtained between reference input and output, the output terminal of the first subtracter connects error converting unit and the second subtracter respectively, is preset with error transition matrix K tracking error being converted to average error in error converting unit a, average error wherein e is tracking error; The output terminal of error converting unit connects mean value tracing control unit G respectively awith the second subtracter, mean value tracing control unit utilizes average error calculate system average control amount
G a=diag [G a, G a..., G a] n, and meet U ‾ ( z ) = G a ( z ) E ‾ ( z ) , Wherein for input z conversion, for average error z conversion.
Further, the error deviation Δ e between the second subtracter output tracking error and average error, the output terminal of the second subtracter and multichannel tracing control unit G cconnect, multichannel tracing control unit utilizes error deviation Δ e to calculate the superposing control amount Δ u of each passage;
G c = d i a g [ G c 1 , G c 2 , ... , G c i , ... , G c n ] , And meet ΔU i ( z ) = G c i ( z ) ΔE i ( z ) , Wherein Δ U iz () is superposing control amount Δ u iz conversion; Δ E iz () is error deviation Δ e iz conversion.
Further, temperature controller also comprises totalizer, and two input ends of totalizer connect the output terminal of mean value tracing control unit and the output terminal of multichannel tracing control unit respectively, and the output of totalizer is the final output u of temperature controller, namely meets
Further, the uniformity controlling of temperature controller comprises the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output y=[y of system 1y 2y iy n] t, wherein y iit is the temperature value that i-th temperature sensor exports;
Reference input r=[the r of acquisition system 1r 2r ir n] t, wherein r ifor the reference input value of temperature control system i-th passage, because this temperature control system is uniformity control system, then meet r 1=r 2=...=r n;
2), the tracking error e that reference input r and system export y is calculated, e=r-y=[e 1e 2e ie n] t, wherein e irepresent the error amount between the reference input of the i-th passage and output, meet e i=r i-y i;
3), tracking error e is converted to average error wherein represent average error value,
Calculate the error deviation Δ e between tracking error and average error, Δ e = e - e ‾ Δe 1 Δe 2 ... Δe i ... Δe n T , Wherein Δe i = e i - e ‾ ;
4), utilize mean value tracing control unit to carry out calculus of differences, draw system average control amount utilize multichannel tracing control unit to carry out calculus of differences, draw superposing control amount Δ u=[Δ u 1Δ u 2Δ u iΔ u n] t;
5) input of distributed thermal source, is calculated wherein and using u as the output action of controller in control object;
6), again obtain each temperature sensor output temperature, using this temperature as output feedack, re-execute 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, and namely the contribution amount that exports difference of same input is different, inputs u by i-th ithe output of the peak response caused exports y as i-th i, then as output y iwhen having an error with the mean value of all output, by changing input u ido rapid adjustment, and the impact that this input exports these other is considered as interference.
Controlled quentity controlled variable u is divided into two parts, namely wherein be used for the mean value fast and stable making all output track reference input, the mean value that Δ u is used for making the output system for tracking of multiple spot to export.Temperature controller of the present invention is also made up of two parts core, i.e. mean value tracing control unit and multichannel tracing control unit.Utilize mean value tracing control unit that the track reference of the medial temperature fast and stable in sweat box is inputted, and utilize multichannel tracing control unit that each road is exported can the medial temperature of the current output of tracking of fast and stable, thus realize the uniformity controlling in temperature field.
Because system adopts the mean value exported to draw the average control amount of system as value of feedback, can be fed back by average temperature value if certain sensor receives interference when detecting and reduce departure, ensure that system rejection to disturbance, compare and adopt the method for master & slave control passage to have the advantage reduced the dependence of some passages.In addition, when number of sensors is more, the radix of averaging is larger, and the effect reducing 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, and especially for the control object with pure delay time, its Decoupling design is more complicated.2, do not need to carry out accurate identification to model, mean value tracing control unit and multichannel tracing control unit can independent design, can adopt various controller method for designing.3, low to the dependence of single channel, antijamming capability is strong.
Accompanying drawing explanation
Fig. 1 is the hardware composition diagram of temperature control system.
Fig. 2 is the schematic diagram of the sweat box with 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 multiple distributed thermal source and multiple temperature sensor, thermal source and temperature sensor one_to_one corresponding, each thermal source is connected with respective power driver module, all power driver modules are all controlled by temperature controller, and temperature controller inputs, using the output temperature of each temperature sensor as feedback using target temperature as reference.
In tracking error input temp controller between reference input and output temperature, tracking error is converted to average error and calculates the superposing control amount obtaining average control amount and the error deviation between tracking error and average error, obtain each thermal source again according to error deviation according to average error by temperature controller, using 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 made up of mosfet driver and H-bridge drive circuit.Semiconductor chilling plate is installed on sweat box wall, and temperature sensor is arranged on sweat box inside.The output of MCU controls semiconductor chilling plate by PWM generator, power driver module, and the output of temperature sensor feeds back to MCU by AD acquisition module, thus forms the temperature control system of closed loop.Computing machine by RS232 and MCU communication, thus carries out status monitoring and man-machine interaction.
Thermal source and temperature sensor one_to_one corresponding refer to for each thermal source, its Stepped Impedance Resonators given, have certain unique temperature sensor maximum to its response, and temperature sensor corresponding to different heat sources does not repeat.With reference to Fig. 2, thermal source 1 corresponding temperature sensor 2, thermal source 3 corresponding temperature sensor 4, thermal source 5 corresponding temperature sensor 6, thermal source 7 corresponding temperature sensor 8.
Error between temperature controller comprises with reference to constrained input temperature is converted to the error converting unit of average error, average error is converted to the mean value tracing control unit G of average control amount a, and the error deviation of mean value and error is converted to the multichannel tracing control unit G of superposing control amount c.
With reference to Fig. 3, temperature control system comprises the first subtracter of the tracking error obtained between reference input and output, the output terminal of the first subtracter connects error converting unit and the second subtracter respectively, is preset with error transition matrix K tracking error being converted to average error in error converting unit a, average error wherein e is tracking error; The output terminal of error converting unit connects mean value tracing control unit G respectively awith the second subtracter, mean value tracing control unit utilizes average error calculate acquisition system average control amount
G a=diag [G a, G a..., G a] n, and meet U ‾ ( z ) = G a ( z ) E ‾ ( z ) , Wherein for input z conversion, for average error z conversion.
Error deviation Δ e between second subtracter output tracking error and average error, the output terminal of the second subtracter and multichannel tracing control unit G cconnect, multichannel tracing control unit utilizes error deviation Δ e to calculate the superposing control amount Δ u of each passage;
G c = d i a g [ G c 1 , G c 2 , ... , G c i , ... , G c n ] , And meet ΔU i ( z ) = G c i ( z ) ΔE i ( z ) , Wherein Δ U iz () is superposing control amount Δ u iz conversion; Δ E iz () is error deviation Δ e iz conversion.
Temperature controller also comprises totalizer, and two input ends of totalizer connect the output terminal of mean value tracing control unit and the output terminal of multichannel tracing control unit respectively, and the output of totalizer is the final output u of temperature controller, namely meets
The uniformity controlling of temperature controller comprises the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output y=[y of system 1y 2y iy n] t, wherein y iit is the temperature value that i-th temperature sensor exports;
Reference input r=[the r of acquisition system 1r 2r ir n] t, wherein r ifor the reference input value of temperature control system i-th passage, because this temperature control system is uniformity control system, then meet r 1=r 2=...=r n;
2), the tracking error e that reference input r and system export y is calculated, e=r-y=[e 1e 2e ie n], wherein e irepresent the error amount between the reference input of the i-th passage and output, meet e i=r i-y i;
3), tracking error e is converted to average error wherein represent average error value,
Calculate the error deviation Δ e between tracking error and average error, Δ e = e - e ‾ Δe 1 Δe 2 ... Δe i ... Δe n T , Wherein Δe i = e i - e ‾ ;
4), utilize mean value tracing control unit to carry out calculus of differences, draw system average control amount utilize multichannel tracing control unit to carry out calculus of differences, draw superposing control amount Δ u=[Δ u 1Δ u 2Δ u iΔ u n] t;
In the present embodiment, the element G of mean value tracing control unit aadopt PID controller, then have difference equation
u ‾ ( k ) = K P a { e ‾ ( k ) + T T I a Σ i = 0 k e ‾ ( i ) + T D a T [ e ‾ ( k ) - e ‾ ( k - 1 ) ] } + u 0 ,
Wherein, t is respectively the scale-up factor of mean value tracing control unit, integration time constant, derivative time constant, sampling period, u 0for maintaining the input value that stable state exports;
The element of multichannel tracing control unit employing PID controller realizes, then have difference equation
Δu i ( k ) = K P c , i { Δe i ( k ) + T T I c , i Σ j = 0 k Δe i ( j ) + T D c , i T [ Δe i ( k ) - Δe i ( k - 1 ) ] } ,
Wherein, be respectively the scale-up factor of multichannel tracing control unit, integration time constant, derivative time constant;
5) input of distributed thermal source, is calculated wherein and using u as the output action of controller in control object;
6), again obtain each temperature sensor output temperature, using this temperature as output feedack, re-execute 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, and namely the contribution amount that exports difference of same input is different, inputs u by i-th ithe output of the peak response caused exports y as i-th i, then as output y iwhen having an error with the mean value of all output, by changing input u ido rapid adjustment, and the impact that this input exports these other is considered as interference.
Controlled quentity controlled variable u is divided into two parts, namely wherein be used for the mean value fast and stable making all output track reference input, the mean value that Δ u is used for making the output system for tracking of multiple spot to export.Temperature controller of the present invention is also made up of two parts core, i.e. mean value tracing control unit and multichannel tracing control unit.Utilize mean value tracing control unit that the track reference of the medial temperature fast and stable in sweat box is inputted, and utilize multichannel tracing control unit that each road is exported can the medial temperature of the current output of tracking of fast and stable, thus realize the uniformity controlling in temperature field.
Because system adopts the mean value exported to draw the average control amount of system as value of feedback, can be fed back by average temperature value if certain sensor receives interference when detecting and reduce departure, ensure that system rejection to disturbance, compare and adopt the method for master & slave control passage to have the advantage reduced the dependence of some passages.In addition, when number of sensors is more, the radix of averaging is larger, and the effect reducing 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, and especially for the control object with pure delay time, its Decoupling design is more complicated.2, do not need to carry out accurate identification to model, mean value tracing control unit and multichannel tracing control unit can independent design, can adopt various controller method for designing.3, low to the dependence of single channel, antijamming capability is strong.
Content described in this instructions embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also and conceive the equivalent technologies means that can expect according to the present invention in those skilled in the art.

Claims (6)

1. a temperature control system, comprise multiple distributed thermal source and multiple temperature sensor, thermal source and temperature sensor one_to_one corresponding, each thermal source is connected with respective power driver module, all power driver modules are all controlled by temperature controller, temperature control system inputs, using the output temperature of each temperature sensor as feedback using target temperature as reference;
It is characterized in that: in the tracking error input temp controller between reference input and output temperature, tracking error is converted to average error and calculates the superposing control amount obtaining average control amount and the error deviation between tracking error and average error, obtain each thermal source again according to error deviation according to average error by temperature controller, using 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: the tracking error between temperature controller comprises with reference to constrained input temperature is converted to the error converting unit of average error, average error is converted to the mean value tracing control unit of average control amount, and the error deviation of average error and tracking error is converted to the multichannel tracing control unit 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 of the tracking error obtained between reference input and output, the output terminal of the first subtracter connects error converting unit and the second subtracter respectively, is preset with error transition matrix K tracking error being converted to average error in error converting unit a,
average error e ‾ = K a e , Wherein e is tracking error; The output terminal of error converting unit connects mean value tracing control unit G respectively awith the second subtracter, mean value tracing control unit utilizes average error calculate system average control amount
G a = d i a g [ G a , G a , ... , G a ] n , And meet U ‾ ( z ) = G a ( z ) E ‾ ( z ) , Wherein for input z conversion, for average error z conversion.
4. temperature control system as claimed in claim 3, is characterized in that: the error deviation Δ e between the second subtracter output tracking error and average error, the output terminal of the second subtracter and multichannel tracing control unit G cconnect, multichannel tracing control unit utilizes error deviation Δ e to calculate the superposing control amount Δ u of each passage;
G c = d i a g [ G c 1 , G c 2 , ... , G c i , ... , G c n ] , And meet ΔU i ( z ) = G c i ( z ) ΔE i ( z ) , Wherein Δ U iz () is superposing control amount Δ u iz conversion; Δ E iz () is error deviation Δ e iz 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 the output terminal of mean value tracing control unit and the output terminal of multichannel tracing control unit respectively, the output of totalizer is the final output u of temperature controller, namely meets
6. temperature control system as claimed in claim 5, is characterized in that: the uniformity controlling of temperature controller comprises the following steps:
1), obtain the output temperature of each temperature sensor, this temperature is the output y=[y of system 1y 2y iy n] t, wherein y iit is the temperature value that i-th temperature sensor exports;
Reference input r=[the r of acquisition system 1r 2r ir n] t, wherein r ifor the reference input value of temperature control system i-th passage, because this temperature control system is uniformity control system, then meet r 1=r 2=...=r n;
2), the tracking error e that reference input r and system export y is calculated, e=r-y=[e 1e 2e ie n] t, wherein e irepresent the error amount between the reference input of the i-th passage and output, meet e i=r i-y i;
3), tracking error e is converted to average error wherein represent average error value, e ‾ = 1 n Σ i = 1 n e i ;
Calculate the error deviation Δ e between tracking error and average error, Δ e = e - e ‾ = [ Δe 1 Δe 2 ... Δe i ... Δe n ] T , Wherein Δe i = e i - e ‾ ;
4), utilize mean value tracing control unit to carry out calculus of differences, draw system average control amount utilize multichannel tracing control unit to carry out calculus of differences, draw superposing control amount Δ u=[Δ u 1Δ u 2Δ u iΔ u n] t;
5) input of distributed thermal source, is calculated wherein and using u as the output action of controller in control object;
6), again obtain each temperature sensor output temperature, using this temperature as output feedack, re-execute step 1)-6).
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