CN104236018A - Air conditioner control method and air conditioner control device - Google Patents

Abstract

The invention discloses an air conditioner control method, which comprises the following steps that the indoor temperature is detected; a difference value between the indoor temperature and the temperature set by a user is calculated according to the indoor temperature and the temperature set by the user; the initial operation frequency increment of an air conditioner compressor is calculated according to the difference value and a fuzzy control rule, and the initial operation frequency is calculated according to the initial operation frequency increment for controlling the compressor to operate at the initial operation frequency; the operation time of the compressor is detected; when the operation time is greater than the preset time, and if the absolute value of the difference value is smaller than or equal to a preset threshold value, the operation frequency modification value is calculated according to the difference value and a PID (proportion integration differentiation) control model, and in addition, the operation frequency modification value is overlapped onto the initial operation frequency for controlling the compressor to operate at the modified operation frequency. Therefore the operation frequency of the compressor can realize fast response to the load change, the fast refrigeration and heating can be realized, meanwhile, the temperature can be precisely controlled, and the energy sources can be effectively saved. The invention also discloses an air conditioner control device.

Description

The control method of air-conditioner and the control device of air-conditioner

Technical field

The present invention relates to technical field of electric appliances, be related specifically to a kind of control method of air-conditioner and a kind of control device of air-conditioner.

Background technology

Convertible frequency air-conditioner can regulate the frequency of compressor operating automatically along with the change of air conditioner load, namely by changing the rotating speed of compressor to adapt to the change of load, thus can reduce power consumption, reduction loss.Therefore, along with the raising of people's awareness of saving energy, transducer air conditioning obtains increasing application.

The transducer air conditioning of correlation technique adopts following two kinds of methods to control frequency usually: the first, the temperature set according to indoor and outdoor surroundings and user also carries out FREQUENCY CONTROL automatically according to the program preset, but user cannot arrange frequency operational mode and parameter; It two is: the temperature according to indoor and outdoor surroundings and user's setting also carries out FREQUENCY CONTROL automatically according to the program preset, and user also can arrange frequency operational mode and parameter simultaneously.

But, there is following defect in the control method of the transducer air conditioning of correlation technique: because the load prediction of the specific environment applied air-conditioner is forbidden, frequency is often higher or less than normal, this just causes power consumption large, noise is large, heat the problems such as refrigeration is bad, and, because convertible frequency air-conditioner is in operation, load is in continuous change, and the control method of correlation technique can not be very fast the change of load-responsive, or just to run according to a fixing frequency-invariant, so also just had a strong impact on the comfortableness that the energy-saving effect of air-conditioning and air-conditioning bring to people.Therefore, there are the needs improved in the control method of the air-conditioner in correlation technique.

Summary of the invention

The present invention is intended to one of solve the problems of the technologies described above at least to a certain extent.

For this reason, one object of the present invention is the control method proposing a kind of air-conditioner, and this control method can realize the change of quick load-responsive, reaches the effect that fast-refrigerating heats, and also accurately can control temperature simultaneously.

Another object of the present invention is the control device proposing a kind of air-conditioner.

For achieving the above object, the control method of a kind of air-conditioner that one aspect of the present invention embodiment proposes, is characterized in that, comprise the following steps: detect indoor temperature; According to the difference DELTA T described in the temperature computation that described indoor temperature and user set between indoor temperature and the temperature of described user setting; Calculate the initial launch frequency increment of the compressor of described air-conditioner according to described difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating described compressor according to the initial launch frequency increment of described compressor is run according to described initial launch frequency to control described compressor; Detect the running time of described compressor; When being more than or equal to described Preset Time the running time of described compressor, if the absolute value of described difference DELTA T is less than or equal to predetermined threshold value, then calculate the running frequency correction value of described compressor according to described difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the described compressor that the running frequency correction value of described compressor is added to is run according to revised running frequency to control described compressor.

According to the control method of the air-conditioner that the embodiment of the present invention proposes, by detecting indoor temperature, difference DELTA T between the temperature of the temperature computation indoor temperature set according to indoor temperature and user and user's setting, and the initial launch frequency increment of the compressor of air-conditioner is calculated according to difference DELTA T and default fuzzy control rule, and run according to initial launch frequency to control compressor according to the initial launch frequency of the initial launch frequency increment calculating compressor of compressor, simultaneously by detecting the running time of compressor, when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, the running frequency correction value of compressor is then calculated according to difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to control compressor.Thus, this control method controls to control the running frequency of compressor in conjunction with fuzzy control and PID, the change of the quick load-responsive of running frequency of compressor can be realized, reach the effect that fast-refrigerating heats, also accurately can control temperature simultaneously, can effective economize energy, improve the comfortableness of user.

In one embodiment of the invention, also comprised before the described compressor of control runs according to described initial launch frequency: the input voltage detecting described complete machine; Detect outdoor temperature; Judge whether the input voltage of described complete machine is greater than the first voltage threshold and whether described outdoor temperature is less than or equal to preset temperature threshold value; If the input voltage of described complete machine is greater than described first voltage threshold and described outdoor temperature is less than or equal to described preset temperature threshold value, then the running frequency controlling described compressor moves to described initial launch frequency with high frequency Starting mode.

In one embodiment of the invention, control described compressor to run according to initial launch frequency or described revised running frequency run before comprise: detect the delivery temperature of described compressor, evaporator temperature, the input voltage of complete machine and complete machine input current; If described delivery temperature is greater than the first temperature threshold or described evaporator temperature is greater than the second temperature threshold, then the process frequently of temperature limit is carried out to the initial launch frequency of described compressor or described revised running frequency and run according to the running frequency after the process frequently of temperature limit to control described compressor; If the input voltage of described complete machine is greater than the second voltage threshold or described complete machine input current is greater than current threshold, then the process frequently of voltage x current limit is carried out to the initial launch frequency of described compressor or described revised running frequency and run according to the running frequency after the process frequently of described voltage x current limit to control described compressor.

Particularly, in one embodiment of the invention, can according to following formulae discovery the running frequency correction value of compressor:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of compressor described in the k moment, f ₁(k-1) be the running frequency correction value of compressor described in the k-1 moment, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the described indoor temperature that Δ T (k) calculated for the k moment and described user setting, difference between the temperature of the described indoor temperature that Δ T (k-1) calculated for the k-1 moment and described user setting, the difference between the described indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of described user setting.

In one embodiment of the invention, the increment Delta f of described running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if described increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then to described increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to control described compressor, wherein, described first predetermined threshold value is greater than described second predetermined threshold value.

For achieving the above object, the present invention on the other hand embodiment proposes a kind of control device of air-conditioner, comprising: outdoor controller, for controlling compressor operating; First temperature-detecting device, for detecting indoor temperature; Timer, for detecting the running time of described compressor; indoor set controller, described indoor set controller communicates with described outdoor controller, described indoor set controller is for the difference DELTA T according to the temperature computation of described indoor temperature and user's setting between indoor temperature and the temperature of described user setting, and the initial launch frequency increment of the compressor of described air-conditioner is calculated according to described difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating described compressor according to the initial launch frequency increment of described compressor is run according to described initial launch frequency to make described outdoor controller control described compressor, when being more than or equal to Preset Time the running time of described compressor, if the absolute value of described difference DELTA T is less than or equal to predetermined threshold value, then described indoor set controller calculates the running frequency correction value of described compressor according to described difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the described compressor that the running frequency correction value of described compressor is added to is run according to revised running frequency to make described outdoor controller control described compressor.

According to the control device of the air-conditioner that the embodiment of the present invention proposes, indoor temperature is detected by the first temperature-detecting device, indoor set controller according to indoor temperature and user setting temperature computation indoor temperature and user setting temperature between difference DELTA T, and the initial launch frequency increment of the compressor of air-conditioner is calculated according to difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating compressor according to the initial launch frequency increment of compressor is run according to initial launch frequency to make outdoor controller control compressor, detected the running time of compressor by timer simultaneously, when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, then indoor set controller calculates the running frequency correction value of compressor according to difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to make outdoor controller control compressor.Thus, the running frequency of method to compressor adopting fuzzy control and PID to control to combine in this control device controls, the change of the quick load-responsive of running frequency of compressor can be realized, reach the effect that fast-refrigerating heats, also accurately can control temperature simultaneously, can effective economize energy, improve the comfortableness of user.

In one embodiment of the invention, the control device of described air-conditioner also comprises: voltage detection module, for detecting the input voltage of described complete machine; Second temperature detecting module, for detecting outdoor temperature; Wherein, described outdoor controller is also for judging whether the input voltage of described complete machine is greater than the first voltage threshold and whether described outdoor temperature is less than or equal to preset temperature threshold value, if the input voltage of described complete machine is greater than described first voltage threshold and described outdoor temperature is less than or equal to described preset temperature threshold value, then the running frequency that described outdoor controller controls described compressor moves to described initial launch frequency with high frequency Starting mode.

In one embodiment of the invention, the control device of described air-conditioner also comprises: the 3rd temperature-detecting device, for detecting the delivery temperature of described compressor, 4th temperature-detecting device, for detecting the evaporator temperature of described compressor, current sensing means, for detecting complete machine input current, wherein, if described delivery temperature is greater than the first temperature threshold or described evaporator temperature is greater than the second temperature threshold, then described outdoor controller carries out the process of temperature limit frequency to control described compressor according to the running frequency operation after the process frequently of temperature limit to the initial launch frequency of described compressor or described revised running frequency, if the input voltage of described complete machine is greater than the second voltage threshold or described complete machine input current is greater than current threshold, then described outdoor controller carries out the process of voltage x current limit frequency to control described compressor according to the running frequency operation after the process frequently of described voltage x current limit to the initial launch frequency of described compressor or described revised running frequency.

Particularly, in one embodiment of the invention, the running frequency correction value of described indoor set controller compressor according to following formulae discovery:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of compressor described in the k moment, f ₁(k-1) be the running frequency correction value of compressor described in the k-1 moment, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the described indoor temperature that Δ T (k) calculated for the k moment and described user setting, difference between the temperature of the described indoor temperature that Δ T (k-1) calculated for the k-1 moment and described user setting, the difference between the described indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of described user setting.

In one embodiment of the invention, the increment Delta f of described running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if described increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then described indoor set controller is to described increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to make described outdoor controller control described compressor, wherein, described first predetermined threshold value is greater than described second predetermined threshold value.

The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.

Accompanying drawing explanation

The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:

Fig. 1 is the flow chart of the control method of air-conditioner according to the embodiment of the present invention;

Fig. 2 is the flow chart of the determination methods that the control method medium-high frequency of air-conditioner according to an embodiment of the invention starts;

Fig. 3 is the flow chart of limit frequency processing method in the control method of air-conditioner in accordance with another embodiment of the present invention;

Fig. 4 is according to the control method medium-high frequency of the air-conditioner of the present invention's specific embodiment determination methods started and the flow chart limitting processing method frequently;

Fig. 5 is the flow chart of the control method of air-conditioner according to the present invention's specific embodiment;

Fig. 6 is the block diagram of the control device of air-conditioner according to the embodiment of the present invention; And

Fig. 7 is the block diagram of the control device of air-conditioner according to an embodiment of the invention.

Reference numeral:

Compressor 1, outdoor controller 2, first temperature-detecting device 3, timer 4, indoor set controller 5, voltage detection module 6, second temperature detecting module 7, the 3rd temperature-detecting device 8, the 4th temperature-detecting device 9 and current sensing means 10.

Detailed description of the invention

Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.

Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.

In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.

The control method of air-conditioner and the control device of air-conditioner that propose according to the embodiment of the present invention are described with reference to the accompanying drawings.

Fig. 1 is the flow chart of the control method of air-conditioner according to the embodiment of the present invention.As shown in Figure 1, the control method of this air-conditioner comprises the following steps:

S1: detect indoor temperature.

S2: the difference DELTA T between the temperature of the temperature computation indoor temperature set according to indoor temperature and user and user's setting.

That is, when air-conditioner initially powers on, detect indoor temperature T1, and obtain the temperature TS of user's setting and the operational mode of user's setting, and calculate the difference DELTA T between temperature TS that indoor temperature T1 and user set according to indoor temperature T1 and design temperature TS, and such as, Δ T=TS-T1.

In a concrete example of the present invention, receive temperature TS and the operational mode of user's setting by remote controller, control panel etc.

S3: the initial launch frequency increment calculating the compressor of air-conditioner according to difference DELTA T and default fuzzy control rule, and run according to initial launch frequency to control compressor according to the initial launch frequency of the initial launch frequency increment calculating compressor of compressor.

That is, when air-conditioner initially powers on, first default fuzzy control rule is adopted to obtain the initial launch frequency of compressor under the outer working condition of current indoor, wherein, fuzzy control rule can design according to the comfortableness of human body, particularly, when air-conditioner initially powers on, difference DELTA T (n) between the temperature TS that can set according to current indoor environment temperature T1 (n) and user and current difference DELTA T (n) and front once current difference DELTA T (n-1), and inquire about the increment Delta f0 (n) of the current initial launch frequency that fuzzy control rule table corresponding to present mode of operation draws, further, increment Delta f0 (n) according to current initial launch frequency obtains current initial launch frequency f 0 (n) with a front initial launch frequency f 0 (n-1), the computational methods of i.e. initial launch frequency are: f0 (n)=f0 (n-1)+Δ f0 (n), wherein, n is positive integer, n represents the n-th initial control cycle, i.e. initial launch frequency f 0 (n) is all carried out an iteration at each initial control cycle and is upgraded, f0 (0) is initial frequency value, can according to circumstances set.

When normally working after air-conditioner start, every an initial control cycle, just obtain the temperature TS of an indoor environment temperature T1 and user's setting, like this, when entering each initial control cycle, all can calculate an initial launch frequency, further control compressor runs according to the initial launch frequency calculated, such as, when entering the n-th control cycle, an initial launch frequency f 0 (n) can be calculated, control compressor and run according to initial launch frequency f 0 (n).

Be understandable that, air-conditioner can comprise plurality of operating modes, and such as, refrigeration mode, heating mode, dehumidification mode etc., wherein, often kind of operational mode may correspond to a fuzzy control rule table.

S4: the running time detecting compressor.

S5: when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, then according to difference DELTA T and PID (the Proportion Integration Differentiation that sets up in advance, PID) Controlling model calculates the running frequency correction value of compressor, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to control compressor.

That is, at compressor stable operation Preset Time after such as 5 minutes, compressor just belongs to stable operation, afterwards, to calculate difference DELTA T between temperature TS that indoor temperature T1 and user set with default control intermittent scanning indoor temperature T1, such as, the default control cycle can be Millisecond, namely say, can the default control computation of Period difference DELTA T of Millisecond.

Specifically, when the running frequency of compressor has reached stable operation, namely calculate a difference DELTA T every a default control cycle, afterwards, judged whether the absolute value of difference DELTA T is less than or equal to predetermined threshold value M.If the absolute value of this difference DELTA T is greater than predetermined threshold value M, then still controls compressor and run according to initial launch frequency, such as, when being now the n-th initial control cycle, controlling compression and run according to initial launch frequency f 0 (n).If the absolute value of this difference DELTA T is less than or equal to predetermined threshold value M, then the control method for frequency of the compressor adopted before is converted into temperature PID control method, in other words, in the process controlling the initial launch frequency operation that compressor calculates according to fuzzy control rule, namely in the process adopting control method for frequency to control compressor, if met | the condition of T1-TS|≤M, then automatically transfer to and adopt temperature PID control method to control compressor.After entering temperature PID control, first the running frequency correction value of compressor is calculated according to difference DELTA T and the PID Controlling model set up in advance, and the running frequency correction value calculated is superimposed upon in the initial launch frequency of compressor, revised running frequency can be obtained, and control compressor and run according to revised running frequency.Such as, when the n-th initial control cycle, be converted into temperature PID control method by the control method for frequency of compressor, then initial launch frequency is f0 (n), running frequency correction value can be superimposed upon in initial launch frequency f 0 (n).

Particularly, in one embodiment of the invention, can according to the running frequency correction value of following formulae discovery compressor:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of k moment compressor, f ₁(k-1) be the running frequency correction value of k-1 moment compressor, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the indoor temperature that Δ T (k) calculated for the k moment and user's setting, difference between the temperature of the indoor temperature that Δ T (k-1) calculated for the k-1 moment and user's setting, the difference between the indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of user's setting.

Specifically, the temperature TS of user's setting can be target temperature, indoor temperature T1 can as feedback temperature, a temperature PID control system can be formed thus, wherein, the input quantity of PID controller is the difference DELTA T between the temperature TS that sets of user and indoor temperature T1, and the controlled quentity controlled variable of the output of PID controller is simultaneously the running frequency correction value of compressor.

It should be noted that, PID controller is combined by proportional component, integral element and differentiation element.Wherein, proportional component is used for reacting the temperature deviation between the temperature TS of user's setting and indoor temperature T1 pro rata, i.e. difference DELTA T (t), and deviation is once produce, and controller produces control action immediately to reduce deviation; Integral element is mainly used in eliminating steady-state error and temperature static difference, thus improves temperature control precision; Differentiation element can the rate of change of stock dividends signal and the rate of change of temperature, and can deviation become too large before, introduce an effective early stage corrected signal, thus accelerate the control rate of system, minimizing regulating time.

Particularly, positional PID control calculation can be adopted to calculate the running frequency correction value of compressor, that is:

$f_1\left(k\right)=K_p\mathrm{\ΔT}\left(k\right)+K_1\underset{j=0}{\overset{k}{\mathrm{\Σ}}}\mathrm{\ΔT}\left(j\right)+K_D[\mathrm{\ΔT}\left(k\right)-\mathrm{\ΔT}(k-1)]+u_0---\left(1\right)$

Wherein, f ₁k () is the running frequency correction value of k moment compressor, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the indoor temperature that Δ T (k) calculated for the k moment and user's setting, difference between the temperature of the indoor temperature that Δ T (k-1) calculated for the k-1 moment and user's setting, difference between the temperature of the indoor temperature that Δ T (j) calculated for the j moment and user's setting, u ₀for initial value, can preset, such as u ₀can be 0.

Further, from formula (1), f ₁k () is relevant with the difference DELTA T in each moment in the past, will add up to the Δ T in each moment during calculating, operand is comparatively large, therefore, positional PID control calculation shown in formula (1) can be converted to incremental timestamp algorithm, that is:

Δf ₁(k)＝f ₁(k)-f ₁(k-1)

＝K _P[ΔT(k)-ΔT(k-1)]+K ₁ΔT(k)+K _D[ΔT(k)-2ΔT(k-1)+ΔT(k-1)] (2)

Wherein, Δ f ₁k () is the increment of the running frequency correction value of k moment compressor.

Further abbreviation is carried out to formula (2), can obtain:

Δf ₁(k)＝(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2) (3)

Wherein, definable PID controls differential coefficient pID controls integral coefficient formula (3) can be reduced to further:

Δf ₁(k)＝q ₀ΔT(k)+q ₁ΔT(k-1)+q ₂ΔT(k-2) (4)

Wherein, $q_0=K_P+K_1+K_D=K_P(1+\frac{T_S}{{\mathrm{\τ}}_0}+\frac{{\mathrm{\τ}}_d}{T_S}),$ $q_1=-(K_P+{2K}_D)=-K_P(1+2\frac{{\mathrm{\τ}}_d}{T_S}),$ τ _dfor differential gain coefficient, T _sfor the default control cycle, τ ₀for integration gain factor.

In addition, be understandable that, the increment of the just controlled quentity controlled variable adopting incremental timestamp algorithm to obtain, i.e. the increment Delta f of the running frequency correction value of compressor ₁(k).Namely saying, when adopting incremental timestamp algorithm, is the increment Delta f of running frequency correction value by what calculate ₁(k), increment Delta f ₁the increment of what k () was corresponding is this executing agency position, instead of the physical location of corresponding executing agency, therefore, executing agency must have the function of accumulating the increment of controlled quentity controlled variable, just can complete the control operation to controlled device, or also can adopt software to realize the accumulation of the increment to controlled quentity controlled variable, such as, utilize following formula f ₁(k)=f ₁(k-1)+Δ f ₁k the sequencing of () has come.

Thus, according to incremental timestamp algorithm, the recurrence formula of positional PID control calculation can be obtained, namely say, in one embodiment of the invention, can according to the running frequency correction value of following formulae discovery compressor:

f ₁(k)＝f ₁(k-1)+Δf ₁(k)

＝f ₁(k-1)+K _P[ΔT(k)-ΔT(k-1)]+K ₁ΔT(k)+K _D[ΔT(k)-2ΔT(k-1)+ΔT(k-1)] (5)

Bring formula (4) into formula (5) further, formula (5) can abbreviation be also:

f ₁(k)＝f ₁(k-1)+q ₀ΔT(k)+q ₁ΔT(k-1)+q ₂ΔT(k-1)

Thus, according to formula (5), as the running frequency correction value f of the temperature PID control algorithm calculating compressor of the recurrence formula and the embodiment of the present invention that adopt the positional PID control calculation obtained according to incremental timestamp algorithm ₁time (k), in each step calculates, the running frequency correction value f once calculated before only need storing pid control algorithm ₁(k-1) and the difference DELTA T of front twice acquisition (k-1) and Δ T (k-2), the running frequency correction value f of compressor can be calculated ₁k (), amount of calculation is less.

When temperature TS or the indoor temperature T1 change of user's setting, owing to adopting the recurrence formula of the positional PID control calculation obtained according to incremental timestamp algorithm, the temperature TS of response user setting or the change of indoor temperature T1 that so will be very fast export a running frequency correction value f ₁(k), be added to running frequency correction value initial launch frequency, thus the revised running frequency obtained, i.e. f ₁k ()+f0 (n), at this moment, compressor will continue to run with revised running frequency, indoor temperature T1 is followed rapidly and reaches the temperature TS of user's setting.

In other words, after being converted into temperature PID control, the running frequency of compressor is exactly carried out simple correction on the basis of initial launch frequency, and that is, the controlled quentity controlled variable that the running frequency of compressor will calculate along with temperature PID control algorithm is revised.

In a concrete example of the present invention, the computing cycle of the temperature PID control algorithm of the embodiment of the present invention can be 60S, that is, after being converted into and adopting temperature PID control algorithm to control compressor, temperature PID control algorithm can calculate once every 60S, generates a new running frequency correction value.

In addition, in one embodiment of the invention, the increment Delta f of running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then to increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to control compressor, wherein, the first predetermined threshold value is greater than the second predetermined threshold value.Further, the first predetermined threshold value can be equal with the absolute value of the second predetermined threshold value.

That is, the increment Delta f to the running frequency correction value adopting incremental timestamp algorithm to obtain is needed ₁k () carries out amplitude limiting processing, by increment Delta f ₁k () is limited between the second predetermined threshold value-Um and the first predetermined threshold value+Um.Namely say, as increment Delta f ₁k () is greater than the first predetermined threshold value, can by increment Delta f ₁k () amplitude limit is+Um; As increment Delta f ₁k () is less than the second predetermined threshold value, can by increment Delta f ₁k () amplitude limit is-Um.

Like this, the running frequency correction value that can prevent employing temperature PID algorithm from calculating and revised running frequency unusual fluctuations, improve the stability and reliability that control.

In addition, also it should be noted that, inertial element filtering can be carried out for each temperature detected, such as, the first order inertial loop that time constant is enough large, i.e. low-pass first order filter, wherein, time constant can be greater than 0.1 second, thus, can prevent because external disturbance generation misoperation or controller export unstable situation.

Particularly, according to another embodiment of the invention, as shown in Figure 5, this control method comprises the following steps:

S201: the temperature obtaining indoor temperature and user's setting.

S202: the initial launch frequency calculating the compressor of air-conditioner according to the difference DELTA T between indoor temperature T1 and the temperature TS of user's setting and default fuzzy control rule.

S203: control compressor and run according to initial launch frequency.

S204: the running time detecting compressor.

S205: judge compressor whether continuous operating time Preset Time.If so, then step S206 is performed; If not, then step S205 is re-executed.

S206: judge whether the absolute value of difference DELTA T is less than or equal to predetermined threshold value M.If so, then step S207 is performed; If not, then step S206 is re-executed.

S207: the running frequency correction value calculating compressor according to difference DELTA T and the PID Controlling model set up in advance.

S208: the initial launch frequency of compressor that the running frequency correction value of compressor is added to.

S209: control compressor and run according to revised running frequency.

Further, in one embodiment of the invention, as shown in Figure 2, also comprised before control compressor runs according to initial launch frequency:

S10: the input voltage detecting complete machine.

S20: detect outdoor temperature.

S30: judge whether the input voltage of complete machine is greater than the first voltage threshold and whether outdoor temperature is less than or equal to preset temperature threshold value.

S40: if the input voltage of complete machine is greater than the first voltage threshold and outdoor temperature is less than or equal to preset temperature threshold value, then the running frequency controlling compressor moves to initial launch frequency with high frequency Starting mode.

When air-conditioner just starts, before control compressor runs according to initial launch frequency, will judge whether to meet high frequency entry condition, the input voltage that high frequency entry condition is complete machine is greater than the first voltage threshold and outdoor temperature is less than or equal to preset temperature threshold value.If meet high frequency entry condition, then high frequency starts flag set, the Starting mode of compressor is exactly high frequency Starting mode, namely the running frequency that the mode started with high frequency controls compressor reaches initial launch frequency, wherein, the mode that high frequency starts is exactly make the running frequency of compressor promptly be increased to initial launch frequency.If do not meet high frequency entry condition, namely the input voltage of complete machine is less than or equal to the first voltage threshold or outdoor temperature is greater than preset temperature threshold value, then normally start flag set, the Starting mode of compressor is exactly normal Starting mode, namely the running frequency controlling compressor in the mode normally started reaches initial launch frequency, wherein, the normal mode started is exactly make the running frequency of compressor be increased to initial launch frequency with normal speed.

Further, in another embodiment of the present invention, as shown in Figure 3, run according to initial launch frequency at control compressor or also comprise before the operation of revised running frequency:

S50: detect the delivery temperature of compressor, evaporator temperature, the input voltage of complete machine and complete machine input current.

S60: if delivery temperature is greater than the first temperature threshold or evaporator temperature is greater than the second temperature threshold, then carry out the process frequently of temperature limit to control compressor according to the running frequency operation after the process frequently of temperature limit to the initial launch frequency of compressor or revised running frequency.

S70: if the input voltage of complete machine is greater than the second voltage threshold or complete machine input current is greater than current threshold, then carry out the process frequently of voltage x current limit to control compressor according to the running frequency operation after the process frequently of voltage x current limit to the initial launch frequency of compressor or revised running frequency.

That is, after acquisition initial launch frequency or revised running frequency, then temperature limit frequency and/or Current Voltage limit can have been judged whether frequently, if there is temperature to limit frequently, namely delivery temperature is greater than the first temperature threshold or evaporator temperature is greater than the second temperature threshold, then temperature limit flag set frequently, calls temperature limit sound interval sequence, initial launch frequency or revised running frequency is reduced; If there is voltage x current to limit frequently, namely the input voltage of complete machine is greater than the second voltage threshold or complete machine input current is greater than current threshold, then voltage x current limit flag set frequently, calls voltage x current limit sound interval sequence, initial launch frequency or revised running frequency is reduced.Like this, after have passed through temperature limit frequency and/or Current Voltage limit frequency, initial launch frequency or the revised running frequency of compressor will be updated, and then control compressor according to the running frequency operation after the process of limit frequency.Certainly, if do not have temperature to limit frequently, do not have Current Voltage to limit frequently yet, then control compressor and directly run according to initial launch frequency or revised running frequency.

That is, in the process controlling the initial launch frequency operation that compressor calculates according to fuzzy control rule, or, in the process controlling the revised running frequency operation that compressor calculates according to pid control algorithm, increase delivery temperature and limit frequency, evaporator temperature limit frequency, voltage limit frequency and Current Limits frequency.In addition, compressor can be three phase variable frequency compressor, and three phase variable frequency compressor exists maximum frequency of operation, and the actual motion frequency of air-conditioner can not exceed the maximum frequency of operation that compressor producer provides.

Particularly, in one embodiment of the invention, as shown in Figure 4, specifically comprised the following steps before control compressor runs according to initial launch frequency or revised running frequency:

S101: judge whether to meet high frequency entry condition.If so, then step S102 is performed; If not, then step S103 is performed.

S102: high frequency starts flag set.Namely say, the Starting mode of compressor is exactly high frequency Starting mode, and the mode started with high frequency controls the running frequency of compressor, performs step S104.

S103: normally start flag set.Namely say, the Starting mode of compressor is exactly normal Starting mode, controls the running frequency of compressor in the mode normally started.

S104: judge whether to meet temperature limit frequently.If so, then step S105 is performed; If not, then step S106 is performed.

S105: call temperature limit sound interval sequence, initial launch frequency is reduced, controls compressor and runs according to the running frequency after the process frequently of excess temperature limit.

S106: judge whether to meet voltage x current limit frequently.If so, then step S107 is performed; If not, then, terminate, and control compressor operating according to the judged result of step S104 and step S101.

S107: call voltage x current limit sound interval sequence, initial launch frequency is reduced, controls compressor and runs according to the running frequency after the process frequently of voltage x current limit.

Generally speaking, in embodiments of the present invention, difference DELTA T between the temperature TS calculating indoor temperature set according to indoor temperature T1 and user and the temperature of user's setting, first calculate initial launch frequency in conjunction with the comfortableness of needed by human body according to difference DELTA T and fuzzy control rule simultaneously, when normally working after air-conditioner start, compressor just runs with initial launch frequency, such as at the n-th initial control cycle, outdoor controller 2 just controls compressor 1 and runs with initial launch frequency f 0 (n).Simultaneously, will judge whether to meet high frequency entry condition before compressor operating, if eligible, the mode so just started with high frequency runs to initial launch frequency, such as at the n-th initial control cycle, the mode that outdoor controller 2 starts with high frequency with regard to control compressor 1 runs to initial launch frequency f 0 (n), then judge whether to meet temperature limit frequency and/or voltage x current limit frequency, if eligible, so just to initial launch frequency carry out temperature limit frequently and/or the process frequently of voltage x current limit to control compressor according to the running frequency operation after process.After compressor runs Preset Time continuously, judge whether the absolute value of the difference DELTA T between the temperature that indoor temperature and user set is less than or equal to predetermined threshold value M, if, temperature PID control algorithm is then adopted to calculate the correction value of the running frequency of compressor, and the running frequency correction value calculated is superimposed upon in the initial launch frequency of compressor, judge whether further to meet temperature limit frequency and/or voltage x current limit frequency, if eligible, so just to revised running frequency carry out temperature limit frequently and/or the process frequently of voltage x current limit to control compressor according to the running frequency operation after process.Because pid control algorithm controls in the ratio (P) of temperature gap Δ T, integration (I) and differential (D), so just can realize frequency better to change along with the change of load, thus also can reach the effect that fast-refrigerating heats, promote the energy-saving effect of air-conditioning, simultaneously also can accurately control temperature, the difference between the temperature that indoor temperature and user are set controls within 0.1 degree Celsius.

Thus, controlled by the running frequency of above-mentioned control method to compressor, just can according to the relation of current fan-out capability and indoor load, precisely the running frequency of compressor is controlled a suitable running frequency reposefully, simultaneously when compressor start, start owing to have employed high frequency, thus promptly the running frequency of compressor can be increased to initial launch frequency, improve cooling and warming speed and the cooling or heating effect of air-conditioning, further, when being switched to temperature PID control method by control method for frequency, difference between the temperature that the regulating action of its pid control algorithm also makes indoor temperature and user set controls within 0.1 degree Celsius.Adopt above-mentioned control method simultaneously, also make air-conditioning to start frequently, thus there is certain energy-saving effect.

To sum up, according to the control method of the air-conditioner that the embodiment of the present invention proposes, by detecting indoor temperature, difference DELTA T between the temperature of the temperature computation indoor temperature set according to indoor temperature and user and user's setting, and the initial launch frequency increment of the compressor of air-conditioner is calculated according to difference DELTA T and default fuzzy control rule, and run according to initial launch frequency to control compressor according to the initial launch frequency of the initial launch frequency increment calculating compressor of compressor, simultaneously by detecting the running time of compressor, when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, the running frequency correction value of compressor is then calculated according to difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to control compressor.Thus, this control method controls to control the running frequency of compressor in conjunction with fuzzy control and PID, the change of the quick load-responsive of running frequency of compressor can be realized, reach the effect that fast-refrigerating heats, also accurately can control temperature simultaneously, can effective economize energy, improve the comfortableness of user.

Fig. 6 is the block diagram of the control device of air-conditioner according to the embodiment of the present invention.As shown in Figure 6, the control device of this air-conditioner comprises: compressor 1, outdoor controller 2, first temperature-detecting device 3, timer 4 and indoor set controller 5.

Wherein, outdoor controller 2 runs for controlling compressor 1.First temperature-detecting device 3 is for detecting indoor temperature; Timer 4 is for detecting the running time of compressor; indoor set controller 5 communicates with outdoor controller 2, indoor set controller 5 is connected with timer 4 with the first temperature-detecting device 3 respectively, indoor set controller 5 calculates the difference DELTA T between the temperature of indoor temperature and user's setting for the temperature T1 set according to indoor temperature TS and user, and the initial launch frequency increment of the compressor of air-conditioner is calculated according to difference DELTA T and default fuzzy control rule, and run according to initial launch frequency to make outdoor controller 2 control compressor 1 according to the initial launch frequency of the initial launch frequency increment calculating compressor of compressor, when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, then indoor set controller 5 calculates the running frequency correction value of compressor according to difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to make outdoor controller 2 control compressor 1.

That is, when air-conditioner initially powers on, first temperature-detecting device 3 starts to detect indoor temperature T1, indoor set controller 5 obtains the indoor temperature T1 that the first temperature-detecting device 3 detects, and the temperature TS of user's setting and the operational mode of user's setting can be obtained, and calculate the difference DELTA T between temperature TS that indoor temperature T1 and user set according to indoor temperature T1 and design temperature TS, and such as, Δ T=TS-T1.Afterwards, first indoor set controller 5 obtains the initial launch frequency of compressor under the outer working condition of current indoor according to difference DELTA T and default fuzzy control rule, wherein, fuzzy control rule can design according to the comfortableness of human body, particularly, when air-conditioner initially powers on, difference DELTA T (n) between the temperature TS that indoor set controller 5 can set according to current indoor environment temperature T1 (n) and user and current difference DELTA T (n) and front once current difference DELTA T (n-1), and inquire about the increment Delta f0 (n) of the current initial launch frequency that fuzzy control rule table corresponding to present mode of operation draws, further, increment Delta f0 (n) according to current initial launch frequency obtains current initial launch frequency f 0 (n) with a front initial launch frequency f 0 (n-1), the computational methods of i.e. initial launch frequency are: f0 (n)=f0 (n-1)+Δ f0 (n), wherein, n is positive integer, n represents the n-th initial control cycle, i.e. initial launch frequency f 0 (n) is all carried out an iteration at each initial control cycle and is upgraded, f0 (0) is initial frequency value, can according to circumstances set.Like this, when normally working after air-conditioner start, every an initial control cycle, indoor set controller 5 just obtains the temperature TS of an indoor environment temperature T1 and user's setting, like this, when entering each initial control cycle, after indoor set controller 5 all can calculate an initial launch frequency, further, initial launch frequency is sent to outdoor controller 2 by indoor set controller 5, outdoor controller 2 controls compressor 1 and runs according to the initial launch frequency calculated, such as, when entering the n-th control cycle, indoor set controller 5 can calculate an initial launch frequency f 0 (n), outdoor controller 2 controls compressor 1 and runs according to initial launch frequency f 0 (n).

At compressor 1 stable operation Preset Time after such as 5 minutes, compressor 1 just belongs to stable operation, afterwards, indoor set controller 5 will calculate difference DELTA T between temperature TS that indoor temperature T1 and user set with default control intermittent scanning indoor temperature T1, such as, the default control cycle can be Millisecond, namely says, indoor set controller 5 can the default control computation of Period difference DELTA T of Millisecond.Specifically, when the running frequency of compressor has reached stable operation, namely indoor set controller 5 calculates a difference DELTA T every a default control cycle, afterwards, judge whether the absolute value of difference DELTA T is less than or equal to predetermined threshold value M, if the absolute value of this difference DELTA T is greater than predetermined threshold value M, then indoor set controller 5 is not revised initial launch frequency, outdoor controller 2 still controls compressor 1 and runs according to initial launch frequency, such as, when being now the n-th initial control cycle, outdoor controller 2 controls compression and runs according to initial launch frequency f 0 (n), if the absolute value of this difference DELTA T is less than or equal to predetermined threshold value M, then the control method for frequency of the compressor adopted before is converted into temperature PID control method by indoor set controller 5, in other words, control in the process of the initial launch frequency operation that compressor calculates according to fuzzy control rule at outdoor controller 2, namely in the process adopting control method for frequency to control compressor 1, if met | the condition of T1-TS|≤M, then automatically transfer to and adopt temperature PID control method to control compressor 1.After entering temperature PID control, first indoor set controller 5 calculates the running frequency correction value of compressor according to difference DELTA T and the PID Controlling model set up in advance, and the running frequency correction value calculated is superimposed upon in the initial launch frequency of compressor, revised running frequency can be obtained, and revised running frequency is sent to outdoor controller 2, outdoor controller 2 controls compressor 1 and runs according to revised running frequency.Such as, at the n-th initial control cycle, be converted into temperature PID control method by the control method for frequency of compressor, then initial launch frequency is f0 (n), running frequency correction value can be superimposed upon in initial launch frequency f 0 (n).

Thus, controlled by the running frequency of above-mentioned control method to compressor, the compressor of air-conditioner just can according to the relation of current fan-out capability and indoor load, precisely the running frequency of compressor is controlled a suitable running frequency reposefully, and when being switched to temperature PID control method by control method for frequency, the difference between the temperature that the regulating action of its pid control algorithm also makes indoor temperature and user set controls within 0.1 degree Celsius.

In a concrete example of the present invention, receive temperature TS and the operational mode of user's setting by remote controller, control panel etc.Be understandable that, air-conditioner can comprise plurality of operating modes, and such as, refrigeration mode, heating mode, dehumidification mode etc., wherein, often kind of operational mode may correspond to a fuzzy control rule table.Each fuzzy control rule table can be pre-stored in indoor set controller 5.

In addition, in embodiments of the present invention, indoor set controller 5 receives by certain communication protocol temperature TS and the operational mode that remote controller etc. receives user's setting.Indoor set controller 5 and outdoor controller 2 also carry out exchanges data by certain communication protocol, after indoor set controller 5 calculates initial launch frequency or revised running frequency, initial launch frequency or revised running frequency are sent to outdoor controller 2 by indoor set controller 5, and outdoor controller 2 controls compressor 1 and runs according to the running frequency received.

Particularly, in one embodiment of the invention, indoor set controller 5 can according to the running frequency correction value of following formulae discovery compressor:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of k moment compressor, f ₁(k-1) be the running frequency correction value of k-1 moment compressor, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the indoor temperature that Δ T (k) calculated for the k moment and user's setting, difference between the temperature of the indoor temperature that Δ T (k-1) calculated for the k-1 moment and user's setting, the difference between the indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of user's setting.

Specifically, the temperature TS of user's setting can be target temperature, indoor temperature T1 can as feedback temperature, a temperature PID control system can be formed thus, wherein, adopt the input quantity of indoor set controller 5 of pid control algorithm to be difference DELTA T between the temperature TS that sets of user and indoor temperature T1, the controlled quentity controlled variable simultaneously adopting the indoor set controller 5 of pid control algorithm to export is the running frequency correction value of compressor.

It should be noted that, pid control algorithm is combined by proportional component, integral element and differentiation element.Wherein, proportional component is used for reacting the temperature deviation between the temperature TS of user's setting and indoor temperature T1 pro rata, i.e. difference DELTA T (t), and deviation is once produce, and controller produces control action immediately to reduce deviation; Integral element is mainly used in eliminating steady-state error and temperature static difference, thus improves temperature control precision; Differentiation element can the rate of change of stock dividends signal and the rate of change of temperature, and can deviation become too large before, introduce an effective early stage corrected signal, thus accelerate the control rate of system, minimizing regulating time.

Particularly, indoor set controller 5 can adopt positional PID control calculation to calculate the running frequency correction value of compressor, that is:

$f_1\left(k\right)=K_p\mathrm{\ΔT}\left(k\right)+K_1\underset{j=0}{\overset{k}{\mathrm{\Σ}}}\mathrm{\ΔT}\left(j\right)+K_D[\mathrm{\ΔT}\left(k\right)-\mathrm{\ΔT}(k-1)]+u_0---\left(1\right)$

Wherein, f ₁k () is the running frequency correction value of k moment compressor, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the indoor temperature that Δ T (k) calculated for the k moment and user's setting, difference between the temperature of the indoor temperature that Δ T (k-1) calculated for the k-1 moment and user's setting, difference between the temperature of the indoor temperature that Δ T (j) calculated for the j moment and user's setting, u ₀for initial value, can preset, such as u ₀can be 0.

Further, from formula (1), f ₁k () is relevant with the difference DELTA T in each moment in the past, will add up during calculating to the Δ T in each moment, and operand is comparatively large, therefore, the positional PID control calculation of formula (1) can be converted to incremental timestamp algorithm, that is:

Δf ₁(k)＝f ₁(k)-f ₁(k-1)

＝K _P[ΔT(k)-ΔT(k-1)]+K ₁ΔT(k)+K _D[ΔT(k)-2ΔT(k-1)+ΔT(k-1)] (2)

Wherein, Δ f ₁k () is the increment of the running frequency correction value of k moment compressor.

Further abbreviation is carried out to formula (2), can obtain:

Δf ₁(k)＝(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2) (3)

Wherein, definable PID controls differential coefficient pID controls integral coefficient formula (3) can be reduced to further:

Δf ₁(k)＝q ₀ΔT(k)+q ₁ΔT(k-1)+q ₂ΔT(k-2) (4)

Wherein, $q_0=K_P+K_1+K_D=K_P(1+\frac{T_S}{{\mathrm{\τ}}_0}+\frac{{\mathrm{\τ}}_d}{T_S}),$ $q_1=-(K_P+{2K}_D)=-K_P(1+2\frac{{\mathrm{\τ}}_d}{T_S}),$ τ _dfor differential gain coefficient, T _sfor the default control cycle, τ ₀for integration gain factor.

In addition, be understandable that, the increment of the just controlled quentity controlled variable adopting incremental timestamp algorithm to obtain, i.e. the increment Delta f of the running frequency correction value of compressor ₁(k).Namely say, when adopting incremental timestamp algorithm, indoor set controller 5 is the increment Delta f of running frequency correction value by what calculate ₁(k), increment Delta f ₁the increment of what k () was corresponding is this executing agency position, instead of the physical location of corresponding executing agency, therefore, executing agency must have the function of accumulating the increment of controlled quentity controlled variable, just can complete the control operation to controlled device, such as, or also can adopt software to realize the accumulation of the increment to controlled quentity controlled variable, indoor set controller 5 can utilize following formula f ₁(k)=f ₁(k-1)+Δ f ₁k the sequencing of () has carried out the accumulation of the increment to controlled quentity controlled variable.

Thus, according to incremental timestamp algorithm, can obtain the recurrence formula of positional PID control calculation, namely say, in one embodiment of the invention, indoor set controller 5 can according to the running frequency correction value of following formulae discovery compressor:

f ₁(k)＝f ₁(k-1)+Δf ₁(k)

＝f ₁(k-1)+K _P[ΔT(k)-ΔT(k-1)]+K ₁ΔT(k)+K _D[ΔT(k)-2ΔT(k-1)+ΔT(k-1)] (5)

Bring formula (4) into formula (5) further, formula (5) can abbreviation be also:

f ₁(k)＝f ₁(k-1)+q ₀ΔT(k)+q ₁ΔT(k-1)+q ₂ΔT(k-1)

Thus, according to formula (5), when employing adopts temperature PID control algorithm to calculate the running frequency correction value f of compressor according to the recurrence formula of positional PID control calculation of incremental timestamp algorithm acquisition and the indoor set controller 5 of the embodiment of the present invention ₁time (k), in each step calculates, the running frequency correction value f that indoor set controller 5 once exports before need storing PID controller ₁(k-1) and the difference DELTA T of front twice acquisition (k-1) and Δ T (k-2), the running frequency correction value f of compressor can be calculated ₁k (), amount of calculation is less.

When temperature TS or the indoor temperature T1 change of user's setting, because indoor set controller 5 adopts the recurrence formula of the positional PID control calculation obtained according to incremental timestamp algorithm, the temperature TS of response user setting that so indoor set controller 5 will be very fast or the change of indoor temperature T1 export a running frequency correction value f ₁(k), thus be added to running frequency correction value initial launch frequency, obtains revised running frequency, i.e. f ₁(k)+f0 (n), and revised running frequency is sent to outdoor controller 2, outdoor controller 2 will control compressor 1 to be continued to run with revised running frequency, indoor temperature T1 is followed rapidly and reaches the temperature TS of user's setting.

In other words, after the control algolithm of indoor set controller 5 is converted into temperature PID control, the running frequency of compressor is exactly carried out simple correction on the basis of initial launch frequency, that is, the running frequency of compressor will be revised along with the controlled quentity controlled variable adopting the indoor set controller 5 of temperature PID control algorithm to export.

In a concrete example of the present invention, the regulating cycle of the indoor set controller 5 of the employing temperature PID control algorithm of the embodiment of the present invention can be 60S, that is, after the control algolithm of indoor set controller 5 is converted into employing temperature PID control algorithm, indoor set controller 5 can regulate once every 60S, generates a new running frequency correction value.

In addition, in one embodiment of the invention, the increment Delta f of running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then to increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to control compressor, wherein, the first predetermined threshold value is greater than the second predetermined threshold value.Further, the first predetermined threshold value can be equal with the absolute value of the second predetermined threshold value.

That is, indoor set controller 5 needs the increment Delta f to the running frequency correction value adopting incremental timestamp algorithm to obtain ₁k () carries out amplitude limiting processing, by increment Delta f ₁k () is limited between the second predetermined threshold value-Um and the first predetermined threshold value+Um.Namely say, as increment Delta f ₁k () is greater than the first predetermined threshold value, indoor set controller 5 can by increment Delta f ₁k () amplitude limit is+Um; As increment Delta f ₁k () is less than the second predetermined threshold value, indoor set controller 5 can by increment Delta f ₁k () amplitude limit is-Um.

Like this, the running frequency correction value that can prevent employing temperature PID algorithm from calculating and revised running frequency unusual fluctuations, improve the stability and reliability that control.

In addition, also it should be noted that, inertial element filtering can be carried out for each temperature detected, such as, the first order inertial loop that time constant is enough large, i.e. low-pass first order filter, wherein, time constant can be greater than 0.1 second, thus, can prevent because external disturbance generation misoperation or controller export unstable situation.

In one embodiment of the invention, as shown in Figure 7, the control device of air-conditioner also comprises: voltage detection module 6 and the second temperature detecting module 7.Voltage detection module 6 is all connected with outdoor controller 2 with the second temperature detecting module 7, and voltage detection module 6 is for detecting the input voltage of complete machine; Second temperature detecting module 7 is for detecting outdoor temperature, wherein, outdoor controller 2 is also for judging whether the input voltage of complete machine is greater than the first voltage threshold and whether outdoor temperature is less than or equal to preset temperature threshold value, if the input voltage of complete machine is greater than the first voltage threshold and outdoor temperature is less than or equal to preset temperature threshold value, then the running frequency that outdoor controller 2 controls compressor moves to initial launch frequency with high frequency Starting mode.

When air-conditioner just starts, outdoor controller 2 control compressor 1 according to initial launch frequency run before, outdoor controller 2 will judge whether to meet high frequency entry condition, and the input voltage that high frequency entry condition is complete machine is greater than the first voltage threshold and outdoor temperature is less than or equal to preset temperature threshold value.If meet high frequency entry condition, then high frequency starts flag set, the Starting mode of compressor is exactly high frequency Starting mode, namely the running frequency that the mode started with high frequency controls compressor reaches initial launch frequency, wherein, the mode that high frequency starts is exactly make the running frequency of compressor promptly be increased to initial launch frequency.If do not meet high frequency entry condition, namely the input voltage of complete machine is less than or equal to the first voltage threshold or outdoor temperature is greater than preset temperature threshold value, then normally start flag set, the Starting mode of compressor is exactly normal Starting mode, namely the running frequency controlling compressor in the mode normally started reaches initial launch frequency, wherein, the normal mode started is exactly make the running frequency of compressor be increased to initial launch frequency with normal speed.

Further, in one embodiment of the invention, as shown in Figure 7, the control device of air-conditioner also comprises: the 3rd temperature-detecting device 8, the 4th temperature-detecting device 9 and current sensing means 10.3rd temperature-detecting device 8 is connected with indoor set controller 5, and the 4th temperature-detecting device 9 is all connected with outdoor controller 2 with current sensing means 10, and the 3rd temperature-detecting device 8 is for detecting the delivery temperature of compressor; 4th temperature-detecting device 9 is for detecting the evaporator temperature of compressor, and current sensing means 10 is for detecting complete machine input current; Wherein, if delivery temperature is greater than the first temperature threshold or evaporator temperature is greater than the second temperature threshold, then the initial launch frequency of outdoor controller 2 pairs of compressors carries out the process of temperature limit frequency to control compressor according to the running frequency operation after the process frequently of temperature limit, if the input voltage of complete machine is greater than the second voltage threshold or complete machine input current is greater than current threshold, then the initial launch frequency of outdoor controller 2 pairs of compressors carries out the process of voltage x current limit frequency to control compressor according to the running frequency operation after the process frequently of voltage x current limit.

That is, outdoor controller 2 is before control compressor runs according to initial launch frequency or revised running frequency, then temperature limit frequency and/or Current Voltage limit can have been judged whether frequently, if there is temperature to limit frequently, namely delivery temperature is greater than the first temperature threshold or evaporator temperature is greater than the second temperature threshold, then temperature limit flag set frequently, outdoor controller 2 calls temperature limit sound interval sequence, and initial launch frequency or revised running frequency are reduced; If there is voltage x current to limit frequently, namely the input voltage of complete machine is greater than the second voltage threshold or complete machine input current is greater than current threshold, then voltage x current limit flag set frequently, outdoor controller 2 calls voltage x current limit sound interval sequence, and initial launch frequency or revised running frequency are reduced.Like this, have passed through temperature limit frequently and/or Current Voltage limit frequently after, the initial launch frequency of compressor will be updated, and then outdoor controller 2 controls compressor 1 according to the running frequency operation after limit frequently process.Certainly, if do not have temperature to limit frequently, also do not have Current Voltage to limit frequently, then outdoor controller 2 controls compressor 1 and directly runs according to initial launch frequency.

That is, control in the process of the initial launch frequency operation that compressor 1 calculates according to fuzzy control rule at outdoor controller 2, or, control, in the process of the revised running frequency operation that compressor calculates according to pid control algorithm, to increase delivery temperature and limit frequency, evaporator temperature limit frequency, voltage limit frequency and Current Limits frequency.Indoor controller 5 can obtain indoor environment temperature and delivery temperature, and outdoor controller 2 can obtain outdoor environment temperature, evaporator temperature, the input voltage of complete machine, the input voltage of complete machine and complete machine input current.In addition, compressor 1 can be three phase variable frequency compressor, and three phase variable frequency compressor exists maximum frequency of operation, and the actual motion frequency of air-conditioner can not exceed the maximum frequency of operation that compressor producer provides.

Generally speaking, in embodiments of the present invention, after indoor set controller 5 calculates the difference DELTA T between the temperature of indoor temperature and user's setting according to the temperature TS that indoor temperature T1 and user set, first indoor set controller 5 calculates initial launch frequency in conjunction with the comfortableness of needed by human body according to difference DELTA T and fuzzy control rule simultaneously, and initial launch frequency is sent to outdoor controller 2, when normally working after air-conditioner start, outdoor controller 2 just controls compressor 1 and runs with initial launch frequency, such as at the n-th initial control cycle, outdoor controller 2 just controls compressor 1 and runs with initial launch frequency f 0 (n).Simultaneously, before compressor 1 runs, outdoor controller 2 will judge whether to meet high frequency entry condition, if eligible, so outdoor controller 2 controls compressor 1 and just runs to initial launch frequency in the mode of high frequency startup, such as at the n-th initial control cycle, the mode that outdoor controller 2 starts with high frequency with regard to control compressor 1 runs to initial launch frequency f 0 (n), then judge whether to meet temperature limit frequency and/or voltage x current limit frequency, if eligible, so outdoor controller 2 just to initial launch frequency carry out temperature limit frequently and/or the process frequently of voltage x current limit to control compressor 1 according to the running frequency operation after process.After compressor 1 runs Preset Time continuously, whether the absolute value of the difference DELTA T that indoor set controller 5 judges between the temperature of indoor temperature and user's setting is less than or equal to predetermined threshold value M, if, then indoor set controller 5 adopts temperature PID control algorithm to calculate the correction value of the running frequency of compressor, and the running frequency correction value calculated is superimposed upon in the initial launch frequency of compressor, outdoor controller 2 judges whether to meet temperature limit frequency and/or voltage x current limit frequency further, if eligible, so just to revised running frequency carry out temperature limit frequently and/or the process frequently of voltage x current limit to control compressor according to the running frequency operation after process.Because pid control algorithm controls in the ratio (P) of temperature gap Δ T, integration (I) and differential (D), so just can realize frequency better to change along with the change of load, thus also can reach the effect that fast-refrigerating heats, promote the energy-saving effect of air-conditioning, simultaneously also can accurately control temperature, the difference between the temperature that indoor temperature and user are set controls within 0.1 degree Celsius.

Thus, controlled by the running frequency of above-mentioned control device to compressor, just can according to the relation of current fan-out capability and indoor load, precisely the running frequency of compressor is controlled a suitable running frequency reposefully, simultaneously when compressor 1 starts, start owing to have employed high frequency, thus promptly the running frequency of compressor can be increased to initial launch frequency, improve cooling and warming speed and the cooling or heating effect of air-conditioning, further, when being switched to temperature PID control method by control method for frequency, difference between the temperature that the regulating action of its PID control method also makes indoor temperature and user set controls within 0.1 degree Celsius.Adopt above-mentioned control device simultaneously, also make air-conditioning to start frequently, thus there is certain energy-saving effect.

To sum up, according to the control device of the air-conditioner that the embodiment of the present invention proposes, indoor temperature is detected by the first temperature-detecting device, indoor set controller according to indoor temperature and user setting temperature computation indoor temperature and user setting temperature between difference DELTA T, and the initial launch frequency increment of the compressor of air-conditioner is calculated according to difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating compressor according to the initial launch frequency increment of compressor is run according to initial launch frequency to make outdoor controller control compressor, detected the running time of compressor by timer simultaneously, when being more than or equal to Preset Time the running time of compressor, if the absolute value of difference DELTA T is less than or equal to predetermined threshold value, then indoor set controller calculates the running frequency correction value of compressor according to difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the compressor that the running frequency correction value of compressor is added to is run according to revised running frequency to make outdoor controller control compressor.Thus, the running frequency of method to compressor adopting fuzzy control and PID to control to combine in this control device controls, the change of the quick load-responsive of running frequency of compressor can be realized, reach the effect that fast-refrigerating heats, also accurately can control temperature simultaneously, can effective economize energy, improve the comfortableness of user.

Describe and can be understood in flow chart or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.

In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this description, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), read-only storage (ROM), erasablely edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk read-only storage (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanner to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer storage.

Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.

Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.

The above-mentioned storage medium mentioned can be read-only storage, disk or CD etc.

In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.

Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.

Claims (10)

1. a control method for air-conditioner, is characterized in that, comprises the following steps:

Detect indoor temperature;

According to the difference DELTA T described in the temperature computation that described indoor temperature and user set between indoor temperature and the temperature of described user setting;

Calculate the initial launch frequency increment of the compressor of described air-conditioner according to described difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating described compressor according to the initial launch frequency increment of described compressor is run according to described initial launch frequency to control described compressor;

Detect the running time of described compressor;

When being more than or equal to Preset Time the running time of described compressor, if the absolute value of described difference DELTA T is less than or equal to predetermined threshold value, then calculate the running frequency correction value of described compressor according to described difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the described compressor that the running frequency correction value of described compressor is added to is run according to revised running frequency to control described compressor.

2. the control method of air-conditioner as claimed in claim 1, is characterized in that, also comprises before the described compressor of control runs according to described initial launch frequency:

Detect the input voltage of described complete machine;

Detect outdoor temperature;

Judge whether the input voltage of described complete machine is greater than the first voltage threshold and whether described outdoor temperature is less than or equal to preset temperature threshold value;

If the input voltage of described complete machine is greater than described first voltage threshold and described outdoor temperature is less than or equal to described preset temperature threshold value, then the running frequency controlling described compressor moves to described initial launch frequency with high frequency Starting mode.

3. the control method of air-conditioner as claimed in claim 1, is characterized in that, runs or also comprise before described revised running frequency operation at the described compressor of control according to initial launch frequency:

Detect the delivery temperature of described compressor, evaporator temperature, the input voltage of complete machine and complete machine input current;

If described delivery temperature is greater than the first temperature threshold or described evaporator temperature is greater than the second temperature threshold, then the process frequently of temperature limit is carried out to the initial launch frequency of described compressor or described revised running frequency and run according to the running frequency after the process frequently of temperature limit to control described compressor;

If the input voltage of described complete machine is greater than the second voltage threshold or described complete machine input current is greater than current threshold, then the process frequently of voltage x current limit is carried out to the initial launch frequency of described compressor or described revised running frequency and run according to the running frequency after the process frequently of described voltage x current limit to control described compressor.

4. the control method of air-conditioner as claimed in claim 1, is characterized in that, the running frequency correction value of compressor according to following formulae discovery:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of compressor described in the k moment, f ₁(k-1) be the running frequency correction value of compressor described in the k-1 moment, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the described indoor temperature that Δ T (k) calculated for the k moment and described user setting, difference between the temperature of the described indoor temperature that Δ T (k-1) calculated for the k-1 moment and described user setting, the difference between the described indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of described user setting.

5. the control method of air-conditioner as claimed in claim 4, is characterized in that, wherein, and the increment Delta f of described running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if described increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then to described increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to control described compressor, wherein, described first predetermined threshold value is greater than described second predetermined threshold value.

6. a control device for air-conditioner, is characterized in that, comprising:

Outdoor controller, for controlling compressor operating;

First temperature-detecting device, for detecting indoor temperature;

Timer, for detecting the running time of described compressor;

Indoor set controller, described indoor set controller communicates with described outdoor controller, described indoor set controller is for the difference DELTA T according to the temperature computation of described indoor temperature and user's setting between indoor temperature and the temperature of described user setting, and the initial launch frequency increment of the compressor of described air-conditioner is calculated according to described difference DELTA T and default fuzzy control rule, and the initial launch frequency calculating described compressor according to the initial launch frequency increment of described compressor is run according to described initial launch frequency to make described outdoor controller control described compressor, when being more than or equal to Preset Time the running time of described compressor, if the absolute value of described difference DELTA T is less than or equal to predetermined threshold value, then described indoor set controller calculates the running frequency correction value of described compressor according to described difference DELTA T and the PID Controlling model set up in advance, and the initial launch frequency of the described compressor that the running frequency correction value of described compressor is added to is run according to revised running frequency to make described outdoor controller control described compressor.

7. the control device of air-conditioner as claimed in claim 6, is characterized in that, also comprise:

Voltage detection module, for detecting the input voltage of described complete machine;

Second temperature detecting module, for detecting outdoor temperature;

Wherein, described outdoor controller is also for judging whether the input voltage of described complete machine is greater than the first voltage threshold and whether described outdoor temperature is less than or equal to preset temperature threshold value, if the input voltage of described complete machine is greater than described first voltage threshold and described outdoor temperature is less than or equal to described preset temperature threshold value, then the running frequency that described outdoor controller controls described compressor moves to described initial launch frequency with high frequency Starting mode.

8. the control device of air-conditioner as claimed in claim 7, is characterized in that, also comprise:

3rd temperature-detecting device, for detecting the delivery temperature of described compressor;

4th temperature-detecting device, for detecting the evaporator temperature of described compressor; Current sensing means, for detecting complete machine input current;

Wherein, if described delivery temperature is greater than the first temperature threshold or described evaporator temperature is greater than the second temperature threshold, then described outdoor controller carries out the process of temperature limit frequency to control described compressor according to the running frequency operation after the process frequently of temperature limit to the initial launch frequency of described compressor or described revised running frequency, if the input voltage of described complete machine is greater than the second voltage threshold or described complete machine input current is greater than current threshold, then described outdoor controller carries out the process of voltage x current limit frequency to control described compressor according to the running frequency operation after the process frequently of described voltage x current limit to the initial launch frequency of described compressor or described revised running frequency.

9. the control device of air-conditioner as claimed in claim 6, is characterized in that, the running frequency correction value of described indoor set controller compressor according to following formulae discovery:

f ₁(k)＝f ₁(k-1)+[(K _P+K ₁+K _D)ΔT(k)-(K _P+2K _D)ΔT(k-1)+K _DΔT(k-2)]

Wherein, f ₁k () is the running frequency correction value of compressor described in the k moment, f ₁(k-1) be the running frequency correction value of compressor described in the k-1 moment, K _pfor PID control ratio coefficient, K _ifor PID controls integral coefficient, K _dfor PID controls differential coefficient, difference between the temperature of the described indoor temperature that Δ T (k) calculated for the k moment and described user setting, difference between the temperature of the described indoor temperature that Δ T (k-1) calculated for the k-1 moment and described user setting, the difference between the described indoor temperature that Δ T (k-2) calculated for the k-2 moment and the temperature of described user setting.

10. the control device of air-conditioner as claimed in claim 9, is characterized in that, wherein, and the increment Delta f of described running frequency correction value ₁(k)=(K _p+ K ₁+ K _d) Δ T (k)-(K _p+ 2K _d) Δ T (k-1)+K _dΔ T (k-2), if described increment Delta f ₁k () is greater than the first predetermined threshold value or is less than the second predetermined threshold value, then described indoor set controller is to described increment Delta f ₁k () is carried out amplitude limiting processing and is run according to the running frequency after amplitude limiting processing to make described outdoor controller control described compressor, wherein, described first predetermined threshold value is greater than described second predetermined threshold value.