CN104633863B - A kind of central air-conditioner control method based on the discrete pid algorithm of Self-tuning System - Google Patents
A kind of central air-conditioner control method based on the discrete pid algorithm of Self-tuning System Download PDFInfo
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- CN104633863B CN104633863B CN201510059538.4A CN201510059538A CN104633863B CN 104633863 B CN104633863 B CN 104633863B CN 201510059538 A CN201510059538 A CN 201510059538A CN 104633863 B CN104633863 B CN 104633863B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/10—Temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
- F24F11/61—Control or safety arrangements characterised by user interfaces or communication using timers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2140/00—Control inputs relating to system states
- F24F2140/20—Heat-exchange fluid temperature
Abstract
The invention discloses a kind of central air-conditioner control method based on the discrete pid algorithm of Self-tuning System, coil temperature, room temperature, EC motor speeds, proportion magnetic valve opening information are sampled using timer timing, and filtering process is carried out, obtain effective sampled value；By the working condition of the change judgement system of sample information；Then according to Self-tuning System coefficient form, table look-up obtain need adjustment proportionality coefficient, integral coefficient, differential coefficient, and EC motors and proportion magnetic valve control weight；Temperature deviation, integrated value and differential value are calculated, and the coefficient obtained according to tabling look-up calculates the rotating speed of EC motors and the open angle of proportion magnetic valve；EC motors and proportion magnetic valve is finally driven to reach desirable value.The present invention controls EC motors and proportion magnetic valve by the discrete pid algorithm of Self-tuning System, that is, control the cold and air quantity of air-conditioning system, and room can be made to be rapidly achieved target set temperature, and cold is consumed and the state of supplement stabilization is run can be maintained at system.
Description
Technical field
The invention belongs to central air-conditioning controller field, and in particular to a kind of center based on the discrete pid algorithm of Self-tuning System
Air conditioning control method.
Background technology
The motor that current most central air-conditioning controller is used is third gear tap motor, PG motors or BLDC electricity
Machine, water valve is the magnetic valve of two-wire system or three-wire system, and the control algolithm of use has ON-OFF, PI to adjust control etc..
Using the air-conditioning of ON-OFF control modes, there is the shortcomings of room temperature fluctuation is big, and comfortableness is not high, its controlling party
Formula is as shown in Figure 1.Under this control mode, when room temperature Tr drops to Ts- Δ T, water valve can be closed, when Tr gos up,
When can always be raised to Ts+ Δ T, now water valve can just be opened, and due to the inertia of temperature, now room temperature Tr can also rise one
Point, then can just decline.This ON-OFF control modes change in which can make the high temperature in room, there is larger control behavior excessively.
The controller controlled using PI regulations there is also the problem more than comparing, and system suitability is not high, has in certain occasion
Relatively good control effect, changes to after other occasions and larger control behavior excessively occurs, or even in certain extreme cases can
There is vibration, in addition it is also necessary to the PI parameter adjustments being directed to, do not possess versatility.In addition, adjusting variable-flow simultaneously using PI and becoming wind
During amount, it may appear that unmatched situation, the fluctuation of indoor temperature is caused.Traditional pid algorithm is as shown in Fig. 2 wherein Kp
It is proportionality coefficient, Ki is differential coefficient, and Kd is integral coefficient.
The content of the invention
Above mentioned problem present in control algolithm for existing central air-conditioning controller, the present invention proposes a kind of base
In the central air-conditioner control method of the discrete pid algorithm of Self-tuning System.
In order to achieve the above object and effect, the present invention uses following technology contents：
A kind of central air-conditioner control method based on the discrete pid algorithm of Self-tuning System, comprises the following steps：
Step 1, the multiple time margins of definition, using timer when each time margin arrives to coil temperature, room temperature
Degree, EC motor speeds, proportion magnetic valve opening information are sampled, and carry out filtering process, obtain effective sampled value；
Step 2, is weighted to the sampled value of coil temperature and room temperature and obtains room temperature and coil temperature,
Room temperature and setting value are compared and are calculated difference, coil temperature and room temperature are compared and is calculated difference
Value；Repeat the above steps, the room temperature difference that multiple repairing weld is obtained carries out accumulation calculating；
Step 3, judges the working condition of system, including step 3-1 to 3-4；Step 3-1, when judging whether to reach control
Between, if reaching control time, step 3-2 is carried out, if not reaching control time, carry out step 7；Step 3-2, according to room
Between the accumulated value of temperature gap judge whether system vibrates, if vibration, carries out step 3-3, if do not vibrated, carry out step
3-4；Step 3-3, determines whether Parameter adjustable, if it has, carry out step 4, if it did not, adjustment time nargin and counting again
Each parameter is calculated, step 4 is then carried out；Step 3-4, judges whether system is optimal, if being optimal, carries out step 7, if
It is not optimal, carries out step 4；
Step 4, the calculated value according to step 2 is carried out to the tuning coefficient table of pid parameter Kp, Ki, Kd and control weight Kq
Inquiry, obtains needing Proportional coefficient K p, integral coefficient Ki, the differential coefficient Kd of adjustment, and EC motors and proportion magnetic valve
Control weight Kq；Each tuning coefficient table is as follows：
Proportional coefficient K p tables in PID setting parameters are：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 0.2 | 0.2 | 0.2 | 0.3 | 0.3 | 0.3 | 0.3 |
| 1℃ | 0.5 | 0.5 | 0.5 | 0.5 | 0.4 | 0.4 | 0.4 |
| 1.5℃ | 1 | 0.9 | 0.9 | 0.8 | 0.8 | 0.7 | 0.6 |
| 2℃ | 2 | 1.9 | 1.8 | 1.6 | 1.4 | 1.2 | 1 |
| 3℃ | 5 | 4.5 | 4 | 3.5 | 3 | 2.5 | 2 |
| 4℃ | 10 | 9 | 8 | 7 | 6 | 5 | 4 |
| 6℃ | 20 | 18 | 16 | 14 | 12 | 10 | 8 |
Integral coefficient Ki tables in PID setting parameters are：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 1℃ | 0.25 | 0.23 | 0.21 | 0.19 | 0.16 | 0.13 | 0.1 |
| 1.5℃ | 0.5 | 0.45 | 0.4 | 0.35 | 0.3 | 0.25 | 0.2 |
| 2℃ | 1 | 0.9 | 0.8 | 0.7 | 0.6 | 0.5 | 0.4 |
| 3℃ | 2 | 1.7 | 1.5 | 1.3 | 1.1 | 0.9 | 0.6 |
| 4℃ | 3 | 2.7 | 2.4 | 2 | 1.6 | 1.2 | 0.8 |
| 6℃ | 4 | 3.5 | 3 | 2.5 | 2 | 1.5 | 1 |
Differential coefficient Kd tables in PID setting parameters are：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1℃ | 2 | 2 | 2 | 2 | 1 | 1 | 1 |
| 1.5℃ | 4 | 4 | 3 | 3 | 3 | 2 | 2 |
| 2℃ | 6 | 5 | 5 | 4 | 4 | 3 | 3 |
| 3℃ | 8 | 7 | 7 | 6 | 5 | 5 | 4 |
| 4℃ | 10 | 9 | 8 | 8 | 7 | 6 | 5 |
| 6℃ | 12 | 11 | 10 | 9 | 8 | 7 | 6 |
Control weight Kq tables are：
| △Tp | 6℃ | 9℃ | 12℃ | 14℃ | 16℃ | 17℃ | 18℃ |
| Kq | 1.5 | 1.25 | 1.1 | 1 | 0.9 | 0.8 | 0.7 |
In above-mentioned each table, △ T represent room temperature difference, and △ Tp represent coil pipe temperature gap；
Step 5, calculates temperature deviation Δ e (t) and its integrated value 1/S and differential value d Δs e (t)/dt, is determined according to step 4
Parameter, the rotating speed of EC motors and the open angle of proportion magnetic valve are calculated by following equation；
Δ U (t)=Kp* Δ e (t)+Ki*1/S+Kd*d Δs e (t)/dt；
EC rotating speeds=last time EC rotating speed * (1+ control weights * Δs U (t))；
Valve opening=last time aperture * (1+ control weights * Δs U (t))；
Step 6, drives EC motors, proportion magnetic valve to reach the calculated value of step 5；
Step 7, control terminates.
The present invention at least has the advantages that：
1st, the present invention controls EC motor speeds and proportion magnetic valve, that is, control using the discrete pid algorithm of Self-tuning System
The cold and air quantity of air-conditioning system, make room be rapidly achieved target set temperature, and system is maintained at cold consumption and is supplemented
The state operation of stabilization.
2nd, the present invention is assisted using many motors control device composition industrial field control bus network using industrial popular Modbus
View, meets " Modbus Application Protocol V1.1B " specification.
3rd, the present invention supports not shut down the various control parameters of setting by Modbus networks, and comes into force in real time.Especially
It is motor blast velocity control parameter, solenoid valve control parameter, the setting of pid control parameter so that the controller turns into air-conditioning
The intelligent end of Internet of Things.Cloud computing is carried out by upper bit platform, the control parameter that will be calculated is sent to controller in real time,
So that controller is constantly in optimal state operation.
Other objects of the present invention and advantage can from disclosed herein technology contents be further understood.For
Above and other objects, features and advantages of the invention can be become apparent, special embodiment below simultaneously coordinates institute's accompanying drawing
Formula is described in detail below.
Brief description of the drawings
Fig. 1 is the central air-conditioning controller method of operation figure under existing ON-OFF control modes.
Fig. 2 is existing pid algorithm block diagram.
Fig. 3 is pid algorithm block diagram of the present invention.
Fig. 4 is control method flow chart of the invention.
Fig. 5 is the central air-conditioning controller method of operation figure under control mode of the present invention.
Specific embodiment
Next will transmit through embodiment and coordinate institute's accompanying drawings, illustrate that the present invention has innovation compared with prior art, enters
The unique technology part such as step or effect, enables those of ordinary skill in the art to realize according to this.It should be noted that, the common skill in this area
Art personnel are in lower carried out modification without departing from the spirit and change, all without departing from protection category of the invention.
Room central air-conditioning refrigeration system, is by closed room, surface cooler, circulated refrigerated water, circulated air, external heat spoke
The system for the composition such as penetrating.System flows through surface cooler by chilled water, then is given out the cold that surface cooler absorbs by circulated air
Come, the heat of outside heat radiation is resisted, so that room temperature is constant.The central air-conditioning controller of present invention design seeks to
The flow of chilled water and the air quantity of circulated air are controlled simultaneously so that the temperature in room is rapidly reached the target temperature of setting, and makes
System tends towards stability, and control room is in a delicate poised state with most economical air quantity and chilled-water flow, and reach
To the purpose of energy-saving and noise-reducing.
Surface cooler is an important part in air-conditioning system, and what is flowed through in coil pipe is chilled water, with room
By the wind of circulation come positive energy exchange, so that air themperature is reduced, the temperature of water is raised hot-air.To expire in the process
Sufficient heat balance principle, it is known that amount is the flow q (kg/s) of chilled water, the air quantity f (kg/s) of circulation.The data model of foundation is such as
Under：
The equation of heat balance in room is：
In formula：Tin is indoor return air temperature, and Tout is indoor leaving air temp, and f is the air quantity of air-supply, and Cin becomes for Indoor Temperature
Change coefficient, experiment coefficient, C is air-supply experiment coefficient, and Qi is the energy wastage in bulk or weight in room, including External Heat Flux and heat transfer band
The sums such as the heat for coming, the heat that spontaneous hot object is distributed in room.
The leaving air temp of air-conditioning is：Tout=Tin1-(Tin1-Tiw)Es+(1-Ev)(Tin-Tin1)
In formula：Tin1 is the wet-bulb temperature of indoor return air, and Tiw is chilled water inflow temperature, and Ev is that heat exchanger is available
Heat exchanger effectiveness, Es is heat exchange efficiency.
Heat exchange efficiency is：
In formula：β=KF/f ψ, γ=f ψ/mc, K are the coefficient of heat transfer, and laboratory determines that F is heat exchanger area (m2), and ψ is
The average proportions constant of enthalpy difference and wet-bulb temperature difference, typically takes 2.86 and is calculated, and c is the specific heat (j/kg*k) of water, and m is freezing
The flow of water.
Assuming that the size of heat exchanger is it has been determined that the flow velocity of chilled water is fixed, the inflow temperature of chilled water is also solid
Fixed, by above formula as can be seen that the change of room temperature is related to air circulation and chilled-water flow, the stream of chilled water
Amount is bigger, and heat exchange efficiency is higher, while air circulation is bigger, the efficiency of heat exchange is also higher.
The temperature change in room is single order dead-time system, and the temperature of air outlet will be transmitted to whole room, have one
Long stabilization process.Currently a popular solution has two kinds：One kind is chilled water variable flow system, and another kind is to become wind
Amount system.Chilled water variable flow system is the purpose for changing flow to reach using Frequency Converter Control water pump.Variable air volume system is adopted
The purpose of change indoor circulation wind speed is reached with air door or speed-changing draught fan etc., but uses common speed-changing draught fan, noise can be brought
Big problem.
Also it is variable water flow system and air quantity system present invention employs the system for changing water-carrying capacity and air quantity simultaneously.System
Using the regulation algorithm of Discrete PI D, the air quantity and uninterrupted for needing regulation are calculated, the rotating speed and electromagnetism of control EC motors can
The aperture of regulating valve.By calculating certain presetting amount, the retardance of delay system data acquisition is made up.Surveyed by laboratory
Take temperature bright, common PID regulation algorithms, the influence to temperature change is larger, can produce larger toning.And use of the invention
The discrete pid algorithm of Self-tuning System, the effect of regulation is preferable.
The control process of PID is：
Wherein, Δ e (t) is temperature deviation, and Δ U (t) is the regulated quantity of output, and Kp is proportional control factor, and Ki is integration
Adjustment factor, Kd is differential adjustment factor.According to room equation of heat balance above can calculate need regulation wind speed and
Chilled-water flow, is then converted to PWM drive signal, drives EC motors and ratio adjusting valve.
Because system is a single order dead-time system, the flow of the wind speed and chilled water of changing blower fan can not change immediately
Become the temperature in room.Meanwhile, the temperature of chilled water can also change with the change of load, extraneous heat radiation also can the moment not
Together, so the system is a unstable nonlinear system, it is vulnerable to the factor influence in the external world.Therefore, how to adjust to make
System becomes more stable just very crucial, and the PID of common mode regulation will make the system become unstable, there is larger mistake
Punching.Temperature in view of room will not undergo mutation, therefore the regulation of wind speed and chilled-water flow also just there is no need excessive, institute
Will be smaller with the Kp for selecting, Ki than larger, thus can temperature in a period of time all the time deviation in the situation of setting value
Reflect, increase regulated quantity.In order to be able to predict the change of future temperature, a less Kd value will be selected, can so protected
The suddenly change of temperature is demonstrate,proved, the stabilization of room temperature is can guarantee that again.It is a process for Self-tuning System to select these parameters.Additionally,
Adjust the cycle of temperature data acquisition, it is also possible to the preferable control effect of producing ratio.
The present invention uses fuzzy self-adjusting control, according to the experimental data of history, it is determined that in varied situations
Tuning coefficient, and they are organized into four forms.Including：Three three-dimensional tables, the first dimension of form is the room of sampling
Between temperature and design temperature difference, the second dimension is the time margin of temperature sampling, the third dimension be pid parameter setting valve (Kp,
Ki, Kd)；And a control weight form for two dimension, the first dimension of form is the difference of the coil temperature with room temperature of sampling
Value, the second dimension is the setting valve Kq of control weight.
Proportional coefficient K p forms in PID setting parameters are as follows：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 0.2 | 0.2 | 0.2 | 0.3 | 0.3 | 0.3 | 0.3 |
| 1℃ | 0.5 | 0.5 | 0.5 | 0.5 | 0.4 | 0.4 | 0.4 |
| 1.5℃ | 1 | 0.9 | 0.9 | 0.8 | 0.8 | 0.7 | 0.6 |
| 2℃ | 2 | 1.9 | 1.8 | 1.6 | 1.4 | 1.2 | 1 |
| 3℃ | 5 | 4.5 | 4 | 3.5 | 3 | 2.5 | 2 |
| 4℃ | 10 | 9 | 8 | 7 | 6 | 5 | 4 |
| 6℃ | 20 | 18 | 16 | 14 | 12 | 10 | 8 |
Integral coefficient Ki forms in PID setting parameters are as follows：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 1℃ | 0.25 | 0.23 | 0.21 | 0.19 | 0.16 | 0.13 | 0.1 |
| 1.5℃ | 0.5 | 0.45 | 0.4 | 0.35 | 0.3 | 0.25 | 0.2 |
| 2℃ | 1 | 0.9 | 0.8 | 0.7 | 0.6 | 0.5 | 0.4 |
| 3℃ | 2 | 1.7 | 1.5 | 1.3 | 1.1 | 0.9 | 0.6 |
| 4℃ | 3 | 2.7 | 2.4 | 2 | 1.6 | 1.2 | 0.8 |
| 6℃ | 4 | 3.5 | 3 | 2.5 | 2 | 1.5 | 1 |
Differential coefficient Kd forms in PID setting parameters are as follows：
| △ T the time | 10s | 20s | 40s | 1min | 2min | 5min | 10min |
| 0.5℃ | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| 1℃ | 2 | 2 | 2 | 2 | 1 | 1 | 1 |
| 1.5℃ | 4 | 4 | 3 | 3 | 3 | 2 | 2 |
| 2℃ | 6 | 5 | 5 | 4 | 4 | 3 | 3 |
| 3℃ | 8 | 7 | 7 | 6 | 5 | 5 | 4 |
| 4℃ | 10 | 9 | 8 | 8 | 7 | 6 | 5 |
| 6℃ | 12 | 11 | 10 | 9 | 8 | 7 | 6 |
Control weight Kq forms are as follows：
| △Tp | 6℃ | 9℃ | 12℃ | 14℃ | 16℃ | 17℃ | 18℃ |
| Kq | 1.5 | 1.25 | 1.1 | 1 | 0.9 | 0.8 | 0.7 |
As shown in figure 4, algorithm of the invention employs a timer for 1ms benchmark, regularly to coil temperature, room temperature
Degree, EC motor speeds, proportion magnetic valve opening information are sampled, and carry out corresponding filtering process, are effectively sampled
Value.
In one embodiment, 10 seconds, 20 seconds, 40 seconds, 1 minute, 2 minutes, 5 minutes, 10 minutes totally 7 time are defined
Nargin.
Take the temperature sampling value 10 divided equally in each time margin, such as T1~T10, wherein, T1 represents the last time
Sampled value, T10 represents time in the past sampled value most long.According to following formula, calculated room temperature Tr：Tr=(10*T1+9*T2+
8*T3+7*T4+6*T5+5*T6+4*T7+3*T8+2*T9+T10)/55.According to following formula, calculated room temperature and design temperature Ts
Difference DELTA T：Heating mode：Δ T=| Tr-Ts |；Refrigeration mode：Δ T=| Ts-Tr |.Using same method, placing is calculated
The difference DELTA Tp of pipe temperature Tp, coil temperature and room temperature.Additionally, also needing to calculate the room temperature difference that multiple repairing weld is obtained
The accumulated value of △ T.
Then, the working condition of current system is judged by the change of above-mentioned sample information.For example, whether judging system
Vibration, if whether the accumulated value of △ T shows system oscillation, it is determined that have under current time nargin higher than the threshold value of setting
Parameter adjustable, no then adjustment time nargin simultaneously recalculates each parameter, and then calculated value is tabled look-up.If do not vibrated,
Judge whether system is optimal again, if not, being tabled look-up according to calculated value.
Next, according to the four tuning coefficient forms for providing above, tabling look-up and obtaining the Proportional coefficient K p, the product that need adjustment
Point COEFFICIENT K i, differential coefficient Kd, and EC motors and proportion magnetic valve control weight Kq.Usage right control weight Kq in the present invention
The reason for parameter is：Because the data tested are tested in the environment of standard, if the change of coil temperature will cause
The change of heat exchange efficiency, appropriate adjustment weight can be such that system more optimizes, and reach faster and impose a condition and keep.
The timing of current time margin then, calculates Δ e (t), integrated value and differential value, then foundation is currently tabled look-up
The coefficient for obtaining calculates the rotating speed of EC motors and the open angle of proportioning valve.The control of the discrete pid algorithm of Self-tuning System of the present invention
Process is as shown in Figure 3.
The present invention controls the rotating speed of EC motors and opening for electromagnetism adjustable valve using the discrete pid control algorithm of Self-tuning System
Degree, the air quantity and cold of air-conditioning system are adjusted with this.But light these controls are inadequate, due to cost in terms of consideration, control
The chip of device processed can not be excessively expensive from excessively complicated and price, so its Self tuning control is that have limitation.In order to complete
The effect of PID control is played, precise controlling is realized, it is in itself inadequate to depend controller alone, so the present invention also needs to establishment one
Individual industrial field control network, cloud computing is carried out by the powerful data acquisition of upper bit platform and computing function, calculates control
The optimal control parameter of device processed, downloads parameters to controller and performs by control protocol.The central air-conditioning controller is employed
The Modbus agreements of popular conventional, and meet the latest specification of " Modbus Application Protocol V1.1B ".
Controller comprising inventive algorithm is arranged on fan coil, and is tested under lab, as a result shown, this
The discrete pid algorithm of Self-tuning System of invention has preferable adaptive process, once due to certain external disturbance, laboratory temperature occurs
Disturbance, when deviation setting value is larger, system can balance quickly room temperature.The various different feelings of actual test
During condition, such as 28 DEG C and 25 DEG C refrigeration of design temperature, when 18 DEG C and 21 DEG C of design temperature is heated, system can be highly stable
Work, the fluctuation of room temperature is smaller.The extreme situation of simulation, when causing control process oscillatory process occur, by system certainly
The adjustment of tuning coefficient, system can also be settled out again, with good control effect.Using the discrete of Self-tuning System of the present invention
The method of operation of the central air-conditioning controller of pid algorithm is as shown in Figure 5.
Above-described is only the preferred embodiment of the present invention, the invention is not restricted to above example.It is appreciated that this
Other improvement and change that art personnel directly derive or associate without departing from the spirit and concept in the present invention
Change, be considered as being included within protection scope of the present invention.
Claims (2)
1. a kind of central air-conditioner control method based on the discrete pid algorithm of Self-tuning System, it is characterised in that comprise the following steps：
Step 1, the multiple time margins of definition, using timer when each time margin arrives to coil temperature, room temperature, EC
Motor speed, proportion magnetic valve opening information are sampled, and carry out filtering process, obtain effective sampled value；
Step 2, is weighted to the sampled value of coil temperature and room temperature and obtains room temperature and coil temperature, by room
Between temperature and setting value be compared and be calculated difference, coil temperature and room temperature are compared and are calculated difference；
Repeat the above steps, the room temperature difference that multiple repairing weld is obtained carries out accumulation calculating, and the room temperature difference is described
The difference of room temperature and the setting value；
Step 3, judges the working condition of system, including step 3-1 to 3-4；
Step 3-1, judges whether to reach control time, if reaching control time, step 3-2 is carried out, if not reaching control
Time processed, carry out step 7；
Step 3-2, the accumulated value according to room temperature difference judges whether system vibrates, if vibration, carries out step 3-3, such as
Fruit is not vibrated, and carries out step 3-4；
Step 3-3, determines whether Parameter adjustable, if it has, carry out step 4, if it did not, adjustment time nargin and counting again
Each parameter is calculated, step 4 is then carried out；
Step 3-4, judges whether system is optimal, if being optimal, carries out step 7, if not optimal, carries out step 4；
Step 4, the calculated value according to step 2 is inquired about the tuning coefficient table of pid parameter Kp, Ki, Kd and control weight Kq,
Obtain need adjustment Proportional coefficient K p, integral coefficient Ki, differential coefficient Kd, and EC motors and proportion magnetic valve control
Weight Kq；Each tuning coefficient table is as follows：
Proportional coefficient K p tables in PID setting parameters are：
Integral coefficient Ki tables in PID setting parameters are：
Differential coefficient Kd tables in PID setting parameters are：
Control weight Kq tables are：
In above-mentioned each table, △ T represent room temperature difference, and △ Tp represent coil pipe temperature gap；
Step 5, calculates temperature deviation Δ e (t) and its integrated value 1/S and differential value d Δs e (t)/dt, according to the ginseng that step 4 determines
Number, the rotating speed of EC motors and the open angle of proportion magnetic valve are calculated by following equation；
Δ U (t)=Kp* Δ e (t)+Ki*1/S+Kd*d Δs e (t)/dt；
EC rotating speeds=last time EC rotating speed * (1+ control weights * Δs U (t))；
Valve opening=last time aperture * (1+ control weights * Δs U (t))；
Step 6, drives EC motors, proportion magnetic valve to reach the calculated value of step 5；
Step 7, control terminates.
2. the central air-conditioner control method based on the discrete pid algorithm of Self-tuning System according to claim 1, it is characterised in that
Circular in the step 1 and step 2 is：
Define 10s, 20s, 40s, 1min, 2min, 5min, 10min totally 7 time margins；Take what is divided equally in each time margin
10 room temperature sampled value T1~T10, wherein, T1 represents the last sampled value, and T10 represents that time in the past is most long and adopts
Sample value；According to following formula calculated room temperature Tr：Tr=(10*T1+9*T2+8*T3+7*T4+6*T5+5*T6+4*T7+3*T8+2*
T9+T10)/55；If Ts is design temperature, according to following formula calculated room temperature and the difference DELTA T of design temperature：Δ T=| Tr-Ts
|；Using same method, the difference DELTA Tp of coil temperature Tp and coil temperature and room temperature is calculated；If multiple repairing weld meter
The room temperature for obtaining respectively Tri, i=1,2, then 3 ... n, the room temperature difference that multiple repairing weld is calculated are remembered respectively
It is Δ Ti=| Tri-Ts |, i=1,2,3 ... n calculate each △ Ti sums.
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| CA3007974C (en) * | 2015-12-10 | 2020-09-29 | Emerson Electric Co. | Adaptive control for motor fan with multiple speed taps |
| CN107014028A (en) * | 2016-01-28 | 2017-08-04 | 珠海格力电器股份有限公司 | Freeze the control method of water valve |
| CN105824781A (en) * | 2016-04-06 | 2016-08-03 | 北方民族大学 | Method and system for acquiring PID (Proportion Integration Differentiation) self-tuning parameter of positioner |
| CN106679121B (en) * | 2017-02-13 | 2019-03-12 | 河南中烟工业有限责任公司 | A kind of stabilization humidifying controlling method based on PID control |
| CN106802552A (en) * | 2017-03-30 | 2017-06-06 | 北京新能源汽车股份有限公司 | A kind of control method of automobile air conditioner motor, device and automobile |
| CN107178868B (en) * | 2017-04-20 | 2019-07-26 | 深圳达实智能股份有限公司 | A kind of hospital clinic fan coil wind speed and cooling capacity inter-linked controlling method and device |
| CN107329509B (en) * | 2017-07-21 | 2020-05-05 | 广东美的环境电器制造有限公司 | Electric heater and temperature control method and device thereof |
| CN107783423B (en) * | 2017-10-25 | 2020-03-27 | 珠海格力电器股份有限公司 | PID parameter self-tuning method and device based on machine learning |
| CN108958308A (en) * | 2018-07-27 | 2018-12-07 | 合肥工业大学智能制造技术研究院 | Relay feedback Self-tuning System method controls the humidity control method combined with differential forward |
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