CN107037842A - A kind of method of the enthalpy difference laboratory temperature switching control based on fuzzy control and PID control - Google Patents
A kind of method of the enthalpy difference laboratory temperature switching control based on fuzzy control and PID control Download PDFInfo
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- CN107037842A CN107037842A CN201710337529.6A CN201710337529A CN107037842A CN 107037842 A CN107037842 A CN 107037842A CN 201710337529 A CN201710337529 A CN 201710337529A CN 107037842 A CN107037842 A CN 107037842A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
Abstract
The invention discloses a kind of enthalpy difference laboratory temperature method for handover control being combined based on fuzzy control and PID control, comprise the following steps：(1) choose on the outside of multiple temperature sensor holding chambers, measure outside mean temperature and be designated as x2, heater power is designated as y, and can be according to preferred temperature x1With measurement temperature x2Between temperature error e, the increment Delta u of heater power is controlled according to set control method, makes measurement temperature x2Reach expectation index；(2) its fuzzy controller is designed, the domain of input and output is determined, the membership function of input determines fuzzy reasoning table, then ambiguity solution, the increment Delta u of corresponding output heater power is drawn；(3) PID controller is designed；(4) suitable switchover policy is selected, the switching between fuzzy control and PID control is carried out；The present invention can shorten the regulating time of control system, it is possible to increase the stability of system can predict the temperature changing trend at one section of moment, reduce the hysteresis quality of system.
Description
Technical field
The present invention relates to a kind of enthalpy difference laboratory temperature switching control being combined based on fuzzy control and PID control.
Background technology
Enthalpy difference laboratory is a kind of experimental provision for the refrigerating capacity and heating capacity that can measure air-conditioning, is broadly divided into outside
With indoor two parts environment, and the control of outside temperature is the core of whole enthalpy difference laboratory.Outside temperature control
The stability and accuracy of system directly affects tested air conditioner refrigerating amount and the accuracy of heating capacity.Therefore, enthalpy difference laboratory
Temperature control is particularly important.
But, the temperature control of enthalpy difference laboratory outside has very big non-linear, hysteresis quality and time variation, and tool
There is extremely strong interference volume.Simple PID control single parameter is difficult the requirement for the system that meets, stable when accelerating governing speed
Property and steady-state error will be deteriorated；When strengthening stable and reduction steady-state error, governing speed will be slack-off.Using fuzzy control
Although regulating time, stability and steady-state error can be accelerated and bad.
The controlled device of this system is heater, a period of time after heater is acted, and temperature can just use corresponding change
Change, with larger hysteresis quality, want to select a suitable control mode, system is reached desired output, be difficult.It is right
In general delay system, prediction can be gone to export using modeling method, but be due to that this system has larger uncertain noises amount,
Modeling has error, its final result is had larger error.
Design content
In order to solve problem above, the present invention proposes a kind of enthalpy difference experiment being combined based on fuzzy control and PID control
Room temperature method for handover control, the present invention uses fuzzy control and PID control, and fuzzy control can accelerate regulating time, properly
The PID control of parameter can eliminate static error, the stability of strengthening system.Both, which be combined with each other, can be good at reaching system
Requirement.
A kind of enthalpy difference laboratory temperature method for handover control being combined based on fuzzy control and PID control, including it is following
Step：
(1) choose on the outside of multiple temperature sensor holding chambers, measure outside mean temperature and be designated as x2, heater power note
For y, and can be according to preferred temperature x1With measurement temperature x2Between temperature error e, according to set control method control plus
The increment Delta u of hot device power, makes measurement temperature x2Reach expectation index；
(2) its fuzzy controller is designed, the domain of input and output is determined, the membership function of input determines fuzzy rule
Table, then ambiguity solution, draws the increment Delta u of corresponding output heater power；
(3) PID controller is designed；
(4) suitable switchover policy is selected, the switching between fuzzy control and PID control is carried out；
In the step (1), concretely comprise the following steps：Input preferred temperature x1For 25 DEG C, to the temperature of the multiple positions in outside
The temperature of sensor detection is averaged, and calculates to obtain measurement temperature x2, temperature error e is obtained by both differences, gone according to error e
Determine the heater power y at each moment.By changing heater power y, to change enthalpy difference laboratory outside temperature, make room
Temperature outside reaches required index.Wherein,
E=x1-x2 (1)
In the step (2), concretely comprise the following steps：
Its fuzzy controller is designed, is concretely comprised the following steps：Pressure differential deltap f and temperature error e as fuzzy controller increment Delta u
It is used as the output of fuzzy controller.Then three variables are quantified, Δ f and temperature is determined according to enthalpy difference laboratory actual numerical value
The quantizing factor for spending error e is KfAnd Ke, and the scale factor K exportedu, determine the domain of pressure differential deltap f and error e for -3, -
2, -1,0,1,2,3 }, increment Delta u domain is { -4, -3, -2, -1,0,1,2,3-4 }, the fuzzy subset of pressure differential deltap f and error e
{ NB, NM, NS, ZO, PS, PM, PB }, increment Delta u fuzzy subset { NB, NM, NS, NZ, ZO, PZ, PS, PM, PB }.
Wherein, f is the outer machine blower fan pressure difference of tested unit；For machine blower fan pressure difference average value outside a variety of tested units；
Wherein, n1It is 3 for the maximum of Δ f domains, in this system.；
Wherein, n2It is 3 for the maximum of e domains, in this system；Temperature error is general all in this enthalpy difference laboratory system
It is ± 10 DEG C, therefore taken amount factor KeFor 3/10.
Experiment according to real system and repeatedly draws following fuzzy reasoning table：
According to fuzzy control rule table and membership function, it can determine
Δu1(k)=g (k) Δ u (k) (5)
Wherein, k is current time, and g (k) is current output degree of membership, and g (k) is the membership function according to two inputs
Drawn with fuzzy control rule table：
U (k)=U (k-1)+Ku·Δu1(k) (6)
Wherein, U (k) exports for ambiguity solution；
According to U (k), digital-to-analogue conversion is then carried out, analog signal is defeated by heater, heater will export one accordingly
Power y；
In the step (3), concretely comprise the following steps：
Its PID controller is designed, PID controller exports U, and input is preferred temperature x1With measurement temperature x2Between temperature
Error e, KpFor the proportionality coefficient of PID controller, KiFor the integral coefficient of PID controller, KdFor the differential coefficient of PID controller,
TiFor the time of integration of PID controller, TdFor the derivative time of PID controller, analog pid controller control law is：
But it is typically all controlling of sampling to apply to enthalpy difference laboratory temperature controlled, system can only be by the deviation of sampling
Value is judged and controlled that, if the sampling period is T, PID controller control law carries out discrete processes, draws following increment type
PID formula：
Δ U (k)=Kp[e(k)-e(k-1)]+Ki·e(k)+Kd[e(k)-2e(k-1)+e(k-2)] (8)
U (k)=U (k-1)+Δ U (k) (9)
Wherein, k is present sample number of times：
According to the test constantly tested, obtain when error e is small, the PID that systematic steady state error can be made to be less than 0.05
Controller parameter.In resulting parameter input PID controller, the output U of PID controller is drawn, and turn by digital-to-analogue
Analog signal is changed to, heater is transferred to, the power y of heater is finally exported, so as to carry out enthalpy difference laboratory outside temperature
Regulation.
In the step (3), concretely comprise the following steps：Determine preferred temperature x1For 25 DEG C.Pass through the preferred temperature x of system1With survey
Amount temperature x2Temperature error e carry out the switching control of fuzzy controller and PID controller.Specific strategy is as follows：
As -0.8≤e≤0.8, Systematic selection designed PID controller above, resulting temperature stability is stronger,
Steady-state error is less than 0.1 DEG C.
As | e | during ＞ 0.8, Systematic selection designed fuzzy controller above can shorten the regulating time of temperature,
Improve enthalpy difference laboratory operating efficiency.
The present invention effective income be：
1. the regulating time of control system can be shortened, the operating efficiency of enthalpy difference laboratory is improved.
2. the stability of system can be improved, reduce steady-state error, enhancing enthalpy difference laboratory is to refrigerating capacity and heats measurement
The degree of accuracy of amount.
3. the temperature at one section of moment can be predicted as an input quantity of fuzzy control using the outer machine pressure difference of tested unit
Variation tendency, reduces the hysteresis quality of system.
Brief description of the drawings
Fig. 1 is theory diagram of the invention.
Fig. 2 is FB(flow block) of the invention.
Fig. 3 is pressure differential deltap f of the present invention membership function figure.
Fig. 4 is the membership function figure of error e of the present invention.
Fig. 5 is result analogous diagram of the present invention.
Embodiment
The present invention is that the enthalpy difference laboratory design based on Jinan company is created.
It is as follows, it will the present invention is further described with reference to actual items and accompanying drawing：
The present invention is a kind of control method for being capable of On-line Control enthalpy difference laboratory outside temperature, and concrete operations are as follows
(referring to Figures 1 and 2)：
Step 1., from enthalpy difference laboratory collection in worksite outside temperature and the blast of outdoor machine of air-conditioner blower fan, is set by PLC
26 DEG C of enthalpy difference laboratory outside preferred temperature.Desired value temperature and actual temperature error e are calculated, analytical error draws error e
Scope be [- 10,10] DEG C.The pressure difference of outdoor machine of air-conditioner blower fan is measured with differential pressure pickup, pressure difference is obtained according to above-mentioned formula (2)
Δf。
Step 2. designs fuzzy control, by quantifying factor Ke,KecRespectively temperature error e and pressure differential deltap f quantify to-
3, -2, -1,0,1,2,3 } in domain, then according to above-mentioned designed membership function, (figure three is pressure differential deltap f's of the present invention
Membership function figure.Figure four is the membership function figure of error e of the present invention).Corresponding fuzzy control is drawn with fuzzy reasoning table
Device exports U1。
Step 3. design, by the PID controller designed above, can draw PID controller by the error e measured
Export U2。
Step 4. is designed applicable according to the enthalpy difference laboratory temperature error e of measurement, and above-mentioned drawn switching condition
In the temperature controlled switch controller (the controller principle block diagram of design is as shown in figure) of enthalpy difference laboratory, as -0.8≤e
When≤0.8, Systematic selection designed PID controller above, resulting temperature stability is stronger, and steady-state error is less than 0.1 DEG C.
As | e | during ＞ 0.8, Systematic selection designed fuzzy controller above can shorten the regulating time of temperature, improve enthalpy difference
Laboratory work efficiency.Draw analogous diagram (figure five is result analogous diagram of the present invention).
In Practical Project, compared with common PID controller, the regulating time, stability and stable state of this controller are missed
Difference will be better than common score PID controller.
Claims (5)
1. a kind of enthalpy difference laboratory temperature method for handover control being combined based on fuzzy control and PID control, it is characterised in that
Comprise the following steps：
(1) choose on the outside of multiple temperature sensor holding chambers, measure outside mean temperature and be designated as x2, heater power is designated as y,
And can be according to preferred temperature x1With measurement temperature x2Between temperature error e, heater is controlled according to set control method
The increment Delta u of power, makes measurement temperature x2Reach expectation index；
(2) its fuzzy controller is designed, the domain of input and output is determined, the membership function of input determines fuzzy reasoning table, so
Ambiguity solution, draws the increment Delta u of corresponding output heater power afterwards；
(3) PID controller is designed；
(4) suitable switchover policy is selected, the switching between fuzzy control and PID control is carried out.
2. a kind of switched based on the enthalpy difference laboratory temperature that fuzzy control and PID control are combined as claimed in claim 1 is controlled
Method processed, it is characterised in that in the step (1), concretely comprise the following steps：Input preferred temperature x1It is multiple to outside for 25 DEG C
The temperature of the temperature sensor detection of position is averaged, and calculates to obtain measurement temperature x2, temperature error e is obtained by both differences,
Gone to determine the heater power y at each moment according to error e, by changing heater power y, to change outside enthalpy difference laboratory room
Side temperature, makes outside temperature reach required index, wherein,
E=x1-x2 (1)
3. a kind of switched based on the enthalpy difference laboratory temperature that fuzzy control and PID control are combined as claimed in claim 1 is controlled
Method processed, it is characterised in that in the step (2), concretely comprise the following steps：Its fuzzy controller is designed, is concretely comprised the following steps：Pressure differential deltap
F and temperature error e, as the output of fuzzy controller, is then measured as the increment Delta u of fuzzy controller to three variables
Change, determine that Δ f and temperature error e quantizing factor is K according to enthalpy difference laboratory actual numerical valuefAnd Ke, and the scale factor exported
Ku, the domain for determining pressure differential deltap f and error e is { -3, -2, -1,0,1,2,3 }, increment Delta u domain for -4, -3, -2, -1,
0,1,2,3-4 }, pressure differential deltap f and the fuzzy subset of error e { NB, NM, NS, ZO, PS, PM, PB }, increment Delta u fuzzy subset
{ NB, NM, NS, NZ, ZO, PZ, PS, PM, PB },：
Wherein, f is the outer machine blower fan pressure difference of tested unit；For machine blower fan pressure difference average value outside a variety of tested units：
Wherein, n1It is 3 for the maximum of Δ f domains, in this system；
Wherein, n2It is 3 for the maximum of e domains, in this system., temperature error is typically all in this enthalpy difference laboratory system
± 10 DEG C, therefore taken amount factor KeFor 3/10；
Experiment according to real system and repeatedly draws following fuzzy reasoning table：
According to fuzzy control rule table and membership function, it can determine
Δu1(k)=g (k) Δ u (k) (5)
Wherein, k is current time, and g (k) is current output degree of membership, and g (k) is the membership function and mould according to two inputs
Control rule table is pasted to draw,
U (k)=U (k-1)+Ku·Δu1(k) (6)
Wherein, U (k) exports for ambiguity solution；
According to U (k), digital-to-analogue conversion is then carried out, analog signal is defeated by heater, heater will export a corresponding work(
Rate y.
4. a kind of switched based on the enthalpy difference laboratory temperature that fuzzy control and PID control are combined as claimed in claim 1 is controlled
Method processed, it is characterised in that in the step (3), concretely comprise the following steps：Its PID controller is designed, PID controller exports U, defeated
It is preferred temperature x to enter1With measurement temperature x2Between temperature error e, KpFor the proportionality coefficient of PID controller, KiFor PID control
The integral coefficient of device,
KdFor the differential coefficient of PID controller, TiFor the time of integration of PID controller, TdFor the derivative time of PID controller, mould
Intending PID controller control law is：
But it is typically all controlling of sampling to apply to enthalpy difference laboratory temperature controlled, system can only be entered by the deviation of sampling
Row judges that with controlling, if the sampling period is T, PID controller control law carries out discrete processes, show that following increment type PID is public
Formula：
Δ U (k)=Kp[e(k)-e(k-1)]+Ki·e(k)+Kd[e(k)-2e(k-1)+e(k-2)] (8)
U (k)=U (k-1)+Δ U (k) (9)
Wherein, k is present sample number of times：
2
According to the test constantly tested, obtain when error e is small, the PID control that systematic steady state error can be made to be less than 0.05
Device parameter, resulting parameter is inputted in PID controller, draws the output U of PID controller, and be by digital-to-analogue conversion
Analog signal, is transferred to heater, the power y of heater is finally exported, so as to carry out the tune of enthalpy difference laboratory outside temperature
Section.
5. a kind of switched based on the enthalpy difference laboratory temperature that fuzzy control and PID control are combined as claimed in claim 1 is controlled
Method processed, it is characterised in that in the step (3), concretely comprise the following steps：Determine preferred temperature x1For 25 DEG C, pass through the phase of system
Hope temperature x1With measurement temperature x2Temperature error e carry out the switching control of fuzzy controller and PID controller, specific strategy is such as
Under：
As -0.8≤e≤0.8, Systematic selection designed PID controller above, resulting temperature stability is stronger, stable state
Error is less than 0.1 DEG C；
As | e | during ＞ 0.8, Systematic selection designed fuzzy controller above can shorten the regulating time of temperature, improve
Enthalpy difference laboratory operating efficiency.
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| CN107887672A (en) * | 2017-10-10 | 2018-04-06 | 中车工业研究院有限公司 | A kind of lithium ion battery temprature control method and device |
| CN108628364A (en) * | 2017-12-19 | 2018-10-09 | 嘉兴迪迈科技有限公司 | A kind of enthalpy difference laboratory temperature method for handover control when preparing laser glass |
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| CN113359907A (en) * | 2021-05-27 | 2021-09-07 | 西安交通大学 | Quick-response active temperature control method |
| CN113359907B (en) * | 2021-05-27 | 2022-04-05 | 西安交通大学 | Quick-response active temperature control method |
| CN114165825A (en) * | 2021-11-26 | 2022-03-11 | 南京国之鑫科技有限公司 | Heat supply regulation and control system and method for heat exchange station |
| CN114165825B (en) * | 2021-11-26 | 2023-03-31 | 南京国之鑫科技有限公司 | Heat supply regulation and control system and method for heat exchange station |
| CN114506192A (en) * | 2022-02-17 | 2022-05-17 | 重庆工业职业技术学院 | Hydrothermal PTC heater and control algorithm thereof |
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