CN107037842B - A method of the enthalpy difference laboratory temperature switching control based on fuzzy control and PID control - Google Patents
A method of the enthalpy difference laboratory temperature switching control based on fuzzy control and PID control Download PDFInfo
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- CN107037842B CN107037842B CN201710337529.6A CN201710337529A CN107037842B CN 107037842 B CN107037842 B CN 107037842B CN 201710337529 A CN201710337529 A CN 201710337529A CN 107037842 B CN107037842 B CN 107037842B
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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 combined based on fuzzy control and PID control, comprising the following steps: (1) chooses on the outside of multiple temperature sensor holding chambers, measure outside mean temperature and be denoted as x2, heater power is denoted as y, and can be according to preferred temperature x1With measurement temperature x2Between temperature error e make to measure temperature x according to the increment Delta u of set control method control heater power2Reach desired index；(2) its fuzzy controller is designed, determines the domain of input and output, the subordinating degree function of input determines fuzzy reasoning table, then ambiguity solution, obtains 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；The present invention can shorten the regulating time of control system, and the stability that can be improved 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 controls combined based on fuzzy control and PID control.
Background technique
Enthalpy difference laboratory is that one kind can measure the refrigerating capacity of air-conditioning and the experimental provision of heating capacity, is broadly divided into outside
With indoor two parts environment, and the control of outside temperature is the core of entire enthalpy difference laboratory.Outside temperature control
The stability and accuracy of system directly affect the accuracy of tested air conditioner refrigerating amount and heating capacity.Therefore, enthalpy difference laboratory
Temperature control is particularly important.
But the control of the temperature of enthalpy difference laboratory outside has very big non-linear, hysteresis quality and time variation, and has
There is extremely strong interference volume.Simple PID control single parameter is difficult to meet the requirement of system, when accelerating adjustment speed, stablizes
Property and steady-state error will be deteriorated；When reinforcing stablizing and reducing steady-state error, adjustment speed will be slack-off.Using fuzzy control
Although regulating time, stability and steady-state error and bad can be accelerated.
The controlled device of this system is heater, and a period of time after heater movement, temperature can just be become with corresponding
Change, there is biggish hysteresis quality, to select a suitable control mode, so that system is reached desired output, be difficult.It is right
In general delay system, prediction can be gone to export using modeling method, but since this system has larger uncertain noises amount,
Modeling has error, its final result is made to have large error.
Design content
In order to solve problem above, the present invention proposes a kind of enthalpy difference experiment combined based on fuzzy control and PID control
Room temperature method for handover control, the present invention use fuzzy control and PID control, and fuzzy control can accelerate regulating time, properly
The PID control of parameter can eliminate static error, enhance the stability of system.The two, which be combined with each other, can be good at reaching system
Requirement.
A kind of enthalpy difference laboratory temperature method for handover control combined based on fuzzy control and PID control, including it is following
Step:
(1) it chooses on the outside of multiple temperature sensor holding chambers, measures outside mean temperature and be denoted 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 to measure temperature x2Reach desired index；
(2) its fuzzy controller is designed, determines the domain of input and output, the subordinating degree function of input determines fuzzy rule
Table, then ambiguity solution, obtains 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), specific steps are as follows: input preferred temperature x1It is 25 DEG C, to the temperature of the multiple positions in outside
The temperature of sensor detection is averaged, and measurement temperature x is calculated to obtain2, temperature error e is obtained by the difference of the two, is gone according to error e
Determine the heater power y at each moment.Make room by changing heater power y to change enthalpy difference laboratory outside temperature
Temperature outside reaches required index.Wherein,
E=x1-x2 (1)
In the step (2), specific steps are as follows:
Design its fuzzy controller, specific steps are as follows: increment Delta u of the pressure differential deltap f and temperature error e as fuzzy controller
Output as 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 of outputu, determine the domain of pressure differential deltap f and error e be -3, -
2, -1,0,1,2,3 }, the domain of increment Delta u 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 }, the fuzzy subset { NB, NM, NS, NZ, ZO, PZ, PS, PM, PB } of increment Delta u.
Wherein, f is the outer machine blower pressure difference of tested unit；For machine blower pressure difference average value outside a variety of tested units；
Wherein, n1It is 3 in this system for the maximum value of Δ f domain.；
Wherein, n2It is 3 in this system for the maximum value of e domain；Temperature error is generally all in this enthalpy difference laboratory system
It is ± 10 DEG C, therefore taken amount factor KeIt is 3/10.
Experiment according to real system and repeatedly obtains following fuzzy reasoning table:
According to fuzzy control rule table and subordinating degree function, 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 subordinating degree function inputted according to two
It is obtained with fuzzy control rule table:
U (k)=U (k-1)+Ku·Δu1(k) (6)
Wherein, U (k) is ambiguity solution output；
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), specific steps are as follows:
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 are as follows:
But it is typically all controlling of sampling that it is temperature controlled, which to apply to enthalpy difference laboratory, system can only pass through the deviation of sampling
Value is judged and is controlled, if the sampling period is T, PID controller control law carries out discrete processes, obtains 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:
It according to the test constantly tested, obtains when error e is small, PID of the systematic steady state error less than 0.05 can be made
Controller parameter.In obtained parameter input PID controller, the output U of PID controller is obtained, and turn by digital-to-analogue
It is changed to analog signal, is transferred to heater, the power y of heater is finally exported, to carry out enthalpy difference laboratory outside temperature
Adjusting.
In the step (3), specific steps are as follows: determine preferred temperature x1It is 25 DEG C.Pass through the preferred temperature x of system1With survey
Amount temperature x2Temperature error e carry out fuzzy controller and PID controller switching control.Specific strategy is as follows:
As -0.8≤e≤0.8, Systematic selection designed PID controller above, obtained temperature stability is stronger,
Steady-state error is less than 0.1 DEG C.
When | e | when > 0.8, Systematic selection designed fuzzy controller above can be such that the regulating time of temperature shortens,
Improve enthalpy difference laboratory working efficiency.
Effective income of the invention are as follows:
1. the regulating time of control system can be shortened, the working efficiency of enthalpy difference laboratory is improved.
2. can be improved the stability of system, reduce steady-state error, enhancing enthalpy difference laboratory measures refrigerating capacity and heating
The accuracy of amount.
3. can predict the temperature at one section of moment using an outer input quantity of the machine pressure difference as fuzzy control of tested unit
Variation tendency reduces the hysteresis quality of system.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram.
Fig. 2 is flow diagram of the invention.
Fig. 3 is the subordinating degree function figure of pressure differential deltap f of the present invention.
Fig. 4 is the subordinating degree function figure of error e of the present invention.
Fig. 5 is result analogous diagram of the present invention.
Specific embodiment
The present invention is that the enthalpy difference laboratory design based on Jinan company is created.
It is as follows, it will in conjunction with actual items and attached drawing, invention is further explained:
The present invention is a kind of control method for capableing of On-line Control enthalpy difference laboratory outside temperature, and concrete operations are as follows
(referring to Figures 1 and 2):
Step 1. passes through wind pressure of the PLC from enthalpy difference laboratory collection in worksite outside temperature and outdoor machine of air-conditioner blower, setting
26 DEG C of enthalpy difference laboratory outside preferred temperature.Desired value temperature and actual temperature error e are calculated, analytical error obtains error e
Range be [- 10,10] DEG C.The pressure difference that outdoor machine of air-conditioner blower is measured with differential pressure pickup obtains pressure difference 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 quantization to-
3, -2, -1,0,1,2,3 } in domain, then according to above-mentioned designed subordinating degree function, (figure three is pressure differential deltap f's of the present invention
Subordinating degree function figure.Figure four is the subordinating degree function figure of error e of the present invention).Corresponding fuzzy control is obtained with fuzzy reasoning table
Device exports U1。
Step 3. design can obtain the controller of PID by the PID controller designed above by the error e of measurement
Export U2。
Step 4. is designed applicable according to the enthalpy difference laboratory temperature error e and above-mentioned obtained switching condition of measurement
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, obtained temperature stability is stronger, and steady-state error is less than 0.1 DEG C.
When | e | when > 0.8, Systematic selection designed fuzzy controller above can be such that the regulating time of temperature shortens, improve enthalpy difference
Laboratory work efficiency.Obtain analogous diagram (figure five is result analogous diagram of the present invention).
In practical projects, 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 (2)
1. a kind of enthalpy difference laboratory temperature method for handover control combined based on fuzzy control and PID control, which is characterized in that
The following steps are included:
(1) it chooses on the outside of multiple temperature sensor holding chambers, measures outside mean temperature and be denoted as x2, heater power is denoted as y,
And it 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 to measure temperature x2Reach desired index；
(2) its fuzzy controller is designed, determines the domain of input and output, the subordinating degree function of input determines fuzzy reasoning table, so
Ambiguity solution afterwards obtains 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 (2), specific steps are as follows: design its fuzzy controller, specific steps are as follows: pressure differential deltap f and temperature error e makees
For output of the increment Delta u as fuzzy controller of fuzzy controller, then three variables are quantified, are tested according to enthalpy difference
Room actual numerical value determines that the quantizing factor of Δ f and temperature error e is KfAnd Ke, and the scale factor K of outputu, determine pressure differential deltap f
Domain with error e is { -3, -2, -1,0,1,2,3 }, and the domain of increment Delta u is { -4, -3, -2, -1,0,1,2,3-4 }, pressure difference
The fuzzy subset { NB, NM, NS, ZO, PS, PM, PB } of Δ f and error e, increment Delta u fuzzy subset NB, NM, NS, NZ, ZO,
PZ, PS, PM, PB }:
Wherein, f is the outer machine blower pressure difference of tested unit；For machine blower pressure difference average value outside a variety of tested units:
Wherein, n1It is 3 in this system for the maximum value of Δ f domain；
Wherein, n2It is 3 in this system, temperature error is typically all in this enthalpy difference laboratory system for the maximum value of e domainTherefore taken amount factor KeIt is 3/10；
Experiment according to real system and repeatedly obtains following fuzzy reasoning table:
According to fuzzy control rule table and subordinating degree function, 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 subordinating degree function inputted according to two and mould
Control rule table is pasted to obtain,
U (k)=U (k-1)+Ku·Δu1(k) (6)
Wherein, U (k) is ambiguity solution output；
According to U (k), digital-to-analogue conversion is then carried out, analog signal is defeated by heater, heater will export a corresponding function
Rate y.
2. a kind of enthalpy difference laboratory temperature switching control combined based on fuzzy control and PID control as described in claim 1
Method processed, which is characterized in that in the step (1), specific steps are as follows: input preferred temperature x1It is 25 DEG C, it is multiple to outside
The temperature of the temperature sensor detection of position is averaged, and measurement temperature x is calculated to obtain2, temperature error e is obtained by the difference of the two,
The heater power y for going to determine 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)。
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