CN109839967A - A kind of PID tune energy efficiency temperature control method and module - Google Patents
A kind of PID tune energy efficiency temperature control method and module Download PDFInfo
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Abstract
The present invention relates to a kind of PID tune energy efficiency temperature control methods, target temperature value is set first, control the period, sampling period and threshold difference, promote load heating power, obtain controlled device current zone temperature sampled value, and the sampling period is combined to calculate temperature rise rate, union is adjusted to pid control parameter by the PSO-DE algorithm that particle swarm algorithm (PSO) and differential evolution algorithm (DE) combine, then the duty ratio of a control period output pulse is adjusted according to operation result, and then adjust heating power output, keep the temperature sampling value sampled approximately equal with the actual temperature value of controlled device, reduce temperature error brought by heating inertia, it can be precisely controlled heating power simultaneously, energy-saving effect is obvious；A kind of PID tune energy efficiency temperature control module, including above-mentioned PID tune energy efficiency temperature control method, can be precisely controlled heating power, energy-saving effect is obvious.
Description
Technical field
The present invention relates to energy efficiency temperature control fields, and in particular to a kind of PID tune energy efficiency temperature control method and mould
Block.
Background technique
As the rapid development of sociaty and economy, modern industry energy consumption is continuously increased with production-scale expansion, wherein
Hot type energy consumption accounts for very big specific gravity in industrial load energy consumption, in order to realize energy-saving developing goal, improves simultaneously
Heating process is horizontal, higher and higher to the temperature control precision and power conservation requirement of hot type load.
The PID that simple, Yi Shixian is generallyd use with structure to temperature control in modern industrial production, responds the advantages such as fast
Algorithm.Traditional PID control is to combine controlled device dynamic characteristic, carries out manual debugging by the experience of expert, has adjusted parameter
No longer change, it is restricted larger.With the diversification of temperature-controlled environment and demand, increasingly complicated, the appearance of control system
Some improved pid control algorithms directly complete parameter tuning according to the control effect of control object such as Z-N Self-tuning System algorithm
It calculates, although improving temperature control precision, the parameter that will have been adjusted solidification is needed to be pre-stored in external storage.
It retrieves and finds for existing literature, document " the PID tune temperature based on PSO controls research " (Tian Yanbing；Chemical industry
Automation and instrument) a kind of PID tune temprature control method based on PSO is proposed, it is relatively simple compared to traditional pid algorithm
Single, accuracy of temperature control is high, does not need complicated program, but does not get rid of the locally optimal solution defect of PSO algorithm；Document " intelligence
The design of Temperature Fuzzy Control PID system " a kind of design of Fuzzy Control scheme is proposed, dynamic property is good, but high-precision is controlled
It is more many and diverse to make corresponding fuzzy rule.At the same time, the method that the research of existing literature majority improves accuracy of temperature control, it is warm to improving
It controls precision and the method concern of reduction heating energy consumption combination is less.
Summary of the invention
Place, the present invention propose a kind of PID tune energy efficiency temperature control method against the above deficiency, are based on PSO-DE
Algorithm Self-tuning System, and the advantage for combining differential evolution algorithm local search ability strong, solve PSO algorithm and easily fall into local optimum
The problem of, operation then is carried out using pid parameter adjusted, and operation result is converted into a control period output pulse
Duty ratio, and then adjust heating power output, keep the temperature sampling value sampled close with the actual temperature value of controlled device
Patibhaga-nimitta etc. reduces temperature error brought by heating inertia, in addition, exporting the duty ratio of pulse because improving heating power
Reduce, while improving temperature control precision, there is significant energy-saving effect.
The present invention also provides a kind of PID tune energy efficiency temperature control module, can improve simultaneously temperature control precision with
And reduce heating energy consumption.
A kind of PID tune energy efficiency temperature control method, includes the following steps:
Step 1: data initialization, setting target temperature value, control period, sampling period and threshold difference；
Step 2: load heating power is promoted to improve controlled device current target regional temperature；
Step 3: controlled device current target regional temperature sampled value is obtained；
Step 4: the sampling period is combined to calculate temperature rise rate according to the temperature sampling value obtained in step 3；
Step 5: the temperature sampling value according to current time and temperature rise rate carry out the pid parameter based on PSO-DE certainly
Adjusting；
Step 6: carrying out operation according to pid parameter adjusted, adjusts load heating power output, completes a power
It adjusts；
Step 7: step 3 is repeated to step 6, until reaching the target temperature value.
Above-mentioned PID tune energy efficiency temperature control method, in step 1, to ensure temperature control precision, the control
Period and sampling period processed are mainly set according to the volume of controlled device, initial temperature and function of environment heat emission rate.
Above-mentioned PID tune energy efficiency temperature control method, when setting target temperature value and current time temperature sampling value
Difference be threshold difference when, this PID tune energy efficiency temperature control method starts to execute.
Above-mentioned PID tune energy efficiency temperature control method, the promotion load heating power is by promoting heating power supply
Voltage is realized.
Above-mentioned PID tune energy efficiency temperature control method, in step 4, temperature rise rate H carries out temperature rise rate H
The formula of calculating are as follows:
Wherein: tcon is the temperature sampling period, and Tc is Current Temperatures measured value, and Tb is the temperature before a sampling period
Measured value.
Above-mentioned PID tune energy efficiency temperature control method, in step 5, it is described based on the pid parameter of PSO-DE from whole
It is fixed that steps are as follows:
Pid parameter Kp, Ki, Kd initial value and range is arranged in A1；
A2, setting improve population N, dimension Nl, the number of iterations Tpso, the variation coefficient α of rapid particle swarm algorithm, accelerate
Spend constant beta；
A3 initializes population, the initial position of each particle is randomly generated between 0-1；
A4 judges each particle Kp, Ki, Kd the stability of its closed-loop system under Current Temperatures and temperature rise rate, if
Stablize, then according to setting value, acquires it for the steady-state error ess, regulating time ts, rise time tr, overshoot of step response
The performance indicators such as σ % are measured, and calculate the fitness of each particle, find global optimum's fitness particle, position is denoted as
Gbest, adaptive optimal control degree are denoted as fbest；
A5, particle position updates, and carries out differential evolution optimizing, recalculates the fitness function of particle, finds global
Adaptive optimal control degree particle simultaneously updates gbest and fbest；The expression formula of location updating is as follows:
Xi(t)=Xi(t-1)+β·[gbest-Xi(t-1)]+α·rand(Nl).*scale
Wherein: Xi indicates the position vector of i-th of particle, and rand (Nl) indicates to generate 0 to 1 random number vector of Nl dimension,
Scale indicates that the unknown variable of Nl dimension changes scaling vector (maximum value-minimum value)；α is variation coefficient, random for adjusting
Change the amplitude of fluctuation of item；β is acceleration constant, adjusts particle to global optimum's position flying distance amplitude；
A6 judges whether to meet termination condition:
T=Tpso
If met, terminate process, otherwise, and return step A4.
Above-mentioned PID tune energy efficiency temperature control method, fitness function is smaller, and particle fitness is more excellent, fitness
Function specifically calculates as follows:
Wherein: k1, k2, k3 and k4 are respectively the weight of each performance indicator, are 30,10,20 according to the practical value of system,
40。
Above-mentioned PID tune energy efficiency temperature control method, in step A5, specific step is as follows for differential evolution optimizing:
B1 acquires centre individual vi (t) by mutation operation, and formula is as follows:
vi(t)=gbest (t)+m (Xr1(t)-Xr2(t))
Wherein, vi (t) is the flying speed of i-th of particle, and m ∈ [0,2] is weighted factor；
B2 obtains new population by crossover operation, increases particle populations diversity, and formula is as follows:
Wherein, ui (t) is obtained new individual, and CR ∈ [0,1] is mutation probability；
B3, calculates the fitness function value of new individual after crossover operation, to decide whether to select variation individual, formula is such as
Under:
Wherein, φ (x) is fitness function.
Above-mentioned PID tune energy efficiency temperature control method, in step 6, the adjusting heating power output is by PID
Operation result is converted to and exports pulse duty factor in a control period, and then controls the output of heating power.
A kind of PID tune energy-saving warm using PID tune energy efficiency temperature control method as described in any one of the above embodiments
Spend control module, comprising:
Temperature sampling unit, for obtaining the temperature sampling value of controlled device current region；
Heating unit is loaded, for heating to controlled device current region；
Power ascension unit is electrically connected with heating power supply and load heating unit respectively, for promoting load heating power；
PID arithmetic unit is electrically connected with power ascension unit, for converting a control period for PID arithmetic result
Interior output pulse duty factor, and then control heating power output.
The present invention has the beneficial effect that:
A kind of PID tune energy efficiency temperature control method, first setting target temperature value, control the period, the sampling period and
Threshold difference promotes load heating power, obtains the temperature sampling value of controlled device current region, and the sampling period is combined to count
Temperature rise rate is calculated, PID control is joined by the PSO-DE algorithm that particle swarm algorithm (PSO) and differential evolution algorithm (DE) combine
It is several to be adjusted union, the duty ratio of a control period output pulse is then adjusted according to operation result, and then adjust and add
Thermal power output keeps the temperature sampling value sampled approximately equal with the actual temperature value of controlled device, reduces heating inertia institute
Bring temperature error is improving temperature control essence in addition, the duty ratio for exporting pulse reduces because improving heating power
While spending, there is significant energy-saving effect；A kind of PID tune energy efficiency temperature control module, including above-mentioned PID tune section
Energy temprature control method, because promoting heating power, this energy conservation temperature control modules export pulse duty factor and reduce, and are precisely controlled
Heating power has significant energy-saving effect.
Detailed description of the invention
Fig. 1 is the flow chart of PID tune energy efficiency temperature control method of the invention；
Fig. 2 is the structural block diagram of PID tune energy efficiency temperature control module of the invention；
Using the electric heating of normal PID lgorithm city and using PID tune of the invention when Fig. 3 is specific implementation of the invention
The module of energy efficiency temperature control method heating exports pulse diagram；
Using the electric heating of normal PID lgorithm city and using PID tune of the invention when Fig. 4 is specific implementation of the invention
The controlled device temperature variation of energy efficiency temperature control method heating.
Specific embodiment
Below with reference to examples and drawings, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Shown in referring to Fig.1, a kind of PID tune energy efficiency temperature control method includes the following steps:
Step 1: data initialization, setting target temperature value, control period, sampling period and threshold difference；
Step 2: load heating power is promoted to improve controlled device current target regional temperature；
Step 3: controlled device current target regional temperature sampled value is obtained；
Step 4: the sampling period is combined to calculate temperature rise rate according to the temperature sampling value obtained in step 3；
Step 5: the temperature sampling value according to current time and temperature rise rate carry out the pid parameter based on PSO-DE certainly
Adjusting；
Step 6: carrying out operation according to pid parameter adjusted, adjusts load heating power output, completes a power
It adjusts；
Step 7: step 3 is repeated to step 6, until reaching the target temperature value.
Wherein, to ensure temperature control precision, the control period and sampling period mainly according to the volume of controlled device,
Initial temperature and function of environment heat emission rate are set.In step 1, when setting target temperature value and current time temperature sampling
When the difference of value is threshold difference, this PID tune energy efficiency temperature control method starts to execute.In step 2, the promotion
It loads heating power and is realized by promoting heating power supply voltage.
In step 4, temperature rise rate H, the formula that temperature rise rate H is calculated are as follows:
Wherein: tcon is the temperature sampling period, and Tc is Current Temperatures measured value, and Tb is the temperature before a sampling period
Measured value.
In step 5, steps are as follows for the pid parameter Self-tuning System based on PSO-DE:
Pid parameter Kp, Ki, Kd initial value and range is arranged in A1；
A2, setting improve population N, dimension Nl, the number of iterations Tpso, the variation coefficient α of rapid particle swarm algorithm, accelerate
Spend constant beta；
A3 initializes population, the initial position of each particle is randomly generated between 0-1；
A4 judges each particle Kp, Ki, Kd the stability of its closed-loop system under Current Temperatures and temperature rise rate, if
Stablize, then according to setting value, acquires it for the steady-state error ess, regulating time ts, rise time tr, overshoot of step response
The performance indicators such as σ % are measured, and calculate the fitness of each particle, find global optimum's fitness particle, position is denoted as
Gbest, adaptive optimal control degree are denoted as fbest；
A5, particle position updates, and carries out differential evolution optimizing, recalculates the fitness function of particle, finds global
Adaptive optimal control degree particle simultaneously updates gbest and fbest；The expression formula of location updating is as follows:
Xi(t)=Xi(t-1)+β·[gbest-Xi(t-1)]+α·rand(Nl).*scale
Wherein: Xi indicates the position vector of i-th of particle, and rand (Nl) indicates to generate 0 to 1 random number vector of Nl dimension,
Scale indicates that the unknown variable of Nl dimension changes scaling vector (maximum value-minimum value)；α is variation coefficient, random for adjusting
Change the amplitude of fluctuation of item；β is acceleration constant, adjusts particle to global optimum's position flying distance amplitude；
A6 judges whether to meet termination condition:
T=Tpso
If met, terminate process, otherwise, and return step A4.
Further, fitness function is smaller, and particle fitness is more excellent, and fitness function specifically calculates as follows:
Wherein: k1, k2, k3 and k4 are respectively the weight of each performance indicator, are 30,10,20 according to the practical value of system,
40。
In step A5, specific step is as follows for differential evolution optimizing:
B1 acquires centre individual vi (t) by mutation operation, and formula is as follows:
vi(t)=gbest (t)+m (Xr1(t)-Xr2(t))
Wherein, vi (t) is the flying speed of i-th of particle, and m ∈ [0,2] is weighted factor；
B2 obtains new population by crossover operation, increases particle populations diversity, and formula is as follows:
Wherein, ui (t) is obtained new individual, and CR ∈ [0,1] is mutation probability；
B3, calculates the fitness function value of new individual after crossover operation, to decide whether to select variation individual, formula is such as
Under:
Wherein, φ (x) is fitness function.
In step 6, the adjusting heating power output is defeated in one control period to be converted to PID arithmetic result
Pulse duty factor out, and then control the output of heating power.
PID tune energy efficiency temperature control method of the invention is based on PSO-DE algorithm Self-tuning System, and combines differential evolution
The strong advantage of algorithm local search ability solves the problems, such as that PSO algorithm easily falls into local optimum, then using adjusted
Pid parameter carries out operation, and operation result is converted to the duty ratio of a control period output pulse, and then adjust heating function
The output of rate keeps the temperature sampling value sampled approximately equal with the actual temperature value of controlled device, reduces heating inertia institute band
The temperature error come is improving temperature control precision in addition, the duty ratio for exporting pulse reduces because improving heating power
While, there is significant energy-saving effect
Referring to shown in Fig. 2, energy efficiency temperature control module of the invention, using above-mentioned PID tune energy efficiency temperature controlling party
Method can improve temperature control precision simultaneously and reduce heating energy consumption, as shown in Figure 2, energy efficiency temperature control module of the invention
Include:
Temperature sampling unit, for obtaining the temperature sampling value of controlled device current region；
Heating unit is loaded, for heating to controlled device current region；
Power ascension unit is electrically connected with heating power supply and load heating unit respectively, for controlling load heating power；
PID arithmetic unit is electrically connected with power ascension unit, for converting a control period for PID arithmetic result
Interior output pulse duty factor, and then control heating power output.
In practical applications, such as heating water in industrial production, industrial water tank volume is 1m3, initial temperature 40
DEG C, it is arranged 60 DEG C of target temperature, control period and sampling period are 2s, and setting threshold difference is 20 DEG C, are begun to warm up straight
Target value is reached to temperature, using the electric heating of normal PID lgorithm city and uses PID tune energy efficiency temperature controlling party of the invention
Two kinds of heating methods of method, the experimental results are shown inthe following table.
1 two kinds of heating method results of table
Referring to Fig. 3, Fig. 4 and table 1 it is found that using PID tune energy efficiency temperature control method heating of the invention and using
The electric heating of normal PID lgorithm city is compared, because improving heating power, energy efficiency temperature control module output pulse duty factor subtracts
It is small, heating power is accurately controlled, accuracy of temperature control is effectively increased, being computed can obtain, using PID tune energy-saving warm of the invention
The energy consumption of degree control method heating has dropped 17%, and heating time also shortens about 68.3%, and energy-saving effect is significant.
The above description is only a preferred embodiment of the present invention, is not intended to limit its scope of the patents, all to utilize the present invention
Equivalent structure transformation made by specification and accompanying drawing content is directly or indirectly used in other related technical areas, similarly
It is included within the scope of the present invention.
Claims (10)
1. a kind of PID tune energy efficiency temperature control method, which comprises the steps of:
Step 1: data initialization, setting target temperature value, control period, sampling period and threshold difference；
Step 2: load heating power is promoted to improve controlled device current target regional temperature；
Step 3: controlled device current target regional temperature sampled value is obtained；
Step 4: the sampling period is combined to calculate temperature rise rate according to the temperature sampling value obtained in step 3；
Step 5: the temperature sampling value according to current time and temperature rise rate carry out the pid parameter Self-tuning System based on PSO-DE；
Step 6: carrying out operation according to pid parameter adjusted, adjusts load heating power output, completes a power regulation；
Step 7: step 3 is repeated to step 6, until reaching the target temperature value.
2. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that be true in step 1
Temperature control precision is protected, the control period and sampling period mainly dissipate according to the volume of controlled device, initial temperature and environment
Hot rate is set.
3. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that in step 1, work as setting
When the difference of target temperature value and current time temperature sampling value is threshold difference, this PID tune energy efficiency temperature control method
Start to execute.
4. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that described to mention in step 2
It rises load heating power and is realized by promoting heating power supply voltage.
5. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that in step 4, temperature rise speed
Rate is H, the formula calculated temperature rise rate H are as follows:
Wherein: tcon is the temperature sampling period, and Tc is Current Temperatures measured value, and the temperature before Tb is a sampling period measures
Value.
6. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that in step 5, the base
In the pid parameter Self-tuning System of PSO-DE, steps are as follows:
Pid parameter Kp, Ki, Kd initial value and range is arranged in A1；
A2, the population N, dimension Nl, the number of iterations Tpso of setting improvement rapid particle swarm algorithm, variation coefficient α, acceleration are normal
Number β；
A3 initializes population, the initial position of each particle is randomly generated between 0-1；
A4 judges each particle Kp, Ki, Kd the stability of its closed-loop system under Current Temperatures and temperature rise rate, if stablizing,
Then according to setting value, it is acquired for the steady-state error ess of step response, regulating time ts, rise time tr, overshoot σ %
Etc. performance indicators, and calculate the fitness of each particle, find global optimum's fitness particle, position is denoted as gbest, optimal
Fitness is denoted as fbest；
A5, particle position updates, and carries out differential evolution optimizing, recalculates the fitness function of particle, finds global optimum
Fitness particle simultaneously updates gbest and fbest；The expression formula of location updating is as follows:
Xi(t)=Xi(t-1)+β·[gbest-Xi(t-1)]
+α·rand(Nl).*scale
Wherein: Xi indicates the position vector of i-th of particle, and rand (Nl) indicates to generate 0 to 1 random number vector of Nl dimension, scale
Indicate that the unknown variable of Nl dimension changes scaling vector (maximum value-minimum value)；α is variation coefficient, for adjusting random variation item
Amplitude of fluctuation；β is acceleration constant, adjusts particle to global optimum's position flying distance amplitude；
A6 judges whether to meet termination condition:
T=Tpso
If met, terminate process, otherwise, and return step A4.
7. PID tune energy efficiency temperature control method according to claim 6, which is characterized in that fitness function is smaller,
Particle fitness is more excellent, and fitness function specifically calculates as follows:
Wherein: k1, k2, k3 and k4 are respectively the weight of each performance indicator, are 30,10,20,40 according to the practical value of system.
8. PID tune energy efficiency temperature control method according to claim 6, which is characterized in that in step A5, difference into
Changing optimizing, specific step is as follows:
B1 acquires centre individual vi (t) by mutation operation, and formula is as follows:
vi(t)=gbest (t)+m (Xr1(t)-Xr2(t))
Wherein, vi (t) is the flying speed of i-th of particle, and m ∈ [0,2] is weighted factor；
B2 obtains new population by crossover operation, increases particle populations diversity, and formula is as follows:
Wherein, ui (t) is obtained new individual, and CR ∈ [0,1] is mutation probability；
B3, calculates the fitness function value of new individual after crossover operation, to decide whether to select variation individual, formula is as follows:
Wherein, φ (x) is fitness function.
9. PID tune energy efficiency temperature control method according to claim 1, which is characterized in that in step 6, the tune
Section heating power output exports pulse duty factor to be converted to PID arithmetic result in one control period, and then controls heating
The output of power.
10. including the PID tune energy conservation such as the described in any item PID tune energy efficiency temperature control methods of claim 1-9
Temperature control modules characterized by comprising
Temperature sampling unit, for obtaining the temperature sampling value of controlled device current region；
Heating unit is loaded, for heating to controlled device current region；
Power ascension unit is electrically connected with heating power supply and load heating unit respectively, for controlling load heating power；
PID arithmetic unit is electrically connected with power ascension unit, defeated in a control period for converting PID arithmetic result to
Pulse duty factor out, and then control heating power output.
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