CN109947147A - A kind of difference sample temperature control method of heating system - Google Patents
A kind of difference sample temperature control method of heating system Download PDFInfo
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- CN109947147A CN109947147A CN201910203617.6A CN201910203617A CN109947147A CN 109947147 A CN109947147 A CN 109947147A CN 201910203617 A CN201910203617 A CN 201910203617A CN 109947147 A CN109947147 A CN 109947147A
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Abstract
The present invention provides a kind of difference sample temperature control method of heating system, the temperature of acquisition control target and it is sent to controller first；Then temperature buffer queue is opened up in controller memory space, and the temperature sampled every time is placed in temperature buffer queue tail end, temperature buffer queue is updated in a manner of first in first out；Again the temperature in temperature buffer queue is subtracted each other to obtain temperature feedback error with target temperature, the error input variable as PID controller；Error rate input variable by the temperature changing speed of sampling front and back, as PID controller；The temperature of heating system is controlled by the PID controller.The present invention is directed to the temperature control system of slow change procedure, different sample frequencys are taken from error rate to the error in feedback element, the sampling period of error rate is set as to the several times in error sampling period, enhance the differential effect of pid algorithm, it is suppressed that the actuator of temperature control system shakes.
Description
Technical field
The present invention relates to technical field of industrial control, more particularly to a kind of difference sample temperature controlling party of heating system
Method.
Background technique
Currently, existing temperature control technology is all based on the concept of feedback.The element of feedback theory includes three parts:
It measures, compare and executes.The variable being concerned about is measured, compared with desired value, with the sound of this error correction regulation and control system
It answers.The variation of error embodies the speed of object variations trend twice before and after simultaneously, has prediction effect in pid control algorithm,
Have the effect of improving response speed and disturbance suppression simultaneously.
However, sample rate can reach a millisecond rank in modern digital system, although high sample frequency improves sound
Speed is answered, the variation tendency of error may but be ignored, so that the differentiation element in pid control algorithm be made to fail.
The differentiation element of pid control algorithm fails, and is to cause since the sample frequency of heating system is exceedingly fast in pid algorithm
In period, the difference of temperature is too small twice, and being subsequently can by computer device is about zero.The output of traditional PID control algorithm is as follows:
Each character definition is as follows in above formula:
K is positive integer, since e (k)-e (k-1) is approximately equal to zero, thus loses control effect.
So that the temperature difference is become larger if increasing the sampling interval merely, the adjustment period of whole system can be enabled to increase, when the temperature for having environment
When degree disturbance occurs, can not timely it respond and with output concussion.
Summary of the invention
The technical problem to be solved by the present invention is how to avoid PID control in quick sampling system when heating system samples
The differentiation element of algorithm fails.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of difference sample temperatures of heating system
Control method, which comprises the steps of:
Step 1: temperature sampling；
The temperature of acquisition control target, and the temperature of the control target is sent to master controller；
Step 2: the temperature of sampling is stored in temperature buffer queue；
Temperature buffer queue is opened up in master controller memory space, and the temperature sampled every time is placed in temperature caching team
Column tail end updates temperature buffer queue in a manner of first in first out；
Step 3: error amount record；
Temperature in temperature buffer queue is subtracted each other to obtain temperature feedback error with target temperature, the temperature feedback is missed
Error input variable of the difference as PID controller；
Step 4: error rate record；
Present sample temperature and first element in temperature buffer queue are subtracted each other, the temperature change of sampling front and back is obtained
Speed, using the temperature changing speed as the error rate input variable of PID controller；Pass through the PID controller control
The temperature of heating system processed.
Preferably, in the step 1, the temperature of the control target is sampled by thermocouple.
It is highly preferred that the thermal energy of the thermocouple acquisition changes the size of electric current by digital circuit, it is converted to digital letter
Number it is output to controller, obtains actual temperature.
Preferably, at the end of each sampling period, all elements in the temperature buffer queue are moved forward one, first
Bit element is given up, and present sample temperature is put into last position of temperature buffer queue.
The difference sample temperature control method of heating system provided by the invention controls system for the temperature of slow change procedure
System, takes different sample frequencys from error rate to the error in feedback element, the sampling period of error rate is set
It is set to the several times in error sampling period, enhances the differential effect of pid algorithm, it is suppressed that the actuator of temperature control system shakes
It swings.
Detailed description of the invention
Fig. 1 is the difference sample temperature control method flow chart of heating system provided in this embodiment；
Fig. 2 is temperature buffer queue update mode figure.
Specific embodiment
Present invention will be further explained below with reference to specific examples.
The sampling period of the error rate of heating system is set as the several times in error sampling period by the present invention.Make tradition
Pid control algorithm is modified as following result:
Each character definition is as follows in above formula:
In above formula, temperature change difference becomes the difference of this sampling gained temperature and preceding n times temperature, and k, n are positive integer.
In algorithm landing, by creating temperature buffer queue, the sample temperature of nearly n times is recorded, is traded space for time
Mode keep high-speed sampling frequency, obtain the apparent temperature difference of difference so that the differential action is effective.
Fig. 1 is the difference sample temperature control method flow chart of heating system provided in this embodiment, the heating system
The difference sample temperature control method of system includes the following steps:
Step 1: temperature sampling；
The temperature of control target is sampled by thermocouple, and thermal energy is changed size of current by digital circuit, is converted to number
Signal is output to master controller, obtains actual temperature.
Step 2: the temperature of sampling is stored in temperature buffer queue；
Temperature buffer queue is opened up in master controller memory space, and the temperature obtained every time is placed in temperature caching team
Column tail end updates temperature buffer queue in a manner of first in first out.
Step 3: error amount record；
Temperature in temperature buffer queue is subtracted each other to obtain temperature feedback error with target temperature, the temperature feedback is missed
Error input variable of the difference as PID controller.
Step 4: error rate record；
This sample temperature and first element in temperature buffer queue are subtracted each other, the temperature change of sampling front and back is obtained
Speed, using the temperature changing speed as the error rate input variable of PID controller.Pass through the PID controller control
The temperature of heating system processed.
The implementation of difference sample temperature control method of the invention is mainly reflected in the creation of buffering queue, updates and answer
With.
If system is set as 50ms to the sampling interval of temperature, the sampling interval of temperature gap is set as 2s, need to be in software code
Middle creation length is 40 temperature buffer queue, and is initialized as zero.Twice the difference of temperature error by this sample temperature with
The temperature of first element in temperature buffer queue, i.e., preceding 2s is subtracted each other and is obtained.At the end of each sampling period, temperature is cached
All elements in queue move forward one, and the first bit element is given up, and present sample temperature is put into last position of temperature buffer queue,
As shown in Fig. 2, in Fig. 2, Temp (i), i=1,2,3 ... indicate the actual temperature that i-th measurement target obtains.Due to queue
N actual temperature value is only stored, temperature of every measurement will all be given up the first bit element and be put obtained temperature value is newly measured
Enter last position.
Two parts can be divided into using the whole flow process of the system of the method for the present invention: offline to be arranged and in line computation.
For offline setting unit: setting pid parameter K firstp,Ki,Kd, it is usually arranged as 1,0.5,0.5, can be passed through
Observation control effect modifies parameter to achieve the effect that optimization.Initializing buffering queue TempBuffer [n] is zero,
Tempbuffer [1]=Tempbuffer [2]=Tempbuffer [3]=...=Tempbuffer [n]=0 indicates initial
Target temperature is the occurrence that 0, n is setting, such as 40.The set temperature value of target is set, and final control effect is target temperature
This set temperature can be stabilized to.
For online calculating section: starting the cycle over sampling and calculate, in each cycle performance objective temperature sampling, control amount
It calculates, update the operation of three step of buffering queue.Target temperature is obtained by temperature sensor first to obtain by it compared with setting value
To temperature error values e (k).According to formulaCalculate output valve u
(k), k indicates cycle-index, is positive integer, and heater is arrived in output control amount u (k), and circulation next time is waited to start.
The above, only presently preferred embodiments of the present invention, not to the present invention in any form with substantial limitation,
It should be pointed out that under the premise of not departing from the method for the present invention, can also be made for those skilled in the art
Several improvement and supplement, these are improved and supplement also should be regarded as protection scope of the present invention.All those skilled in the art,
Without departing from the spirit and scope of the present invention, when made using disclosed above technology contents it is a little more
Dynamic, modification and the equivalent variations developed, are equivalent embodiment of the invention；Meanwhile all substantial technologicals pair according to the present invention
The variation, modification and evolution of any equivalent variations made by above-described embodiment, still fall within the range of technical solution of the present invention
It is interior.
Claims (5)
1. a kind of difference sample temperature control method of heating system, which comprises the steps of:
Step 1: temperature sampling；
The temperature of acquisition control target, and the temperature of the control target is sent to master controller；
Step 2: the temperature of sampling is stored in temperature buffer queue；
Temperature buffer queue is opened up in master controller memory space, and the temperature sampled every time is placed in temperature buffer queue tail
End, updates temperature buffer queue in a manner of first in first out；
Step 3: error amount record；
Temperature in temperature buffer queue is subtracted each other to obtain temperature feedback error with target temperature, the temperature feedback error is made
For the error input variable of PID controller；
Step 4: error rate record；
Present sample temperature and first element in temperature buffer queue are subtracted each other, the temperature change speed of sampling front and back is obtained
Degree, using the temperature changing speed as the error rate input variable of PID controller；It is controlled by the PID controller
The temperature of heating system.
2. a kind of difference sample temperature control method of heating system as described in claim 1, it is characterised in that: the step
In 1, the temperature of the control target is sampled by thermocouple.
3. a kind of difference sample temperature control method of heating system as claimed in claim 2, it is characterised in that: the thermoelectricity
The thermal energy occasionally acquired changes the size of electric current by digital circuit, is converted to digital signal and is output to controller, obtains practical temperature
Degree.
4. a kind of difference sample temperature control method of heating system as described in claim 1, it is characterised in that: each sampling
When end cycle, all elements in the temperature buffer queue are moved forward one, the first bit element is given up, present sample temperature
It is put into last position of temperature buffer queue.
5. a kind of difference sample temperature control method of heating system as described in claim 1, it is characterised in that: controlled to PID
Error in device feedback element processed takes different sample frequencys from error rate, and the sampling period of error rate is set
It is more times of the error sampling period, to enhance the differential effect of PID controller.
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| CN113848901A (en) * | 2021-09-23 | 2021-12-28 | 湖南三一中益机械有限公司 | Control method and control system of electric milling machine and electric milling machine |
| CN113970384A (en) * | 2021-10-22 | 2022-01-25 | 山信软件股份有限公司 | Temperature change trend alarm method and system |
| CN115437421A (en) * | 2022-09-08 | 2022-12-06 | 烟台东德实业有限公司 | Temperature feedforward control method based on PLC and application thereof |
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