CN110209217B - Method for controlling temperature of steam box based on irregular period PID - Google Patents
Method for controlling temperature of steam box based on irregular period PID Download PDFInfo
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- 238000010411 cooking Methods 0.000 abstract description 6
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- 230000008859 change Effects 0.000 description 11
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- 238000010438 heat treatment Methods 0.000 description 3
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- 238000012369 In process control Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/04—Cooking-vessels for cooking food in steam; Devices for extracting fruit juice by means of steam ; Vacuum cooking vessels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/32—Time-controlled igniting mechanisms or alarm devices
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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
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
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Abstract
The invention discloses a control method of steam box temperature based on indefinite period PID, which comprises the following steps of obtaining the current temperature rin (k) of the steam box in the kth sampling period; determining a temperature deviation err (k) according to a preset target temperature rset and the current temperature rin (k); the output control quantity U (k) of the steam box heater is determined according to the temperature deviation err (k) and a position type PID algorithm, the output control quantity U (k) of the steam box heater is determined after the k-1 sampling period is completed, the steam box heater executes the output control quantity U (k) in the current sampling period, the output control quantity U (k) of the steam box heater is controlled by the aid of the uncertain period PID algorithm, the sampling period and the execution are asynchronously controlled, the working period of the heater is controlled, response speed of a system can be improved, accuracy of temperature control can be guaranteed, a differential distribution temperature field can be guaranteed to be established around cooking food materials while accuracy of the temperature is controlled, and accordingly cooking effect is further improved.
Description
Technical Field
The invention belongs to the technical field of electric steam box control methods, and particularly relates to a steam box temperature control method based on an indefinite-period PID.
Background
At present, in a control system with a requirement on temperature control precision, a PID algorithm is mainly adopted for temperature control, the PID algorithm is a PID controller which controls according to deviation proportion (P), integral (I) and differential (D) in process control, and an electronic device is particularly adopted for controlling a heater so as to establish a stable temperature field.
In a temperature control scene of practical application, a required temperature field is three-dimensional, various real-time conversion requirements are met on a heating surface of an object, the process is realized by circularly operating heaters at different positions and converting the heat energy direction, the traditional PID algorithm with a fixed control period is realized by overlapping the time of occupying the minimum opening by a plurality of directional heaters, and the mode can cause the response speed of the system to be too slow.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a control method of the steam box temperature based on the PID with an indefinite period.
The technical scheme of the invention is realized as follows:
the embodiment of the invention provides a method for controlling the temperature of a steam box based on a non-periodic PID, which comprises the following steps: acquiring the current temperature rin (k) of the steam box in the kth sampling period; determining a temperature deviation err (k) according to a preset target temperature rset and the current temperature rin (k); and determining an output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and a position type PID algorithm, and executing the output control quantity U (k) by the steam box heater in the current sampling period after determining that the execution of the (k-1) th sampling period is completed.
Preferably, the determining the output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and the position type PID algorithm further comprises ending the current sampling period after determining that the execution of the (k-1) th sampling period is not finished, and re-collecting and determining the output control quantity U (k +1) of the steam box heater in the (k +1) th sampling period.
Preferably, the steam box heater executes the output control amount u (K), specifically, a ratio Cp of the output control amount u (K) is determined according to the output control amount u (K) and a control coefficient K, the working period Tout is determined according to a ratio of a preset opening time Ton to a percentage of the ratio Cp, and the steam box heater executes the working period Tout.
Preferably, the determining the duty ratio Cp of the output control amount u (K) according to the output control amount u (K) and the control coefficient K further includes comparing the duty ratio Cp with a duty ratio threshold, and if the duty ratio Cp is greater than or equal to the duty ratio threshold, the determining is performed according to the duty ratio Cp being equal to the duty ratio threshold.
Preferably, the determining the duty cycle Tout according to a ratio of a preset opening duration Ton to a percentage of the occupation ratio Cp further includes comparing the duty cycle Tout with a preset longest duty cycle Tmax, and if the duty cycle Tout is greater than or equal to the longest duty cycle Tmax, executing the operation according to the duty cycle Tout being equal to the longest duty cycle Tmax.
Preferably, the position type PID algorithm specifically includes:
U(k)＝Kperr(k)+Ki∑err(k)+Kd(err(k)-err(k-1))；
wherein, U (k) represents the output control quantity of the steam box heater in the k sampling period; err (K) represents the temperature deviation of the K-th sampling period, err (K) rset-rin (K), rin (K) represents the current temperature of the steam box, rset represents the preset target temperature, KpDenotes the proportionality coefficient, KiDenotes the integration time constant, KdRepresenting the differential time constant.
Preferably, the determining the ratio Cp of the output control quantity u (K) according to the output control quantity u (K) and the control coefficient K specifically includes: and determining according to a formula Cp (U) (K) K, wherein Cp represents the occupation ratio, U (K) represents the output control quantity of the steam box heater in the K sampling period, and K represents a control coefficient.
Preferably, the determining the duty cycle Tout according to a ratio of a preset opening duration Ton to a percentage of the occupation ratio Cp is specifically as follows: the operation period of the steam box heater is determined according to the formula Tout which is Ton/Cp%, wherein Tout represents the working period of the steam box heater, Ton represents the preset opening time period of the steam box heater, and Cp% represents the percentage of occupation.
Preferably, the duty cycle Tout is the sum of a preset start time duration Ton and a preset close time duration.
Preferably, the steam box heater executes the work period Tout, specifically, the steam box controls the opening and closing of the steam box heater according to the preset starting time Ton and closing time so that the temperature of the steam box reaches the preset target temperature rset.
Compared with the prior art, the method adopts the non-periodic PID algorithm to control the output control quantity U (k) of the steam box heater, asynchronously controls the sampling period and the execution, determines the execution of the output control quantity of the kth sampling period according to the execution condition of the output control quantity of the kth sampling period to control the working period of the heater, can improve the response speed of the system and ensure the accuracy of temperature control, and can ensure that a differential distribution temperature field is established around the cooked food material while the accuracy of the temperature is controlled, thereby further improving the cooking effect.
Drawings
FIG. 1 is a flow chart of a method for controlling the temperature of a steam box based on an indefinite period PID according to an embodiment of the invention;
fig. 2 is a control graph of the control method of the steam box temperature based on the indefinite period PID according to embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a control method of steam box temperature based on indefinite period PID, as shown in figure 1, the method comprises the following steps:
step S1, acquiring the current temperature rin (k) of the steam box in the kth sampling period;
wherein one sampling period is typically 10 s.
Step S2, determining a temperature deviation err (k) according to a preset target temperature rset and the current temperature rin (k);
step S3, determining the output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and a position PID algorithm, and after determining that the execution of the k-1 th sampling period is completed, executing the output control quantity U (k) by the steam box heater in the current sampling period;
the position type PID algorithm specifically comprises the following steps:
U(k)＝Kperr(k)+Ki∑err(k)+Kd(err(k)-err(k-1))；
wherein U (k) represents the kth samplingThe output control quantity of the steam box heater in the sample period; err (K) represents the temperature deviation of the K-th sampling period, err (K) rset-rin (K), rin (K) represents the current temperature of the steam box, rset represents the preset target temperature, KpDenotes the proportionality coefficient, KiDenotes the integration time constant, KdRepresenting the differential time constant.
The steam box heater executes the output control quantity U (k), specifically,
step S31, determining the ratio Cp of the output control quantity U (K) according to the output control quantity U (K) and the control coefficient K;
specifically, the control method is determined according to the formula Cp ═ u (K) × K, where Cp represents the occupancy rate, u (K) represents the output control amount of the steam box heater in the kth sampling period, and K represents the control coefficient.
And then, comparing the occupation ratio Cp with an occupation ratio threshold, and executing the operation according to the occupation ratio Cp equal to the occupation ratio threshold if the occupation ratio Cp is greater than or equal to the occupation ratio threshold.
The duty ratio Cp is the ratio of the on-time of the heater to the working time, the percentage of the duty ratio Cp is taken, and the total working time of the steam box heater, namely the working period, can be obtained according to the preset on-time, so that the duty ratio Cp has an upper limit, and the duty ratio threshold is 100, namely the maximum 100% of the duty ratio Cp.
Step S32, determining the working period Tout according to the ratio of the preset opening duration Ton to the percentage of the occupation ratio Cp;
specifically, the operation is determined according to the formula Tout ═ Ton/Cp%, where Tout represents the operating period of the steamer heater, Ton represents the preset on-time period of the steamer heater, and Cp% represents the percentage of occupancy.
The duty cycle Tout is the sum of a preset start time duration Ton and a preset closing time duration, and the closing time duration is the difference between the duty cycle Tout and the preset start time duration Ton.
When the output control quantity U (k) is maximum, the work period Tout is shortest; when the output control amount u (k) approaches 0, the duty cycle Tout output is very long, and in order to stabilize the system and avoid the influence of too long duty cycle time on the response speed of the system, the longest duty cycle needs to be defined.
Therefore, in order to ensure the response speed of the system, the method further includes comparing the duty period Tout with a preset longest duty period Tmax, and if the duty period Tout is greater than or equal to the longest duty period Tmax, executing according to that the duty period Tout is equal to the longest duty period Tmax.
Wherein, the longest working period Tmax is generally 2-5 min.
In step S33, the steamer heater executes the duty cycle Tout.
The method specifically comprises the following steps: and the steam box controls the opening and closing of a steam box heater according to the preset starting time Ton and closing time so that the temperature of the steam box reaches a preset target temperature rset.
The steam box heater comprises a plurality of heaters, wherein the heaters usually comprise a top heater, a back heater and a bottom heater, the starting time of each heater is the preset starting time Ton, and the preset starting time Ton is determined according to the target temperature; according to the method, the closing time of the heater can be obtained, the closing time is executed after the preset opening time Ton of the heater at each position is controlled, so that the control precision of the temperature can be guaranteed while the response speed of the system is guaranteed, the change of the heating surface of food materials in the steam box is guaranteed, a differential distribution temperature field is established, and the target temperature and the cooking effect are achieved.
And in addition, determining the output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and a position type PID algorithm, and then, determining that the execution of the (k-1) th sampling period is not finished, ending the current sampling period, and re-collecting and determining the output control quantity U (k +1) of the steam box heater in the (k +1) th sampling period.
Therefore, asynchronous control is realized on execution of the sampling period and the output control quantity, the output control quantity U (k) in the kth sampling period is not directly output to the execution mechanism, the control quantity is used for driving the execution mechanism after the output control quantity U (k) in the kth sampling period is finished, and if the output control quantity U (k) in the kth sampling period is not finished, the output control quantity U (k) in the kth sampling period is discarded, namely, an asynchronous control mode is realized, the control precision of the temperature can be guaranteed, the change of the heating surface of food materials in the steam box is guaranteed, a differential distribution temperature field is established, and the target temperature and the cooking effect are achieved.
The method is suitable for a steam box, an oven, a steaming and baking integrated machine and the like.
Example 1
Step S1, acquiring the current temperature rin (k) of the steam box as 190 ℃ in the kth sampling period;
wherein one sampling period is typically 10 s.
Step S2, determining a temperature deviation err (k) according to a preset target temperature rset of 200 ℃ and the current temperature rin (k), where the temperature deviation err (k) rset-rin (k) is 10;
step S3, determining the output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and a position PID algorithm, and after determining that the execution of the k-1 th sampling period is completed, executing the output control quantity U (k) by the steam box heater in the current sampling period;
the position type PID algorithm specifically comprises the following steps:
U(k)＝Kperr(k)+Ki∑err(k)+Kd(err(k)-err(k-1))；
wherein, U (k) represents the output control quantity of the steam box heater in the k sampling period; err (K) represents the temperature deviation of the K-th sampling period, err (K) rset-rin (K), err (K-1) represents the temperature deviation of the last sampling period of the K-th sampling period, rin (K) represents the current temperature of the steam box, rset represents the preset target temperature, K represents the temperature of the steam box, and K represents the temperature of the steam boxpDenotes the proportionality coefficient, KiDenotes the integration time constant, KdRepresenting the differential time constant.
Wherein, when Kp＝0.5，Ki＝0.2，Kd0.3, through the kth sampling period (including the kth sampling period), the integral term is added to 10, err (k-1) 10, err (k) 10, and u (k) 7.
The steam box heater executes the output control quantity U (k), specifically,
step S31, determining the ratio Cp of the output control quantity U (K) according to the output control quantity U (K) and the control coefficient K;
specifically, the control method is determined according to the formula Cp ═ u (K) × K, where Cp represents the occupancy rate, u (K) represents the output control amount of the steam box heater in the kth sampling period, and K represents the control coefficient.
When the control coefficient K is 1, the occupancy ratio Cp 7 × 1 — 7< the occupancy threshold (100) is executed, and the occupancy percentage Cp% is 7%.
And then, comparing the occupation ratio Cp with an occupation ratio threshold, and executing the operation according to the occupation ratio Cp equal to the occupation ratio threshold if the occupation ratio Cp is greater than or equal to the occupation ratio threshold.
Step S32, determining the working period Tout according to the ratio of the preset opening duration Ton to the percentage of the occupation ratio Cp;
specifically, the operation is determined according to the formula Tout ═ Ton/Cp%, where Tout represents the operating period of the steamer heater, Ton represents the preset on-time period of the steamer heater, and Cp% represents the percentage of occupancy.
The preset opening duration Ton is 10 seconds, the working period Tout is 10/(7%) approximately equals to 142 seconds, namely the working period Tout is 142 seconds and is smaller than the longest working period Tmax (2-5 min), and the operation is performed according to the working period Tout of 142 seconds;
the duty cycle Tout is the sum of a preset start time duration Ton and a preset closing time duration, and the closing time duration is the difference between the duty cycle Tout and the preset start time duration Ton.
The off duration is the duty cycle Tout — the on duration Ton is 142-10 — 132, i.e., the off duration is 132 seconds.
In step S33, the steamer heater executes the duty cycle Tout.
The method specifically comprises the following steps: and the steam box controls the opening and closing of a steam box heater according to the preset starting time Ton and closing time so that the temperature of the steam box reaches a preset target temperature rset.
Referring to fig. 2, it can be seen from the graph that the abscissa is the time axis, the curve a is the variation curve of the occupancy percentage Cp%, the variation of the occupancy percentage Cp% is the main output control amount of the algorithm, the steam box is directly controlled to achieve the stabilization of the actual center temperature, at the beginning of the time axis, i.e., the beginning stage of the steam box temperature control, the output of the occupancy percentage Cp% is 100% due to the positive maximum value of the temperature deviation err (k), and when the temperature field of the steam box is stabilized, the occupancy percentage Cp% fluctuates in a stable range to maintain the target temperature rset.
Curve b is the proportional term KpThe curve of the variation process of err (k) at the beginning of the time axis, i.e. at the beginning of the temperature control of the steam box, because the temperature deviation err (k) is a positive maximum, the proportional term output has a large jump, and after the temperature field is stabilized, the temperature deviation err (k) tends to 0, and the proportional term output also tends to 0.
Curve c is the integral term KiThe variation process curve of sigma err (k) at the front part of the time axis, due to the short integration time, the output of the integral term tends to 0, after the temperature field is stabilized, the temperature deviation err (k) tends to 0, the integral term is not accumulated any more, and is maintained at a certain level to compensate the heat dissipation of the box body.
Curve d is the derivative term Kd(err (k) -err (k-1)) in the front of the time axis, the rate of change decreases faster in the front of the time axis due to the temperature deviation err (k), the output of the differential term has a large negative jump, and after the temperature field is stabilized, the rate of change tends to 0, and the output of the differential term also tends to 0.
The curve e is a curve of the change process of the current temperature rin (k) input by the sensor, the variable is the key input quantity of the change process, is the basis of all calculation processes, indirectly reflects the change process of the actual central temperature, and ideally coincides with the change curve f of the actual central temperature, but the change curve is different due to complex factors such as the installation position of the sensor and the like.
The curve f is the curve of the change process of the actual central temperature, the temperature change process is the index of the temperature control quality of the box body, and is the target of temperature control, and the actual cooking effect is influenced.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (8)
1. A control method of steam box temperature based on indefinite period PID is characterized in that the current temperature rin (k) of the steam box is obtained in the kth sampling period; determining a temperature deviation err (k) according to a preset target temperature rset and the current temperature rin (k); determining the output control quantity U (k) of the steam box heater according to the temperature deviation err (k) and a position type PID algorithm, finishing the current sampling period after determining that the execution of the (k-1) th sampling period is not finished, and re-collecting and determining the output control quantity U (k +1) of the steam box heater in the (k +1) th sampling period; if the fact that the execution of the (K-1) th sampling period is completed is determined, in the current sampling period, determining the occupation ratio Cp of the output control quantity U (K) according to the output control quantity U (K) and the control coefficient K, determining a working period Tout according to the ratio of the preset opening time duration Ton to the percentage of the occupation ratio Cp, and executing the working period Tout by the steam box heater.
2. The method as claimed in claim 1, wherein the ratio Cp of the output control quantity u (K) is determined according to the output control quantity u (K) and the control coefficient K, and the method further comprises comparing the ratio Cp with a ratio threshold, and if the ratio Cp is greater than or equal to the ratio threshold, the method is performed according to the ratio Cp being equal to the ratio threshold.
3. The method as claimed in claim 2, wherein said determining said duty period Tout according to the ratio of a preset on duration Ton to a percentage of said duty ratio Cp further comprises comparing said duty period Tout with a preset maximum duty period Tmax, and if said duty period Tout is greater than or equal to said maximum duty period Tmax, executing according to said duty period Tout being equal to said maximum duty period Tmax.
4. The method for controlling the temperature of the steam box based on the indefinite-period PID as claimed in claim 1, wherein the position PID algorithm is specifically as follows:
U(k)＝Kperr(k)+Ki∑err(k)+Kd(err(k)-err(k-1))；
wherein, U (k) represents the output control quantity of the steam box heater in the k sampling period; err (K) represents the temperature deviation of the K-th sampling period, err (K) rset-rin (K), rin (K) represents the current temperature of the steam box, rset represents the preset target temperature, KpDenotes the proportionality coefficient, KiDenotes the integration time constant, KdRepresenting the differential time constant.
5. The method for controlling the temperature of the steam box based on the indefinite-period PID as claimed in claim 4, wherein the ratio Cp of the output control quantity U (K) is determined according to the output control quantity U (K) and a control coefficient K, and specifically comprises: and determining according to a formula Cp (U) (K) K, wherein Cp represents the occupation ratio, U (K) represents the output control quantity of the steam box heater in the K sampling period, and K represents a control coefficient.
6. The method as claimed in claim 5, wherein the duty cycle Tout is determined according to the ratio of the preset opening duration Ton to the percentage of the fraction Cp, and specifically comprises: the operation period of the steam box heater is determined according to the formula Tout which is Ton/Cp%, wherein Tout represents the working period of the steam box heater, Ton represents the preset opening time period of the steam box heater, and Cp% represents the percentage of occupation.
7. The method as claimed in claim 6, wherein the duty period Tout is a sum of a preset start time Ton and a preset close time.
8. The method as claimed in claim 7, wherein the steam box heater performs the duty period Tout, and the steam box heater controls the on and off of the steam box heater according to the preset start duration Ton and the off duration to make the temperature of the steam box reach the preset target temperature rset.
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| CN112327715A (en) * | 2020-11-17 | 2021-02-05 | 长沙易爱餐饮管理有限公司 | Preheating method, electronic device and cooking method |
| CN113156806B (en) * | 2021-03-18 | 2024-03-22 | 广州埃克森生物科技有限公司 | Temperature control method, device, equipment and medium based on PID algorithm |
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| CN201145861Y (en) * | 2008-01-25 | 2008-11-05 | 孙吉华 | Solid dry type electro-heat thermostatic controller |
| CN103279157A (en) * | 2013-06-03 | 2013-09-04 | 北京空间飞行器总体设计部 | Temperature controlling method for satellite-borne rubidium clock temperature-control cabin |
| CN106060975A (en) * | 2016-05-31 | 2016-10-26 | 郑州治世长云科技有限公司 | Electric heating/drying oven heating control system and control method |
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