CN111059690B - Internal model decoupling control method and control system of variable air volume air conditioner - Google Patents
Internal model decoupling control method and control system of variable air volume air conditioner Download PDFInfo
- Publication number
- CN111059690B CN111059690B CN201911066586.0A CN201911066586A CN111059690B CN 111059690 B CN111059690 B CN 111059690B CN 201911066586 A CN201911066586 A CN 201911066586A CN 111059690 B CN111059690 B CN 111059690B
- Authority
- CN
- China
- Prior art keywords
- decoupling
- internal model
- model
- control
- variable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
- F24F11/32—Responding to malfunctions or emergencies
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
- F24F11/74—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/72—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure
- F24F11/74—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity
- F24F11/77—Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity by controlling the speed of ventilators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
- F24F11/83—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling the supply of heat-exchange fluids to heat-exchangers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/88—Electrical aspects, e.g. circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/10—Temperature
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Abstract
The invention belongs to the technical field of air conditioner control, and discloses an internal model decoupling control method and a control system of a variable air volume air conditioner, wherein a three-input three-output model with input quantity of air supply quantity, cold water supply flow quantity and fan rotating speed and output quantity of room temperature, air supply temperature and static pressure is established; constructing an internal model control structure; and constructing a decoupling network model, wherein the constructed decoupling network model is decoupled by adopting a multi-input multi-output internal model decoupling control method, and single-input single-output control of air supply volume-room temperature, chilled water flow-air supply temperature, fan rotating speed-static pressure is realized. The invention adopts internal model decoupling control to make the control loop with strong coupling: the coupling of air supply quantity-room temperature, chilled water temperature-air supply temperature and fan rotating speed-static pressure is weakened to be negligible, when any control quantity is changed, the influence caused by a coupling loop is negligible, and the overall stability and robustness of the variable air volume air conditioning system are improved.
Description
Technical Field
The invention belongs to the technical field of air conditioner control, and particularly relates to an internal model decoupling control method and a control system of a variable air volume air conditioner.
Background
Currently, the closest prior art:
variable Air Volume (VAV) has the advantages of comfort, energy saving, low noise, easy modification, etc., and thus has attracted attention in various fields such as civil and industrial use, and is widely used in various large intelligent buildings. Although the variable air volume air conditioner has the advantages, the VAV system is a multivariable system with strong coupling and time lag, which causes difficulty in accurate control of the variable air volume air conditioner system. When all the loops work together, the strong coupling among all the parameters makes the control system of the variable air volume air conditioner difficult to reach a stable state, so that the elimination or weakening of the strong coupling among all the loops of the variable air volume air conditioner becomes practical. The invention provides an internal model decoupling control strategy aiming at the strong coupling of the system, and the internal model decoupling control strategy is used for decoupling control of a related control loop, so that the stability and the robustness of the system can be improved.
Patent No. CN 101782261A discloses a nonlinear adaptive energy-saving control method for heating, ventilating and air conditioning, which solves the characteristics of nonlinearity and multivariable of an air conditioning system, but does not solve the characteristic of strong coupling between loops.
Patent No. CN 107355942 a discloses an indoor temperature and humidity control method for an air conditioner with variable air volume based on absolute humidity, which introduces absolute humidity for dew point dehumidification aiming at the coupling between relative humidity and temperature. But does not take into account room temperature, supply air temperature, and coupling between the hydrostatic circuits.
Patent number CN 106765863 a discloses a temperature and humidity control method for an air conditioner, and particularly relates to an intelligent temperature and humidity control method for a variable frequency air conditioner, wherein fuzzy control is adopted to adjust the air conditioner through monitoring temperature and humidity errors, but the intelligent control method is too complicated, the calculation amount is increased, and the method is not beneficial to quickly and simply controlling the system.
At present, the variable air volume air conditioning system is more and more applied to various large intelligent buildings, but the variable air volume air conditioning system has the characteristics of multivariable, strong coupling, uncertainty and the like, so that the control, operation and management of the variable air volume air conditioning system are more difficult than those of a constant air volume air conditioning system. When the system runs, the loops work simultaneously, the loops can affect and interfere with each other, and the whole system can be seriously oscillated. In order to make the system operate stably, the relevant loops are decoupled to eliminate the coupling between them, and in summary, the prior art has the problems that:
(1) the air-conditioning system with variable air volume in the prior art can not eliminate the coupling among room temperature, air supply temperature and static pressure control loops, so that the strong coupling instability of each loop influences the normal operation effect of the air conditioner.
(2) The prior art air-conditioning system with variable air volume is not combined with internal model control, so that the control system has poor robustness and dynamic performance in control.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an internal model decoupling control method and a control system of a variable air volume air conditioner.
The invention is realized in this way, an internal mold decoupling control method of the variable air volume air conditioner, the internal mold decoupling control method of the variable air volume air conditioner includes:
establishing a three-input three-output model with input quantity of air supply quantity, cold water supply quantity and fan rotating speed and output quantity of room temperature, air supply temperature and static pressure for related variables with high coupling degree in the variable air volume air conditioning system;
step two, constructing an internal model control structure through the established model, wherein the internal model control structure comprises: g(s) is an actual control object, Gm(s) is a mathematical model of a process object, C(s) is an internal model controller, the control quantity output of the internal model controller is Y(s), and R(s) and D(s) are input and interference signals of a control system respectively; d(s) is a bias feedback signal of the system process output Y(s) and the model output ym(s);
step three, in a decoupling link, constructing a decoupling network model by adopting a feedforward decoupling compensation method through an internal model control structure, wherein the decoupling network model comprises G11……G33As a master model of a variable air volume air conditioning system, C11……C33Function of both internal model controller and decoupling controller, Gm11……Gm33For object model estimation, D1(s)、D2(s)、D3(s) is a given value of the Lubang filter, F1(s)、F2(s)、F3(s) model mismatch lupont filter;
step four, the constructed decoupling network model is decoupled by adopting a multi-input multi-output internal model decoupling control method, and a feedforward series diagonal decoupling array is combined with an internal model matrix of the controller, so that the controller executes the calculation functions of a decoupling compensator and an internal model controller;
step five, recording Gm(s) ═ G-(s)G+(s),Gm+(s) is the part of the decoupled network model containing time lags and unstable zeros, Gm-(s) is the minimum phase portion of the decoupled network model;
and step six, the internal model decoupling control of the controller in the step five is contacted with the coupling of the three control loops, so that the single-input and single-output control of the air supply quantity, the room temperature, the chilled water flow, the air supply temperature and the fan rotating speed and static pressure is realized.
Further, before the operation of the step one, the following steps are required:
aiming at the coupling relations of different degrees among three input variables of air supply quantity, chilled water flow and fan rotating speed and three output variables of room temperature, air supply temperature and static pressure in a variable air quantity air conditioning system, the temperature control of each room is interfered by different degrees, the variable control system is changed into a single variable control system, and time lag adverse influence factors are eliminated.
Further, the model of three inputs and three outputs in the step one is:
further, in the second step, the system closed loop response is as follows:
the feedback signal is: d(s) ═ G(s) -Gm(s)]u(s)+D(s)。
Further, in the third step, the internal model controller is:
general selection
Where order n is used to ensure that C(s) can be achieved and λ is the filter time constant.
Further, in step three, the controller is expressed as:
the invention also aims to provide a terminal, which is provided with a controller for realizing the internal model decoupling control method of the variable air volume air conditioner.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the internal model decoupling control method of the variable air volume air conditioner.
The invention also aims to provide an internal model decoupling control system for realizing the internal model decoupling control method of the variable air volume air conditioner.
The invention also aims to provide the variable air volume air conditioner with the internal model decoupling control method for realizing the variable air volume air conditioner.
In summary, the advantages and positive effects of the invention are:
the internal model decoupling control for the variable air volume air conditioning system provided by the invention eliminates strong coupling among all loops, thereby improving the stability of the system, and the colleagues have the advantages of internal model control and enhance the robustness and dynamic and static performances of the system.
The invention adopts internal model decoupling control to make the control loop with strong coupling: the coupling of air supply quantity-room temperature, chilled water temperature-air supply temperature and fan rotating speed-static pressure is weakened to be negligible, when any control quantity is changed, the influence caused by a coupling loop is negligible, and the integral stability of the variable air quantity air conditioning system is improved.
Drawings
Fig. 1 is a flowchart of an internal model decoupling control method of a variable air volume air conditioner according to an embodiment of the present invention.
Fig. 2 is an internal model decoupling control system of the variable air volume air conditioner provided by the embodiment of the invention.
Fig. 3 is a structural diagram of an internal model control provided in an embodiment of the present invention.
Fig. 4 is a diagram of a specific model of decoupling provided by an embodiment of the present invention.
Fig. 5 is a diagram showing different degrees of coupling relationships between three input variables of air supply quantity, chilled water flow and fan rotation speed and three output variables of room temperature, air supply temperature and static pressure in the variable air volume air conditioning system according to the embodiment 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 further described in detail with reference to the following 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 air-conditioning system with variable air volume in the prior art can not eliminate the coupling among room temperature, air supply temperature and static pressure control loops, so that the strong coupling instability of each loop influences the normal operation effect of the air conditioner. The prior art air-conditioning system with variable air volume is not combined with internal model control, so that the control system has poor robustness and dynamic performance in control.
Aiming at the problems in the prior art, the invention provides an internal model decoupling control method and a control system of a variable air volume air conditioner, and the invention is described in detail with reference to the attached drawings.
As shown in fig. 1, the internal mold decoupling control method for the variable air volume air conditioner provided in the embodiment of the present invention includes:
s101: in the variable air volume air conditioning system, coupling relations of different degrees exist among three input variables of air supply volume, chilled water flow and fan rotating speed and three output variables of room temperature, air supply temperature and static pressure, the temperature control of each room can be interfered by different degrees, and the stability of the whole system can be influenced in serious cases. As shown in fig. 5.
S102: aiming at the situation that the phenomenon of serious coupling among systems is unfavorable for stable operation, a decoupling control method based on internal model control is provided, and by using the decoupling control method in the systems, a multi-variable control system is changed into a single-variable control system, meanwhile, the adverse effect caused by time lag is eliminated, the adjusting time is shortened, the overshoot is reduced, and the control precision is improved.
S103: firstly, aiming at the related variable with high coupling degree in the variable air volume air conditioning system, a three-input three-output model with input quantity of air supply quantity, cold water supply flow quantity and fan rotating speed and output quantity of room temperature, air supply temperature and static pressure is established.
S104: fig. 3 shows the structure of the internal model control, g(s) is the actual control object, gm(s) is the mathematical model of the process object, c(s) is the internal model controller, the control quantity output of the internal model controller is y(s), and r(s) and d(s) are the input and interference signals of the control system, respectively. d(s) is the bias feedback signal of the system process output Y(s) and the model output ym(s).
S105: the decoupling link adopts a feedforward decoupling method, the feedforward decoupling compensation method is to design a decoupling network by using an invariance principle, a specific model of decoupling is shown in figure 4, and G in the figure11……G33As a master model of a variable air volume air conditioning system, C11……C33Function of both internal model controller and decoupling controller, Gm11……Gm33For object model estimation, D1(s)、D2(s)、D3(s) is a given value of the Lubang filter, F1(s)、F2(s)、F3(s) model mismatch Lupont filter.
S106: the core idea of adopting the multi-input multi-output internal model decoupling control is as follows: the feedforward series diagonal decoupling matrix is combined with the internal model matrix of the controller, so that the controller can play the roles of a decoupling compensator and an internal model controller, rather than adding a decoupling compensator to the internal model controller, and complex simplifying calculation of inverse transfer functions in solving is avoided.
S107: g (G) is used as the symbol gm(s)-(s)G+(s),Gm+(s) is the part of the model containing time lag and unstable zero, Gm-(s) is the minimum phase part of the model.
S108: through the internal model decoupling control of the controller, the single input and single output control of air supply quantity-room temperature, chilled water flow-air supply temperature and fan rotating speed-static pressure is realized by contacting the coupling of the three control loops.
The three-input three-output model in step S103 is:
in step S104, the system closed loop response is:
the feedback signal is: d(s) ═ G(s) -Gm(s)]u(s)+D(s)。
In step S107, the internal model controller is defined as:
general selection
Where the order n should be large enough to ensure that c(s) can be achieved, λ is the filter time constant and is the only design parameter of the internal model controller.
The controller can be expressed as:
as shown in fig. 2, an embodiment of the present invention provides an internal mold decoupling control system for a variable air volume air conditioner.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An internal model decoupling control method of a variable air volume air conditioner is characterized by comprising the following steps:
establishing a three-input three-output model with input quantity of air supply quantity, cold water supply quantity and fan rotating speed and output quantity of room temperature, air supply temperature and static pressure for related variables with high coupling degree in the variable air volume air conditioning system;
step two, constructing an internal model control structure through the established model, wherein the internal model control structure comprises: g(s) is an actual control object, Gm(s) is a mathematical model of a process object, C(s) is an internal model controller, the control quantity output of the internal model controller is Y(s), and R(s) and D(s) are input and interference signals of a control system respectively; d(s) is a deviation feedback signal of the control quantity output Y(s) of the internal model controller and the model output ym(s);
step three, in a decoupling link, constructing a decoupling network model by adopting a feedforward decoupling compensation method through an internal model control structure, wherein the decoupling network model comprises G11……G33As a master model of a variable air volume air conditioning system, C11……C33Function of both internal model controller and decoupling controller, Gm11……Gm33For object model estimation, D1(s)、D2(s)、D3(s) is a given value of the Lubang filter, F1(s)、F2(s)、F3(s) model mismatch lupont filter;
step four, the constructed decoupling network model is decoupled by adopting a multi-input multi-output internal model decoupling control method, and a feedforward series diagonal decoupling array is combined with an internal model matrix of the controller, so that the controller executes the calculation functions of the decoupling controller and the internal model controller;
step five, recording Gm(s) ═ Gm-(s)Gm+(s),Gm+(s) is the part of the decoupled network model containing time lags and unstable zeros, Gm-(s) is the minimum phase portion of the decoupled network model;
step six, decoupling control is carried out through an internal model of the controller, the coupling of a three-control loop is removed, and single-input and single-output control of air supply quantity, room temperature, chilled water flow, air supply temperature and fan rotating speed and static pressure is realized;
before the operation of the first step, the following steps are required:
aiming at the coupling relations of different degrees among three input variables of air supply quantity, chilled water flow and fan rotating speed and three output variables of room temperature, air supply temperature and static pressure in a variable air quantity air conditioning system, the temperature control of each room is interfered by different degrees, the variable control system is changed into a single variable control system, and time lag adverse influence factors are eliminated.
2. The internal model decoupling control method of the variable air volume air conditioner according to claim 1, characterized in that the model with three inputs and three outputs in the step one is:
3. a terminal is characterized in that the terminal is provided with a controller for realizing the internal model decoupling control method of the variable air volume air conditioner as claimed in any one of claims 1-2.
4. A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the internal model decoupling control method of a variable air volume air conditioner as claimed in any one of claims 1-2.
5. An internal model decoupling control system of a variable air volume air conditioner for realizing the internal model decoupling control method of the variable air volume air conditioner as claimed in any one of claims 1-2.
6. An air volume variable air conditioner for realizing the internal model decoupling control method of the air volume variable air conditioner as claimed in any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911066586.0A CN111059690B (en) | 2019-11-04 | 2019-11-04 | Internal model decoupling control method and control system of variable air volume air conditioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911066586.0A CN111059690B (en) | 2019-11-04 | 2019-11-04 | Internal model decoupling control method and control system of variable air volume air conditioner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111059690A CN111059690A (en) | 2020-04-24 |
| CN111059690B true CN111059690B (en) | 2021-03-19 |
Family
ID=70298483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911066586.0A Active CN111059690B (en) | 2019-11-04 | 2019-11-04 | Internal model decoupling control method and control system of variable air volume air conditioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111059690B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113685971A (en) * | 2021-08-02 | 2021-11-23 | 吉林建筑大学 | Constant-temperature heat supply automatic control circulation dynamic balance control system and method and data processing terminal |
| CN115773569B (en) * | 2023-02-10 | 2023-05-02 | 中国海洋大学 | Wind quantity control method for ocean platform ventilation system based on active disturbance rejection decoupling |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100461036C (en) * | 2005-12-29 | 2009-02-11 | 上海交通大学 | Resolution design method of decoupling controller of multivariable time delay system |
| US9104211B2 (en) * | 2010-11-19 | 2015-08-11 | Google Inc. | Temperature controller with model-based time to target calculation and display |
| CN102419550A (en) * | 2011-11-16 | 2012-04-18 | 靳其兵 | Internal-module controller, internal-module control system and internal-module control method of multivariable system |
| CN106152431A (en) * | 2015-04-22 | 2016-11-23 | 四川旅游学院 | Central air-conditioning adaptive PID Control |
-
2019
- 2019-11-04 CN CN201911066586.0A patent/CN111059690B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111059690A (en) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Low-complexity tracking control of strict-feedback systems with unknown control directions | |
| Chang et al. | Observer-based adaptive finite-time tracking control for a class of switched nonlinear systems with unmodeled dynamics | |
| CN111059690B (en) | Internal model decoupling control method and control system of variable air volume air conditioner | |
| US10352576B2 (en) | Extremum-seeking control system for a chilled water plant | |
| Tsao | Optimal feed-forward digital tracking controller design | |
| WO2009012282A2 (en) | Extremum seeking control with reset control | |
| US20160084514A1 (en) | Extremum-seeking control for airside economizers | |
| Wang et al. | Fully distributed low-complexity control for nonlinear strict-feedback multiagent systems with unknown dead-zone inputs | |
| CN109283958A (en) | The enthalpy difference temperature and humidity decoupling control method of Adaptive Fuzzy PID decoupling control | |
| WO2009012269A2 (en) | Extremum seeking control with actuator saturation control | |
| CN112462599A (en) | High-performance PID control parameter setting method, device and system | |
| Xu et al. | Event-trigger-based adaptive fuzzy hierarchical sliding mode control of uncertain under-actuated switched nonlinear systems | |
| CN103838139A (en) | PID control method with integral saturation and pretreatment functions | |
| Yao et al. | Event-triggered fixed-time adaptive neural tracking control for stochastic non-triangular structure nonlinear systems | |
| Bortoff et al. | H-infinity loop-shaped model predictive control with heat pump application | |
| CN107505834A (en) | A kind of design method of fractional order pi controller | |
| CN112628958A (en) | Air conditioner control method and air conditioner | |
| CN112650055B (en) | High-performance double-rate cascade PID control method, device and system | |
| Su et al. | Observer-Based adaptive fuzzy fault-tolerant control for nonlinear systems using small-gain approach | |
| Aldemir | PID controller tuning based on phase margin (PM) for wireless temperature control | |
| CN111381494A (en) | Air conditioner temperature control system based on pole allocation and control method thereof | |
| CN113608437A (en) | Optimal control research method of network control system with packet loss and multiple time lags | |
| Zhou et al. | Continuous adaptive integral recursive terminal sliding mode control for DC motors | |
| CN110865535A (en) | Novel mutual coupling PD cooperative control theory method | |
| Jing et al. | Optimal Sliding-mode Control Scheme for the Position Tracking Servo System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |