CN112305907A - Self-adaptive PID temperature control method, device and equipment - Google Patents
Self-adaptive PID temperature control method, device and equipment Download PDFInfo
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- CN112305907A CN112305907A CN202010985319.XA CN202010985319A CN112305907A CN 112305907 A CN112305907 A CN 112305907A CN 202010985319 A CN202010985319 A CN 202010985319A CN 112305907 A CN112305907 A CN 112305907A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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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
Abstract
The embodiment of the invention discloses a self-adaptive PID temperature control method, a device and equipment, wherein the method comprises the following steps: determining a temperature rise curve of a controlled object of the temperature control system according to a step disturbance experiment result; calculating the slope of the interval between the adjacent working points in the temperature rise curve according to the set working points; setting the PID parameter according to the interval; when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameter is adjusted according to the following rule: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient. The overshoot phenomenon generated in different stages of temperature rise is avoided, the adjusting time can be effectively shortened, and the purpose of quick adjustment is achieved.
Description
Technical Field
The invention relates to the technical field of network public sentiment, in particular to a self-adaptive PID temperature control method, device and equipment.
Background
In process control, a PID controller (also called PID regulator) that controls according to the proportion (P), integral (I) and derivative (D) of the deviation is one of the most widely used automatic controllers. The method has the advantages of simple principle, easy realization, wide application range, mutually independent control parameters, simpler parameter selection and the like; furthermore, it can be theoretically demonstrated that a PID controller is an optimal control for the control objects of the typical objects of process control, namely "first order lag + pure lag" and "second order lag + pure lag".
The temperature is an important parameter influencing the technological process in the control process, so that the temperature needs to be accurately controlled, and the heat preservation process needs to be accurately controlled and the temperature rise and temperature reduction process needs to be accurately controlled in many times.
In the process of implementing the invention, the inventor finds the following technical problems: at present, for temperature control objects with strong nonlinear characteristics, such as thermostats and the like, the control effects of the temperature control objects at different working points are greatly different, and particularly when the power of a heating film or a heating sheet is high, the overshoot of the system working at medium and low temperatures is large, and the system working at high temperatures cannot reach a set value.
Disclosure of Invention
The embodiment of the invention provides a self-adaptive PID temperature control method, a device and equipment, which aim to solve the technical problem of poor PID temperature control effect in the prior art.
In a first aspect, an embodiment of the present invention provides an adaptive PID temperature control method, including:
determining a temperature rise curve of a controlled object of the temperature control system according to a step disturbance experiment result;
calculating the slope of the interval between the adjacent working points in the temperature rise curve according to the set working points;
setting the PID parameter according to the interval;
when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameter is adjusted according to the following rule: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
Further, after calculating the slope of the interval between the adjacent operating points, before setting the PID parameter according to the interval, the method further includes:
and carrying out interval combination on the intervals according to the slope of each interval.
Further, the performing interval combination on the segments according to the slope of each segment includes:
and carrying out interval combination according to the slope change rate of adjacent intervals.
Further, the performing interval combination on the segment sections according to the slope of each segment section further includes:
and determining the slope of the combined interval according to the initial working point and the final working point of the combined interval.
Further, the method further comprises:
and moving the temperature rise curve upwards according to a set value.
Further, the method further comprises:
and correcting the expected temperature value according to the feedback temperature so as to adjust the expected temperature value according to the actual temperature.
Further, the correcting the desired temperature value according to the feedback temperature includes:
when the actual temperature > is the desired temperature set value, the actual temperature set value is the temperature set value;
and when the actual temperature is lower than the expected temperature set value, the actual temperature set value is equal to the actual temperature, the current actual temperature set value is judged to belong to an interval in a temperature set value curve, the product of the fixed step length and the slope of the interval is calculated according to the preset fixed step length, and the product is superposed on the actual temperature set value until the actual temperature set value is equal to the expected temperature set value.
In a second aspect, an embodiment of the present invention further provides an adaptive PID temperature control apparatus, including:
the determining module is used for determining a temperature rise curve of a controlled object of the temperature control system according to the step disturbance experiment result;
the calculation module is used for calculating the slope of the section between the adjacent working points in the temperature rise curve according to the set working points;
the setting module is used for setting the PID parameters according to the interval;
the adjusting module is used for adjusting the PID parameters according to the following rule when the actual temperature is switched from the m-th interval to the m +1 interval: (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are proportional coefficients of PIDs in the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
Further, the apparatus further comprises:
and the merging module is used for carrying out interval merging on the intervals according to the slope of each interval.
Further, the merging module is configured to:
and carrying out interval combination according to the slope change rate of adjacent intervals.
Further, the merging module further includes:
and the determining unit is used for determining the slope of the combined interval according to the initial working point and the final working point of the combined interval.
Further, the apparatus further comprises:
and the upward moving module is used for moving the temperature rise curve upward according to a set value.
Further, the apparatus further comprises:
and the adjusting module is used for correcting the expected temperature value according to the feedback temperature so as to adjust the expected temperature value according to the actual temperature.
Further, the adjusting module is configured to:
when the actual temperature > is the desired temperature set value, the actual temperature set value is the temperature set value;
and when the actual temperature is lower than the expected temperature set value, the actual temperature set value is equal to the actual temperature, the current actual temperature set value is judged to belong to an interval in a temperature set value curve, the product of the fixed step length and the slope of the interval is calculated according to the preset fixed step length, and the product is superposed on the actual temperature set value until the actual temperature set value is equal to the expected temperature set value.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, cause the one or more programs to
According to the self-adaptive PID temperature control method, the device and the equipment provided by the embodiment of the invention, the temperature rise curve of the controlled object of the temperature control system is determined through a step disturbance experiment in advance, the slope of the section between different working points is determined according to the temperature rise curve, and the PID parameter is adjusted according to the slope. The PID parameter can be adjusted according to the temperature rise characteristics of the controlled object at different stages, and the temperature rise characteristics of the controlled object are better met. And meanwhile, when the actual temperature rise is in interval transition, adjusting the parameters according to the slope between intervals and the variation of unit time. The PID parameter can be flexibly adjusted according to different stages of temperature rise, the overshoot phenomenon generated in different stages of temperature rise is avoided, meanwhile, the adjusting time can be effectively reduced, and the purpose of quick adjustment is achieved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 is a schematic flow chart of an adaptive PID temperature control method according to an embodiment of the invention;
fig. 2 is a schematic diagram of a temperature rise curve of a controlled object in the adaptive PID temperature control method according to the first embodiment of the present invention;
FIG. 3 is a schematic flow chart of an adaptive PID temperature control method according to a second embodiment of the invention;
FIG. 4 is a schematic flow chart of an adaptive PID temperature control method according to a third embodiment of the invention;
FIG. 5 is a schematic structural diagram of an adaptive PID temperature control apparatus according to a fourth embodiment of the invention;
fig. 6 is a schematic structural diagram of an apparatus provided in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of a method for providing adaptive PID temperature control according to an embodiment of the present invention, which is applicable to the case of adaptively adjusting PID during temperature control, and the method can be executed by an adaptive PID temperature control device. The method specifically comprises the following steps:
and S110, determining a temperature rise curve of the controlled object of the temperature control system according to the step disturbance experiment result.
Due to different temperature control objects, the control effect has great difference at different working points. Since the difference is determined by the characteristics of the temperature control target itself, it is necessary to determine the temperature rise curve of the controlled target when PID control is performed. Illustratively, the temperature rise curve of the controlled object of the temperature control system is determined by using the measurement result. Meanwhile, because a step disturbance phenomenon exists, the step disturbance is the most common disturbance and has the largest influence, and therefore the temperature rise curve of the controlled object of the temperature control system is determined by adopting a step disturbance experimental result. Fig. 2 is a schematic diagram of a temperature rise curve of a controlled object in the PID-adaptive temperature control method according to an embodiment of the present invention. Referring to fig. 2, the temperature rise is plotted in an XY coordinate system, with the X-axis representing time(s) and the Y-axis representing the corresponding temperature value (c).
And S120, calculating the slope of the section between the adjacent working points in the temperature rise curve according to the set working points.
For example, the operating point may be set according to actual operating requirements. For example, the set operating point may be 30 ℃, 50 ℃, 60 ℃ and 70 ℃ for the controlled object. Then, the slopes of the sections between the adjacent operating points are respectively calculated. For example, the slope of the corresponding segment may be calculated based on the coordinate locations of the adjacent operating points.
S130, setting the PID parameters according to the interval.
And PID setting, namely PID parameter setting. In the PID controller, P, I, D three parameters are set. In this embodiment, the PID tuning may tune a PID parameter for each block section. For example, the PID parameter of each segment may be adjusted by a Z-N parameter adjustment method. By setting the PID parameters through the divided sections, the PID parameters can be respectively set for the divided sections. So that the PID parameters can be more suitable for different temperature intervals of the controlled object. The overshoot phenomenon is reduced, and the adjusting time can be effectively reduced.
S140, when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameters are adjusted according to the following rules: (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID in the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
Although the above method can reduce overshoot phenomenon and adjusting time in the interval, when the interval changes, due to different temperature rise characteristics between the intervals, if the PID parameter is suddenly changed into the setting PID parameter of the next interval during interval switching, the overshoot phenomenon is easily generated. Therefore, in the present embodiment, the adjusted PID parameter needs to be adjusted at the time of section switching. Correspondingly, the PID parameters to be adjusted include: proportional, integral and derivative. Illustratively, the adjustment may be as follows: the parameters are adjusted as follows: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient. By using the variation of the unit time in the temperature control system, the corresponding parameter can be calculated and obtained when the interval is changed according to the difference value of the two intervals. The coefficients may be set empirically.
In the embodiment, a temperature rise curve of a controlled object of a temperature control system is determined through a step disturbance experiment in advance, the slope of a section between different working points is determined according to the temperature rise curve, and a PID parameter is set according to the slope. The PID parameter can be adjusted according to the temperature rise characteristics of the controlled object at different stages, and the temperature rise characteristics of the controlled object are better met. And meanwhile, when the actual temperature rise is in interval transition, adjusting the parameters according to the slope between intervals and the variation of unit time. The PID parameter can be flexibly adjusted according to different stages of temperature rise, the overshoot phenomenon generated in different stages of temperature rise is avoided, meanwhile, the adjusting time can be effectively reduced, and the purpose of quick adjustment is achieved.
In a preferred implementation of this embodiment, the method further includes: and moving the temperature rise curve upwards according to a set value. In the process of implementing the invention, the inventor discovers through long-term observation that: since most controllers adopt the PWM pulse mode for control adjustment, if the adjustment is carried out according to the temperature rise curve, the situation of adjustment lag can actually exist, namely, the adjustment is still carried out according to the narrow pulse mode, so that the situation of adjustment lag occurs. Therefore, in this embodiment, the temperature rise curve is raised, so that the temperature rise curve is convenient for pulse adjustment. So that the regulated controlled object reaches the corresponding desired temperature value as soon as possible.
Example two
Fig. 3 is a schematic flow chart of a self-adaptive PID temperature control method according to a second embodiment of the present invention. In this embodiment, after calculating the slope of the interval between the adjacent operating points and before setting the PID parameter according to the interval, the following steps may be added: and carrying out interval combination on the intervals according to the slope of each interval.
Correspondingly, the adaptive PID temperature control method provided in this embodiment specifically includes:
and S210, determining a temperature rise curve of the controlled object of the temperature control system according to the step disturbance experiment result.
S220, calculating the slope of the section between the adjacent working points in the temperature rise curve according to the set working points.
And S230, carrying out interval combination on the intervals according to the slope of each interval.
As can be seen from fig. 2, the variation of the controlled object between different temperature intervals is large. In some intervals, the variation is closer to linear variation, and in some intervals, the variation is closer to power function. If the number of the intervals set according to the working points is large, not only multiple times of calculation are needed in the interval switching process, but also the overshoot phenomenon is more easily generated due to the need of control according to new PID parameters. Therefore, in this embodiment, the intervals may be combined according to the slope of each interval, so as to reduce the number of intervals, thereby achieving the purpose of reducing the overshoot phenomenon.
For example, the performing interval combination on the segments according to the slopes of the segments may include: and carrying out interval combination according to the slope change rate of adjacent intervals. Optionally, a change rate threshold may be preset, the slope change rate of adjacent intervals is compared with the change rate threshold, and when the change rate is smaller than the change rate threshold, interval combination may be performed according to the slope change rate of adjacent intervals.
Illustratively, the threshold δ is set to 0.2, and the adjacent slope change rate is calculated from (kn-kn-1)/kn-1, where k is the slope. The slope change rates of the corresponding intervals are respectively 0.15, 0.41, 0.37 and 0.38, then the temperature of 0-30 ℃ and the temperature of 30-50 ℃ can be combined, and the rest can not be combined.
Correspondingly, the slope of the merged interval is determined according to the initial working point and the final working point of the merged interval. I.e. the slope after the corresponding combination is: k is Yn-Yn-2/Xn-Xn-2.
S240, setting the PID parameters according to the interval.
S250, when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameters are adjusted according to the following rules: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
In this embodiment, after calculating the slope of the interval between the adjacent operating points, before setting the PID parameter according to the interval, the following steps are added: and carrying out interval combination on the intervals according to the slope of each interval. The interval number can be reduced, the overshoot phenomenon caused by the PID parameter adjustment in the interval switching process is avoided, and the PID setting number can be effectively reduced. And the operation in the setting process is reduced.
EXAMPLE III
Fig. 4 is a schematic flow chart of an adaptive PID temperature control method according to a third embodiment of the present invention. In this embodiment, the method may further include the following steps: and correcting the expected temperature value according to the feedback temperature so as to enable the expected temperature value to be close to the actual temperature condition.
Correspondingly, the adaptive PID temperature control method provided in this embodiment specifically includes:
and S310, determining a temperature rise curve of the controlled object of the temperature control system according to the step disturbance experiment result.
S320, calculating the slope of the section between the adjacent working points in the temperature rise curve according to the set working points:
s330, setting the PID parameters according to the interval.
S340, when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameters are adjusted according to the following rules: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
S350, correcting the expected temperature value according to the feedback temperature, so that the expected temperature value is adjusted according to the actual temperature.
In the PID system, a closed-loop control system is usually adopted for control, and the closed-loop control system is characterized in that the output (controlled quantity) of a controlled object of the system is fed back to influence the output of a controller to form one or more closed loops. Under an ideal state, the feedback temperature is approximately consistent with the temperature corresponding to the preset temperature control curve. However, due to the fact that the actual conditions vary greatly, the deviation between the feedback temperature and the expected temperature value is large, and if the expected temperature value cannot be adjusted in time according to the feedback temperature, an overshoot phenomenon or a delay phenomenon is more likely to occur.
In order to overcome the above disadvantage, in this embodiment, the desired temperature value is corrected according to the feedback temperature, so that the desired temperature value is adjusted according to the actual temperature.
Optionally, the correcting the desired temperature value according to the feedback temperature may include:
when the actual temperature > is the desired temperature set value, the actual temperature set value is the temperature set value;
and when the actual temperature is lower than the expected temperature set value, the actual temperature set value is equal to the actual temperature, the current actual temperature set value is judged to belong to an interval in a temperature set value curve, the product of the fixed step length and the slope of the interval is calculated according to the preset fixed step length, and the product is superposed on the actual temperature set value until the actual temperature set value is equal to the expected temperature set value.
When the actual temperature > is equal to the expected temperature set value, it indicates that the controller does not need to adjust according to the expected temperature set value, and directly controls according to the current actual temperature at the point corresponding to the temperature rise curve. To reduce latency.
When the actual temperature is < the desired temperature set point, the situation is somewhat more complicated than the above. When the actual temperature is less than the expected temperature set value, especially much less than the expected temperature set value, if the adjustment is continued according to the PID setting parameter corresponding to the temperature rise curve, the hysteresis phenomenon is very easy to occur. If the PID parameters are adjusted significantly, overshoot is likely to occur. Therefore, in this embodiment, the actual temperature setting value is first adjusted to the current feedback temperature, and the section corresponding to the actual temperature setting value is determined. And calculating the product of the fixed step length and the slope of the interval according to a preset fixed step length, wherein the preset fixed step length is the same as the variation in the theta unit time provided by the embodiment. And repeating the steps until the actual temperature set value is equal to the expected temperature set value. By the mode, the temperature set value can be stably and gradually adjusted, and the PID parameters are adjusted correspondingly.
The present embodiment adds the following steps: and correcting the expected temperature value according to the feedback temperature so as to enable the expected temperature value to be close to the actual temperature condition. During closed-loop control, the expected value can be corrected according to the feedback value, and the PID parameter can be adjusted according to the corrected expected value. Can be so that can carry out nimble adjustment according to the actual temperature condition to PID parameter control, not only can reduce control and wait for a long time, but also can be according to the difference between feedback actual temperature and the expectation temperature, carry out nimble adjustment to PID parameter through the step length adjustment mode, avoid because the overshoot and the hysteresis condition that the difference is too big to produce between feedback actual temperature and the expectation temperature.
Example four
Fig. 5 is a schematic structural diagram of an adaptive PID temperature control apparatus according to a fourth embodiment of the present invention, and as shown in fig. 5, the apparatus includes:
the determining module 410 is configured to determine a temperature rise curve of the controlled object of the temperature control system according to the step disturbance experiment result;
a calculating module 420, configured to calculate, according to a set working point, a slope of a segment between adjacent working points in the temperature rise curve;
a setting module 430, configured to set the PID parameter according to the block interval;
an adjusting module 440, configured to, when the actual temperature is switched from the m-th interval to the m + 1-th interval, adjust the PID parameter according to the following rule: (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are proportional coefficients of PIDs in the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
The adaptive PID temperature control apparatus provided in this embodiment determines a temperature rise curve of a controlled object of a temperature control system through a step disturbance experiment in advance, determines a slope of a section between different operating points according to the temperature rise curve, and sets a PID parameter according to the slope. The PID parameter can be adjusted according to the temperature rise characteristics of the controlled object at different stages, and the temperature rise characteristics of the controlled object are better met. And meanwhile, when the actual temperature rise is in interval transition, adjusting the parameters according to the slope between intervals and the variation of unit time. The PID parameter can be flexibly adjusted according to different stages of temperature rise, the overshoot phenomenon generated in different stages of temperature rise is avoided, meanwhile, the adjusting time can be effectively reduced, and the purpose of quick adjustment is achieved.
On the basis of the above embodiments, the apparatus further includes:
and the merging module is used for carrying out interval merging on the intervals according to the slope of each interval.
On the basis of the foregoing embodiments, the merging module is configured to:
and carrying out interval combination according to the slope change rate of adjacent intervals.
On the basis of the foregoing embodiments, the merging module further includes:
and the determining unit is used for determining the slope of the combined interval according to the initial working point and the final working point of the combined interval.
On the basis of the above embodiments, the apparatus further includes:
and the upward moving module is used for moving the temperature rise curve upward according to a set value.
On the basis of the above embodiments, the apparatus further includes:
and the adjusting module is used for correcting the expected temperature value according to the feedback temperature so as to adjust the expected temperature value according to the actual temperature.
On the basis of the foregoing embodiments, the adjusting module is configured to:
when the actual temperature > is the desired temperature set value, the actual temperature set value is the temperature set value;
and when the actual temperature is lower than the expected temperature set value, the actual temperature set value is equal to the actual temperature, the current actual temperature set value is judged to belong to an interval in a temperature set value curve, the product of the fixed step length and the slope of the interval is calculated according to the preset fixed step length, and the product is superposed on the actual temperature set value until the actual temperature set value is equal to the expected temperature set value.
The adaptive PID temperature control device provided by the embodiment of the invention can execute the adaptive PID temperature control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention. Fig. 6 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.
As shown in FIG. 6, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing, such as implementing the adaptive PID temperature control method provided by embodiments of the present invention, by running a program stored in the system memory 28.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An adaptive PID temperature control method, comprising:
determining a temperature rise curve of a controlled object of the temperature control system according to a step disturbance experiment result;
calculating the slope of the interval between the adjacent working points in the temperature rise curve according to the set working points;
setting the PID parameter according to the interval;
when the actual temperature is switched from the m-th interval to the m +1 interval, the PID parameter is adjusted according to the following rule: kpm + (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are parameters of PID (proportion integration differentiation) of the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
2. The method of claim 1, wherein after calculating the slope of the segment between adjacent operating points, and prior to setting the PID parameter from the segment, the method further comprises:
and carrying out interval combination on the intervals according to the slope of each interval.
3. The method of claim 2, wherein said interval combining the segments according to the slope of each segment comprises:
and carrying out interval combination according to the slope change rate of adjacent intervals.
4. The method of claim 3, wherein the interval combining the segments according to the slopes of the respective segments further comprises:
and determining the slope of the combined interval according to the initial working point and the final working point of the combined interval.
5. The method of claim 2, further comprising:
and moving the temperature rise curve upwards according to a set value.
6. The method of claim 1, further comprising:
and correcting the expected temperature value according to the feedback temperature so as to adjust the expected temperature value according to the actual temperature.
7. The method of claim 6, wherein the correcting the desired temperature value based on the feedback temperature comprises:
when the actual temperature > is the desired temperature set value, the actual temperature set value is the temperature set value;
and when the actual temperature is lower than the expected temperature set value, the actual temperature set value is equal to the actual temperature, the current actual temperature set value is judged to belong to an interval in a temperature set value curve, the product of the fixed step length and the slope of the interval is calculated according to the preset fixed step length, and the product is superposed on the actual temperature set value until the actual temperature set value is equal to the expected temperature set value.
8. An adaptive PID temperature control apparatus, comprising:
the determining module is used for determining a temperature rise curve of a controlled object of the temperature control system according to the step disturbance experiment result;
the calculation module is used for calculating the slope of the section between the adjacent working points in the temperature rise curve according to the set working points;
the setting module is used for setting the PID parameters according to the interval;
the adjusting module is used for adjusting the PID parameters according to the following rule when the actual temperature is switched from the m-th interval to the m +1 interval: (kpm +1-kpm) k beta theta, wherein kpm and kpm +1 are proportional coefficients of PIDs in the m-th interval and the m + 1-th interval respectively, theta is the variation in unit time, and beta is a coefficient.
9. The apparatus of claim 8, further comprising:
and the correction module is used for correcting the expected temperature value according to the feedback temperature so as to enable the expected temperature value to be close to the actual temperature condition.
10. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the adaptive PID temperature control method of any one of claims 1-7.
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