CN112555918B - Gas stove, fire control method and computer readable storage medium - Google Patents
Gas stove, fire control method and computer readable storage medium Download PDFInfo
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- CN112555918B CN112555918B CN202011258487.5A CN202011258487A CN112555918B CN 112555918 B CN112555918 B CN 112555918B CN 202011258487 A CN202011258487 A CN 202011258487A CN 112555918 B CN112555918 B CN 112555918B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24C—DOMESTIC STOVES OR RANGES ; DETAILS OF DOMESTIC STOVES OR RANGES, OF GENERAL APPLICATION
- F24C3/00—Stoves or ranges for gaseous fuels
- F24C3/12—Arrangement or mounting of control or safety devices
- F24C3/126—Arrangement or mounting of control or safety devices on ranges
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- 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
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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Abstract
The invention relates to a gas stove, a fire control method and a computer readable storage medium, wherein the gas stove comprises a controller, and the fire control method comprises the following steps: the controller reads the navigation menu and enters each cooking stage according to a preset sequence; the controller judges whether the current cooking stage has a temperature time curve, if so, the temperature at each moment in the temperature time curve is extracted as a target temperature and is used as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, the actual temperature of a heated pot body on the combustion seat is obtained as a controlled object, the actual temperature is used as the feedback input of an extended state observer in the ADRC model, and the current values of the first proportional valve and the second proportional valve are output by using the ADRC model; therefore, the opening degree of the first proportional valve and the opening degree of the second proportional valve are controlled to realize fire control, so that the fire control requirement of the gas stove can be accurately met, resources are saved, and the running stability of the system is improved.
Description
Technical Field
The invention relates to the technical field of gas cooking, in particular to a gas stove, a fire control method and a computer readable storage medium.
Background
When cooking food with gas, the control of the fire is very important, and the gas fire is difficult to control accurately in operation, and the industry proposes to adjust the fire through a fire control algorithm in the gas stove controller, such as a PID algorithm or a fuzzy control algorithm. However, the PID algorithm needs to debug corresponding parameters according to different states of the calculation model, and because the gas stove fire control system is a complex nonlinear system, an accurate mathematical model is difficult to build, so that the PID algorithm is difficult to accurately meet the fire control requirement of the gas stove; the fuzzy control algorithm also needs to determine different control amounts according to different states of the system, and parameters are difficult to accurately determine. In addition, the fire control algorithm is used for calculating the whole cooking process to adjust the fire, the calculation process is complex, the resource is not beneficial to be saved, the stable operation of a control system is also not beneficial, and the fire is not controlled completely due to system errors, so that the cooking fails.
Disclosure of Invention
Based on the above-mentioned current situation, a main object of the present invention is to provide a gas stove, a fire control method and a computer readable storage medium, so as to accurately meet the fire control requirement of the gas stove, save resources and improve the stability of system operation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a fire control method of a gas stove, the gas stove comprises a combustion seat, the combustion seat comprises an inner ring fire dividing cover and an outer ring fire dividing cover, the gas stove further comprises a first proportional valve connected with the inner ring fire dividing cover and a second proportional valve connected with the outer ring fire dividing cover, the gas stove further comprises a controller, an ADRC model and a plurality of navigation menus are stored in the controller, each navigation menu comprises a plurality of cooking stages, and at least one cooking stage has a temperature time curve for controlling fire; the control method comprises the following steps:
s10: the controller reads the navigation menu and enters each cooking stage according to the preset sequence in the navigation menu;
s20: the controller judges whether the current cooking stage has a temperature time curve, if so, the step S30 is executed;
s30: the controller extracts the temperature at each moment in the temperature time curve as a target temperature, takes the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, obtains the actual temperature of a heated pot body on the combustion seat as a controlled object, takes the actual temperature as the feedback input of an extended state observer in the ADRC model, and utilizes the ADRC model to output the current values of the first proportional valve and the second proportional valve;
s40: and the controller adjusts the input currents of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degrees of the first proportional valve and the second proportional valve, thereby realizing firepower control and enabling the change of the actual temperature along with the time of the temperature.
Optionally, the fire control method further includes the steps of:
s50: when the actual temperature reaches the temperature of the preset food material throwing node, judging whether the food material throwing action is executed, if so, executing the step S60;
s60: refreshing data of a temperature time curve, taking an actual food material delivery node as a new time starting point, taking the temperature of each moment after the preset food material delivery node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model; step S40 is then performed.
Optionally, the step S50 further includes: when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends out a prompt signal for reminding a user to throw in food materials or sends out a control signal for controlling the automatic feeding device to throw in food materials, and judges whether the food material throwing action is executed after a first preset time, if so, the step S60 is executed, and if not, the step S70 is executed;
s70: closing a second proportional valve, adjusting the first proportional valve to be the minimum current, and continuously waiting for a second preset time, and closing the first proportional valve and ending the current navigation menu if the food material throwing action is not executed within the second preset time; and if the food material throwing action is completed within the second preset time, returning to the step S60.
Optionally, in step S50, when the actual temperature reaches the temperature of the food material feeding node preset by the food material, a prompt signal sent by the controller to remind the user to feed the food material is a voice prompt message.
Optionally, the controller obtains the actual temperature measured by a thermocouple arranged at the bottom of the heated pot body on the combustion seat in a wireless communication mode.
Optionally, the step S60 includes: s61: judging whether the difference value of the type of the actually fed food material and the type in the navigation menu is within the range of the type allowable difference, if so, executing S62; if not, replacing a new navigation menu, and returning to S10;
s62: judging whether the difference value of the weight of the actually fed food and the weight in the navigation menu is within a weight allowable difference range, if so, refreshing data of a temperature time curve, taking an actual food feeding node as a new time starting point, taking the temperature at each moment after the preset food feeding node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on the combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model; if not, replacing the new navigation menu, and returning to S10.
In a second aspect, the present invention provides a computer-readable storage medium having stored thereon an executable program which when executed implements the control method as above.
In a third aspect, the invention provides a gas stove, which comprises a combustion seat, wherein the combustion seat comprises an inner ring fire dividing cover and an outer ring fire dividing cover, and the gas stove further comprises a first proportional valve connected with the inner ring fire dividing cover and a second proportional valve connected with the outer ring fire dividing cover;
the gas cooker further comprises a controller, wherein an ADRC model and a plurality of navigation menus are stored in the controller, each navigation menu comprises a plurality of cooking stages, and at least one cooking stage is provided with a temperature time curve for controlling firepower; the controller is used for:
reading a navigation menu, and entering each cooking stage according to a preset sequence in the navigation menu;
judging whether the current cooking stage has a temperature time curve, and under the condition that the judgment result is yes, extracting the temperature at each moment in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on the combustion seat as a controlled object, taking the actual temperature as the feedback input of an extended state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by using the ADRC model; the method comprises the steps of,
and adjusting the input currents of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degrees of the first proportional valve and the second proportional valve, thereby realizing firepower control and enabling the change of the actual temperature along with the time of the temperature.
Optionally, the controller is further configured to:
when the actual temperature reaches the temperature of a preset food material throwing node, judging whether the food material throwing action is executed, and under the condition that the judgment result is yes, refreshing data of a temperature time curve, taking the actual food material throwing node as a new time starting point, taking the temperature of each moment after the preset food material throwing node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model.
Optionally, the controller is further configured to:
when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends a prompt signal for reminding a user of throwing food materials or sends a control signal for controlling the automatic feeding device to throw food materials, judges whether the food material throwing action is executed after a first preset time, closes the second proportional valve and adjusts the first proportional valve to be the minimum current under the condition that the judgment result is no, continuously judges whether the food material throwing action is executed after waiting for the second preset time, and closes the first proportional valve and simultaneously ends the current navigation menu if the judgment result is still no.
Optionally, the controller is further configured to:
judging whether the difference value of the type of the actually fed food material and the type in the navigation menu is within the range of the type allowable difference, if so, further judging whether the difference value of the weight of the actually fed food material and the weight in the navigation menu is within the range of the weight allowable difference, and if so, adjusting the firepower.
According to the control method, the ADRC algorithm is adopted to realize the fire control of the gas stove, an accurate mathematical model is not established, parameters are easy to determine, uncertainty and unknown external disturbance of a model of the system are considered, and the control problem of a nonlinear system can be well solved, so that the fire control is accurate; according to the control method, the fire control calculation is only carried out on the cooking stage with the temperature time curve, the control process is simple, the resources are obviously saved, the stable operation of the system is facilitated, and the cooking success rate is improved.
Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.
Drawings
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. In the figure:
fig. 1 is a flowchart of a fire control method of a gas cooker according to an embodiment of the present invention;
FIG. 2 is a graph showing a comparison of ideal and actual temperature time curves according to an embodiment of the present invention.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the present invention, and in order to avoid obscuring the present invention, well-known methods, procedures, flows, and components are not presented in detail.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The invention provides a fire control method of a gas stove, which comprises a combustion seat, wherein the combustion seat comprises an inner ring fire dividing cover, an outer ring fire dividing cover, a first proportional valve connected with the inner ring fire dividing cover, a second proportional valve connected with the outer ring fire dividing cover, a controller, an ADRC model and a plurality of navigation menus, wherein each navigation menu comprises a plurality of cooking stages, and at least one cooking stage is provided with a temperature time curve for controlling fire; the control method comprises the following steps:
s10: the controller reads the navigation menu and enters each cooking stage according to the preset sequence in the navigation menu;
s20: the controller judges whether the current cooking stage has a temperature time curve, if so, the step S30 is executed;
s30: the controller extracts the temperature at each moment in the temperature time curve as a target temperature, takes the target temperature as the input of the corresponding moment of the nonlinear tracking differentiator in the ADRC model, obtains the actual temperature of the heated pot body on the combustion seat as a controlled object, takes the actual temperature as the feedback input of the extended state observer in the ADRC model, and utilizes the ADRC model to output the current values of the first proportional valve and the second proportional valve;
s40: the controller adjusts the input current of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degree of the first proportional valve and the opening degree of the second proportional valve, thereby realizing firepower control, and enabling the change of the actual temperature along with the time curve of the temperature.
The temperature-time curve refers to an abstract temperature-time correspondence, rather than a curve which exists in reality. In practical application, the corresponding relation between the temperature and the time can be expressed by a real curve, a table or a functional form, wherein the real curve is formed by the change of the temperature along with the time, the real table is formed by each moment and the corresponding temperature, and the real functional form is a function of the change of the temperature along with the time. Of course, the temperature-time correspondence relationship may also take other forms.
The ADRC (Active Disturbance Rejection Control ) algorithm includes a nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF, and an extended state observer ESO. Firstly, TD is used for realizing rapid overshoot-free tracking of a system input signal and giving a good differential signal to the system input signal; secondly, the ADRC algorithm regards uncertainty of a system model as internal disturbance of the system, the uncertainty and external disturbance of the system are regarded as disturbance of the whole system, the comprehensive effect of the internal disturbance and the external disturbance is directly monitored, the total disturbance of the system is estimated through ESO, the state and the disturbance of the system are estimated respectively, and the ESO converts a nonlinear uncertain object with unknown external disturbance into an 'integrator series type' by NLSEF, so that the structure for realizing feedback linearization on the nonlinear uncertain object is realized; finally, ADRC obtains the compensation effect of the disturbance component by using NLSEF, and obtains the output of the controller. The control method does not depend on a specific mathematical model describing an object and a specific form of external disturbance, so that the control method can compensate disturbance of internal parameters and the model of the system and can inhibit the external disturbance, and the ADRC controller is called as an 'active disturbance rejection controller'. The specific structure of the active disturbance rejection controller is as follows: the reference input and the system output are processed by TD and ESO respectively, and a nonlinear combination of proper state errors is selected to obtain the NLSEF of the system, so that the output quantity of the controller is obtained.
According to the fire control method of the gas stove, the fire control of the gas stove is realized by adopting the ADRC algorithm, an accurate mathematical model is not established, parameters are easy to determine, uncertainty and unknown external disturbance of a model of the system are considered, the control problem of a nonlinear system can be well solved, and compared with other algorithms such as a PID algorithm or a fuzzy control algorithm, the fire control can be realized more simply, conveniently and accurately. In the invention, the target temperature in the temperature time curve is used as the input value of the nonlinear tracker in the ADRC model at the corresponding moment, the actual temperature value of the heated pot body on the combustion seat is used as the feedback input value of the extended state observer, the ADRC model is used for outputting the current values of the first proportional valve and the second proportional valve, and the objective accuracy of the input parameters of the ADRC model is ensured by selecting the input value, the feedback input value and the output value, and the output value can be used for controlling the opening of the proportional valve, so that the accurate control of firepower is realized.
The first proportional valve and the second proportional valve can control the opening degrees of the first proportional valve and the second proportional valve through the current applied to the control ends of the first proportional valve and the second proportional valve, if the control ends of the first proportional valve and the second proportional valve input maximum current, the opening degrees of the first proportional valve and the second proportional valve are the maximum opening degrees, the gas supply quantity is the maximum, the gas stove fire power is the maximum, the control ends input minimum current, the opening degrees of the first proportional valve and the second proportional valve are the minimum, the gas stove fire power is the minimum, and the corresponding currents can be applied corresponding to other opening degrees.
When the temperature-time correspondence is adopted to adjust the firepower of the whole cooking stage, the temperature at each moment in the temperature-time correspondence is required to be paid attention to in the whole process, so that the complexity of the whole control method is necessarily increased, and the working efficiency of the cooking system is reduced. In the invention, in some cooking stages, although the temperature-time correspondence is still followed, the firepower determined by the correspondence is basically constant, namely constant firepower heating such as big fire heating, small fire heating and the like is adopted, and in order to improve the control efficiency, simplify the calculation complexity and improve the system stability, the temperature-time curve is not set when the cooking stages are constant firepower heating, and the firepower control calculation by an ADRC algorithm is not needed to be carried out by paying attention to the temperature at each moment in the temperature-time correspondence in the whole cooking process.
Therefore, in the above-described method, the temperature-time curve is not set in the constant-fire stage (for example, in the constant-fire stage, a cooking stage in which water is boiled with a continuous high fire, or a stage in which a boiling state is maintained by a minimum fire after boiling of the soup at the time of stewing), and the time-temperature curve is set only in the cooking stage in which a change in fire is required. In the specific operation, firstly, whether a temperature time curve exists in the current cooking stage is judged, if so, the firepower is adjusted in real time according to the temperature time corresponding relation, if not, namely, the current of the first proportional valve and the current of the second proportional valve are adjusted at the initial moment of the cooking stage, the opening of the two proportional valves are fixed, the total quantity of the fuel gas which can be output are fixed, the firepower is constant, the firepower is not adjusted at any time later, and only the heating time or the actual temperature is concerned, so that the whole control process can be simplified, the occupation of system resources is reduced, and the system stability is improved.
The control method can better ensure the temperature change of the food in the whole heating process, improve the taste of the food and effectively ensure the cooking success rate. In the invention, the control of the fire power is not limited to the large fire, the medium fire and the small fire simply, but the first proportional valve and the second proportional valve are independently controlled, so that the inner ring fire power and the outer ring fire power can be independently regulated, that is, the inner ring fire power and the outer ring fire power are not mutually influenced, and can be combined according to the needs, thereby realizing the accurate control of the fire power through the combination of the inner ring fire power and the outer ring fire power, achieving the optimal fire power configuration at each moment, further better tracking the temperature-time corresponding relation according to the change relation of the actual temperature along with time through the accurate regulation of the fire power, improving the accurate control of the heating process of food at each moment and improving the taste of food.
Optionally, the fire control method further comprises the steps of:
s50: when the actual temperature reaches the temperature of the preset food material throwing node, judging whether the food material throwing action is executed, if so, executing the step S60;
s60: refreshing data of a temperature time curve, taking an actual food material delivery node as a new time starting point, taking the temperature of each moment after the preset food material delivery node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an extended state observer in the ADRC model, and outputting the current values of a first proportional valve and a second proportional valve by using the ADRC model; step S40 is then performed.
Specifically, in the process of adjusting the fire power of the gas stove according to the temperature-time correspondence, since the actual temperature information in cooking obtained by the temperature sensor is received from the acquisition controller, there is a delay, so that the actual temperature at the time point corresponding to the feeding operation of the food material may not reach the target temperature in the temperature-time correspondence corresponding to the time point, at this time, the feeding operation of the food material may cause the actual temperature in the pot to be insufficient, the following actual temperature tracks the temperature-time correspondence, for example, in the embodiment shown in fig. 2, the temperature-time correspondence is represented by a temperature-time curve, the solid line ABCD represents the temperature-time curve, the dotted line represents the ideal actual temperature-time curve, the dotted line represents the possible actual temperature-time curve, the feeding of the food material is performed at the point B, if the feeding operation of the food material is performed with time as a reference, the actual temperature at the point corresponding to the point B1 may suddenly drop, and the actual temperature in the pot may not reach the target temperature BC at the time point again if the feeding operation of the time point, at this time, the following temperature-time point BC may not reach the target temperature B, at this time, because the feeding operation of the food material is performed at this time, the actual temperature BC may be excessively low, but the temperature is excessively lowered at this time, due to the following temperature-time, and the temperature-down time curve is adjusted. In order to solve the problem, the invention adjusts the firepower according to the temperature-time correspondence, and simultaneously carries out the food material feeding action based on the target temperature, namely, when the food material is fed, the cooking action is carried out only when the actual temperature in the pot reaches the target temperature, so that the problem that the temperature in the pot does not reach the target temperature yet, namely, the food material is fed, the temperature in the pot is continuously heated and debilitated along with the temperature-time correspondence, and the heating degree of the food material is influenced at all times can be avoided. And refresh the corresponding temperature-time relation after the cooking action in the stage when the cooking action is finished, or directly transfer to the next cooking stage with independent time, that is to say, as shown in fig. 2, after the food is put in at the point B, refresh the BCD segment, that is, the starting time of the BCD segment does not directly extend the ending time of the AB segment, but takes the time after the actual putting of the food is finished as the starting time of the subsequent BCD segment, so that the temperature of the point B can be ensured to be reached, the subsequent BCD segment can not be influenced to continuously adjust the firepower according to the corresponding relation of the temperature and time, the actual temperature is better close to the ideal actual temperature-time curve, and the food taste is improved.
In order to enable the actual temperature lagging in cooking to reach the target temperature, for example, the actual temperature in the pot in the time-temperature curve can reach the target temperature B, after the moment corresponding to the target temperature B, the actual temperature in the cooking is not cooled down immediately according to the requirement of the curve BC segment, but the heating time is prolonged continuously, the firepower of the point B is kept for heating for a fixed time, if the heating time is the stir-fry cooking, the heating time is prolonged for 15 seconds, the stewing, boiling or stewing cooking is prolonged for 30 seconds, the actual temperature in the pot can be always guaranteed to reach the target temperature B by prolonging the fixed time, and the food material is put or the user is reminded to put the food material.
Optionally, step S50 further includes: when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends out a prompt signal for reminding a user to throw in food materials or sends out a control signal for controlling the automatic feeding device to throw in food materials, and judges whether the food material throwing action is executed after a first preset time, if so, the step S60 is executed, and if not, the step S70 is executed;
s70: closing the second proportional valve, adjusting the first proportional valve to be the minimum current, and continuously waiting for a second preset time, and closing the first proportional valve and ending the current navigation menu if the food material throwing action is not executed within the second preset time; if the food material throwing action is completed within the second preset time, returning to the step S60. Optionally, in step S50, when the actual temperature reaches the temperature of the food material feeding node preset by the food material, the prompting signal sent by the controller to remind the user to feed the food material is voice prompting information.
In the present invention, it is also considered that even when the actual temperature reaches the temperature of the preset food material feeding node, the food material may not be fed in time, so in step S50, when the actual temperature reaches the temperature of the preset food material feeding node, it is required to determine whether the food material feeding action is executed, and if so, step S60 is executed. If the food is not timely thrown at this time, firstly setting the fire power to be small fire, namely the minimum fire power, and closing a first proportional valve and ending the current navigation menu after waiting for a second preset time and the food throwing action is not executed; and if the food material throwing action is completed within the second preset time, returning to the step S60.
In order to avoid that when the actual temperature reaches the target temperature corresponding to the food material throwing action, the cooking system or the user does not execute the action and causes cooking failure, in a preferred embodiment of the invention, when the actual temperature reaches the temperature of the food material throwing node, the controller sends out voice reminding information for executing the food material throwing action. The reminding unit is arranged in the controller, and can be a buzzer, a loudspeaker and other devices, and the voice reminding information can be only monotonous bell sound, or specific language such as food throwing.
Optionally, the controller obtains the actual temperature measured by a thermocouple arranged at the bottom of the heated pot on the combustion seat in a wireless communication mode.
Specifically, the thermocouple is adopted as a temperature sensor, the temperature parameter at the bottom of the pot body is transmitted to the controller of the gas stove in a wireless transmission mode, wiring between the pot body and the gas stove specially used for transmitting the temperature parameter is avoided, the structure of the cooking system is simplified, and the cooking system is convenient to use.
Optionally, step S60 includes: s61: judging whether the difference value of the type of the food material actually put and the type in the navigation menu is within the type allowable difference range, if so, executing S62; if not, replacing a new navigation menu, and returning to S10;
s62: judging whether the difference value of the weight of the actually fed food and the weight in the navigation menu is within a weight allowable difference range, if so, refreshing data of a temperature time curve, taking an actual food feeding node as a new time starting point, taking the temperature at each moment after the preset food feeding node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on the combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model; if not, replacing the new navigation menu, and returning to S10.
Considering that the actually thrown food may not strictly follow the navigation menu, the above operation is performed, and because enough navigation menus are stored in the controller, the actually thrown food can be matched by changing a more suitable navigation menu under the condition that the difference between the actually thrown food and the set value exceeds the allowable range, so that the cooking success rate is ensured. For example, when the green pepper is added to fry meat, if not only the green pepper and meat but also the red pepper raw material not included in the originally selected navigation menu are added when the food materials are added, and the difference of adding the red pepper is not the range of difference allowed by the variety, it is necessary to search a more matched navigation menu according to the three main raw materials of the actual green pepper, red pepper and meat, and to perform the fire control in the subsequent cooking according to the more matched navigation menu.
Specifically, the type of the food which is actually put in is judged by the camera with the detection function arranged at the corresponding position of the gas stove, the controller judges whether the difference between the type of the food which is actually put in and the type in the navigation menu is in the allowable range, if not, the controller automatically matches the more adaptive navigation menu according to the type of the food which is actually put in, and the follow-up firepower control is carried out according to the newly matched navigation menu; the weight of the food material to be fed is determined by a weight sensor provided at an appropriate position, and the controller determines whether the weight of the food material to be actually fed is within a permissible range of difference.
In addition, the invention also provides a computer readable storage medium, and an executable program is stored on the readable storage medium, and the executable program realizes the control method when being executed.
Furthermore, the invention also provides a gas stove, which comprises a combustion seat, wherein the combustion seat comprises an inner ring fire dividing cover and an outer ring fire dividing cover, and the gas stove also comprises a first proportional valve connected with the inner ring fire dividing cover and a second proportional valve connected with the outer ring fire dividing cover;
the gas stove further comprises a controller, wherein an ADRC model and a plurality of navigation menus are stored in the controller, each navigation menu comprises a plurality of cooking stages, and at least one cooking stage is provided with a temperature time curve for controlling firepower; the controller is used for:
reading a navigation menu, and entering each cooking stage according to a preset sequence in the navigation menu;
judging whether the current cooking stage has a temperature time curve, and under the condition that the judgment result is yes, extracting the temperature at each moment in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on the combustion seat as a controlled object, taking the actual temperature as the feedback input of an extended state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by using the ADRC model; the method comprises the steps of,
and adjusting the input currents of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degrees of the first proportional valve and the second proportional valve, thereby realizing fire control and enabling the change of the actual temperature along with the time curve of the temperature.
Optionally, the controller is further configured to: when the actual temperature reaches the temperature of a preset food material delivery node, judging whether the food material delivery action is executed, and under the condition that the judgment result is yes, refreshing data of a temperature time curve, taking the actual food material delivery node as a new time starting point, taking the temperature of each moment after the preset food material delivery node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of a first proportional valve and a second proportional valve by utilizing the ADRC model.
Optionally, the controller is further configured to: when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends a prompt signal for reminding a user of throwing food materials or sends a control signal for controlling the automatic feeding device to throw food materials, judges whether the food material throwing action is executed after a first preset time, closes the second proportional valve and adjusts the first proportional valve to be the minimum current under the condition that the judgment result is no, continuously judges whether the food material throwing action is executed after waiting for the second preset time, and closes the first proportional valve and simultaneously ends the current navigation menu if the judgment result is still no.
Optionally, the controller is further configured to: judging whether the difference value of the type of the actually fed food material and the type in the navigation menu is within the range of the type allowable difference, if so, further judging whether the difference value of the weight of the actually fed food material and the weight in the navigation menu is within the range of the weight allowable difference, and if so, adjusting the firepower.
Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict.
It will be understood that the above-described embodiments are merely illustrative and not restrictive, and that all obvious or equivalent modifications and substitutions to the details given above may be made by those skilled in the art without departing from the underlying principles of the invention, are intended to be included within the scope of the appended claims.
Claims (9)
1. The fire control method of the gas stove comprises a combustion seat, wherein the combustion seat comprises an inner ring fire dividing cover and an outer ring fire dividing cover, and is characterized by further comprising a first proportional valve connected with the inner ring fire dividing cover and a second proportional valve connected with the outer ring fire dividing cover, and further comprising a controller, wherein an ADRC model and a plurality of navigation menus are stored in the controller, each navigation menu comprises a plurality of cooking stages, and at least one cooking stage has a temperature time curve for controlling fire; at least one cooking stage adopts constant fire heating, and a temperature time curve is not set in the constant fire stage; the control method comprises the following steps:
s10: the controller reads the navigation menu and enters each cooking stage according to the preset sequence in the navigation menu;
s20: the controller judges whether the current cooking stage has a temperature time curve, if so, the step S30 is executed;
s30: the controller extracts the temperature at each moment in a temperature time curve as a target temperature, takes the target temperature as the input of a nonlinear tracking differentiator in an ADRC model at the corresponding moment, obtains the actual temperature of a heated pot body on the combustion seat as a controlled object, takes the actual temperature as the feedback input of an extended state observer in the ADRC model, and utilizes the ADRC model to output the current values of the first proportional valve and the second proportional valve, wherein the ADRC model comprises a nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF and an extended state observer ESO;
s40: the controller adjusts the input current of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degree of the first proportional valve and the second proportional valve, thereby realizing firepower control, and enabling the change of the actual temperature along with the time of the temperature;
the method also comprises the steps of:
s50: when the actual temperature reaches the temperature of a preset food material delivery node, judging whether the food material delivery action is executed or not, wherein the food material delivery action is executed by taking the target temperature as a basis, and if so, executing the step S60;
s60: refreshing data of a temperature time curve, taking an actual food material delivery node as a new time starting point, taking the temperature of each moment after the preset food material delivery node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model; step S40 is then performed.
2. The fire control method according to claim 1, characterized in that step S50 further includes: when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends out a prompt signal for reminding a user to throw in food materials or sends out a control signal for controlling the automatic feeding device to throw in food materials, and judges whether the food material throwing action is executed after a first preset time, if so, the step S60 is executed, and if not, the step S70 is executed;
s70: closing a second proportional valve, adjusting the first proportional valve to be the minimum current, and continuously waiting for a second preset time, and closing the first proportional valve and ending the current navigation menu if the food material throwing action is not executed within the second preset time; and if the food material throwing action is completed within the second preset time, returning to the step S60.
3. The fire control method according to claim 2, wherein in the step S50, when the actual temperature reaches the temperature of the food material feeding node preset by the food material, the prompt signal sent by the controller to prompt the user to feed the food material is a voice prompt message.
4. A fire control method according to any one of claims 1 to 3, wherein the controller acquires the actual temperature measured by a thermocouple provided at the bottom of the heated pan body on the combustion seat in a wireless communication manner.
5. The fire control method according to claim 1, characterized in that the step S60 includes: s61: judging whether the difference value of the type of the actually fed food material and the type in the navigation menu is within the range of the type allowable difference, if so, executing S62; if not, replacing a new navigation menu, and returning to S10;
s62: judging whether the difference value of the weight of the actually fed food and the weight in the navigation menu is within a weight allowable difference range, if so, refreshing data of a temperature time curve, taking an actual food feeding node as a new time starting point, taking the temperature at each moment after the preset food feeding node in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on the combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model; if not, replacing the new navigation menu, and returning to S10.
6. A computer-readable storage medium having stored thereon an executable program which, when executed, implements the control method according to any one of claims 1-5.
7. The gas stove comprises a combustion seat, the combustion seat comprises an inner ring fire dividing cover and an outer ring fire dividing cover, and is characterized in that,
the gas stove further comprises a first proportional valve connected with the inner ring fire dividing cover and a second proportional valve connected with the outer ring fire dividing cover;
the gas cooker further comprises a controller, wherein an ADRC model and a plurality of navigation menus are stored in the controller, each navigation menu comprises a plurality of cooking stages, and at least one cooking stage is provided with a temperature time curve for controlling firepower; at least one cooking stage adopts constant fire heating, and a temperature time curve is not set in the constant fire stage; the controller is used for:
reading a navigation menu, and entering each cooking stage according to a preset sequence in the navigation menu;
judging whether a current cooking stage has a temperature time curve, and under the condition that a judging result is yes, extracting the temperature at each moment in the temperature time curve as a target temperature, taking the target temperature as the input of a nonlinear tracking differentiator in an ADRC model at the corresponding moment, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an extended state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model, wherein the ADRC model comprises the nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF and an extended state observer ESO; the method comprises the steps of,
adjusting the input currents of the first proportional valve and the second proportional valve according to the current value output by the ADRC model so as to control the opening degrees of the first proportional valve and the second proportional valve to realize fire control, and enabling the change of the actual temperature along with the time of the temperature;
the controller is further configured to:
when the actual temperature reaches the temperature of a preset food material delivery node, judging whether the food material delivery action is executed or not, executing the food material delivery action by taking the target temperature as a basis, refreshing data of a temperature time curve under the condition that the judgment result is yes, taking the actual food material delivery node as a new time starting point, taking the temperature at each moment after the preset food material delivery node in the temperature time curve as the target temperature, taking the target temperature as the input of a nonlinear tracking differentiator in an ADRC model, acquiring the actual temperature of a heated pot body on a combustion seat as a controlled object, taking the actual temperature as the feedback input of an expansion state observer in the ADRC model, and outputting the current values of the first proportional valve and the second proportional valve by utilizing the ADRC model.
8. The gas cooker of claim 7, wherein the controller is further configured to:
when the actual temperature reaches the temperature of a preset food material throwing node, the controller sends a prompt signal for reminding a user of throwing food materials or sends a control signal for controlling the automatic feeding device to throw food materials, judges whether the food material throwing action is executed after a first preset time, closes the second proportional valve and adjusts the first proportional valve to be the minimum current under the condition that the judgment result is no, continuously judges whether the food material throwing action is executed after waiting for the second preset time, and closes the first proportional valve and simultaneously ends the current navigation menu if the judgment result is still no.
9. The gas cooker of claim 8, wherein the controller is further configured to:
judging whether the difference value of the type of the actually fed food material and the type in the navigation menu is within the range of the type allowable difference, if so, further judging whether the difference value of the weight of the actually fed food material and the weight in the navigation menu is within the range of the weight allowable difference, and if so, adjusting the firepower.
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