CN114911286A - PID control coefficient determination method, device, equipment and medium - Google Patents
PID control coefficient determination method, device, equipment and medium Download PDFInfo
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- CN114911286A CN114911286A CN202210491886.9A CN202210491886A CN114911286A CN 114911286 A CN114911286 A CN 114911286A CN 202210491886 A CN202210491886 A CN 202210491886A CN 114911286 A CN114911286 A CN 114911286A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
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- G—PHYSICS
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- 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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- 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
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Abstract
The invention discloses a PID control coefficient determining method, a device, equipment and a medium for controlling the opening of an electronic expansion valve, wherein the method comprises the steps of obtaining the absolute value of the current superheat deviation of an evaporator; judging the size of the first preset value and the first preset value; when the absolute value of the current superheat degree deviation is smaller than or equal to a first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than the first preset value, determining a current control coefficient according to a second preset corresponding relation; acquiring an absolute value of the current temperature deviation of the compartment; judging the absolute value of the current temperature deviation and a second preset value; when the absolute value of the current temperature deviation is smaller than or equal to a second preset value, obtaining an adjustment coefficient of a current control coefficient; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient. The PID control coefficient is adjusted in real time according to the difference of the temperature of the compartment and the superheat degree deviation of the evaporator.
Description
Technical Field
The invention relates to the technical field of refrigeration systems, in particular to a method, a device, equipment and a medium for determining a PID control coefficient for controlling the opening of an electronic expansion valve.
Background
The electronic expansion valve can automatically adjust the flow of the refrigerant, ensure that the refrigeration system can always maintain the optimal operation condition, and is a key component for realizing the optimal adjustment of the refrigeration system. On some occasions with severe load change or wide operation condition range, the traditional throttling elements (such as capillary tubes, thermal expansion valves and the like) can not meet the requirement of dynamic adjustment of a refrigeration system, and the electronic expansion valve is more and more widely applied to variable capacity adjustment in cooperation with a variable frequency compressor.
In the related art, a PID adjustment strategy which takes the degree of superheat at the outlet of an evaporator as a control object is generally adopted to realize the adjustment of the flow rate of the refrigerant, which plays a positive and important role in ensuring the reliability and the economy of the operation of the refrigeration system. However, the conventional PID controller parameter setting is mostly based on a simplified and unchangeable mathematical model, the system gain is fixed, the feedback signal is single, and when the model is mismatched, if the control coefficient is still unchanged, the performance of the refrigeration system is reduced, so that an ideal control effect is difficult to obtain under variable working conditions.
Disclosure of Invention
The invention provides a PID control coefficient determining method, a device, equipment and a medium for controlling the opening of an electronic expansion valve, so that the PID control coefficient can be adjusted in real time according to different temperatures of chambers and the superheat degree deviation of an evaporator, the opening of the electronic expansion valve can be adjusted by matching with real-time working conditions, and the performance of a refrigerating system can be improved.
According to a first aspect of the present invention, a PID control coefficient determining method for controlling an opening degree of an electronic expansion valve is proposed, comprising the steps of:
acquiring an absolute value of the current superheat degree deviation of the evaporator;
judging the absolute value of the current superheat degree deviation and a first preset value;
when the absolute value of the current superheat degree deviation is smaller than or equal to the first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than the first preset value, determining the current control coefficient according to a second preset corresponding relation;
acquiring an absolute value of the current temperature deviation of the compartment;
judging the absolute value of the current temperature deviation and a second preset value;
when the absolute value of the current temperature deviation is smaller than or equal to the second preset value, obtaining an adjustment coefficient of the current control coefficient; and determining a current secondary control coefficient according to the adjustment coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
According to an embodiment of the present invention, in the first preset corresponding relationship, the current control coefficient and the absolute value of the current superheat degree deviation are in a linear correlation relationship; in the second preset corresponding relationship, the current control coefficient is related to the first preset value.
According to an embodiment of the present invention, when the absolute value of the current temperature deviation is less than or equal to the second preset value, acquiring the adjustment coefficient of the current control coefficient includes:
when the absolute value of the current temperature deviation is smaller than or equal to a third preset value, the adjustment coefficient of the current control coefficient is determined according to a third preset corresponding relation;
when the absolute value of the current temperature deviation is greater than the third preset value and less than or equal to the second preset value, the adjustment coefficient of the current control coefficient is determined according to a fourth preset corresponding relation;
and obtaining the third preset corresponding relation and the fourth preset corresponding relation through calibration.
According to an embodiment of the present invention, in the third preset correspondence, the adjustment coefficient of the current control coefficient is a constant smaller than 1, and in the fourth preset correspondence, the adjustment coefficient of the current control coefficient is related to the current temperature deviation squared.
According to an embodiment of the present invention, further comprising: and when the absolute value of the current temperature deviation is greater than the second preset value, acquiring an adjustment coefficient of the current control coefficient, wherein the adjustment coefficient of the current control coefficient is constant 1.
According to one embodiment of the invention, the obtaining the absolute value of the current superheat deviation of the evaporator comprises:
acquiring the temperature of the refrigerant at the outlet of the evaporator;
acquiring the saturated gas temperature of the refrigerant under the outlet pressure of the evaporator;
calculating an actual superheat degree of an outlet of an evaporator according to the refrigerant temperature and the refrigerant saturated gas temperature;
acquiring the current superheat deviation of the evaporator according to the actual superheat and the target superheat at the outlet of the evaporator;
and acquiring the absolute value of the current superheat degree deviation according to the current superheat degree deviation.
According to one embodiment of the invention, the obtaining of the absolute value of the current temperature deviation of the compartment comprises:
acquiring the current measured temperature of the compartment;
acquiring the set temperature of the chamber;
acquiring the current temperature deviation of the compartment according to the current measured temperature and the set temperature;
and acquiring the absolute value of the deviation of the current temperature according to the deviation of the current temperature.
According to a second aspect of the present invention, there is provided a PID control coefficient determining device that controls an opening degree of an electronic expansion valve, including:
the first acquisition module is used for acquiring the absolute value of the current superheat deviation of the evaporator;
the first judgment module is used for judging the absolute value of the current superheat degree deviation and a first preset value;
the first determining module is used for determining a current control coefficient according to a first preset corresponding relation when the absolute value of the current superheat deviation is smaller than or equal to the first preset value; the control device is also used for determining the current control coefficient according to a second preset corresponding relation when the absolute value of the current superheat deviation is larger than the first preset value;
the second acquisition module is used for acquiring the absolute value of the current temperature deviation of the compartment;
the second judgment module is used for judging the absolute value of the current temperature deviation and a second preset value;
the second determining module is used for acquiring the adjusting coefficient of the current control coefficient when the absolute value of the current temperature deviation is smaller than or equal to the second preset value; and determining a current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
According to a third aspect of the invention, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores a computer program executable by at least one of the processors, the computer program being executable by at least one of the processors to enable the at least one of the processors to perform the PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to any of the embodiments of the present invention.
According to a fourth aspect of the present invention, a computer-readable storage medium is provided, where computer instructions are stored, and the computer instructions are used for enabling a processor to implement the PID control coefficient determining method for controlling the opening degree of an electronic expansion valve according to any embodiment of the present invention when executed.
The PID control coefficient determining method, device, equipment and medium for controlling the opening of the electronic expansion valve, provided by the embodiment of the invention, comprise the following steps: acquiring an absolute value of the current superheat degree deviation of the evaporator; judging the absolute value of the current superheat degree deviation and a first preset value; when the absolute value of the current superheat degree deviation is smaller than or equal to a first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than a first preset value, determining a current control coefficient according to a second preset corresponding relation; acquiring an absolute value of the current temperature deviation of the compartment; judging the absolute value of the current temperature deviation and a second preset value; when the absolute value of the current temperature deviation is smaller than or equal to a second preset value, obtaining an adjustment coefficient of a current control coefficient; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration. The PID control coefficient is adjusted in real time according to the difference of the temperature of the chamber and the superheat degree deviation of the evaporator, so that the opening degree of the electronic expansion valve is adjusted in a real-time working condition matching mode, and the performance of the refrigerating system is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a refrigeration system in a related art environmental test chamber;
FIG. 2 is a flow chart of a PID control coefficient determination method for controlling the opening of an electronic expansion valve according to an embodiment of the invention;
FIG. 3 is a graph of integral and proportional coefficients in control coefficients versus superheat deviation;
FIG. 4 is a graph of the adjustment coefficients of the integral coefficient and the proportional coefficient in the control coefficient versus temperature deviation;
FIG. 5 is a graph of the control coefficient determined by the PID control coefficient determining method for controlling the opening of the electronic expansion valve according to the embodiment of the invention and the variation of the room temperature of the case A and the case B in the refrigeration process with time;
fig. 6 is a graph showing the variation with time of the control coefficient determined by using the PID control coefficient determining method for controlling the opening degree of the electronic expansion valve proposed by the embodiment of the present invention and the other room temperature of the schemes a and B during the cooling process;
fig. 7 is a graph of the variation with time of the control coefficient determined by using the PID control coefficient determining method for controlling the opening degree of the electronic expansion valve proposed by the embodiment of the present invention and yet another room temperature in the course of refrigeration for the schemes a and B;
FIG. 8 is a graph of the opening degree of an electronic expansion valve over time during refrigeration for scenario A and scenario B as well as the control coefficient determined by a PID control coefficient determination method for controlling the opening degree of an electronic expansion valve proposed by an embodiment of the present invention;
FIG. 9 is a graph of evaporator outlet superheat over time for scenario A and scenario B during refrigeration for a control coefficient determined by a PID control coefficient determination method for controlling opening of an electronic expansion valve as set forth in an embodiment of the present invention;
FIG. 10 is a graph of evaporator outlet pressure versus time for scenario A and scenario B during refrigeration, and the control coefficients determined by a PID control coefficient determination method for controlling the opening of an electronic expansion valve as proposed by an embodiment of the present invention;
FIG. 11 is a block diagram of a PID control coefficient determining device for controlling the opening of an electronic expansion valve according to an embodiment of the invention;
fig. 12 is a schematic structural diagram of an electronic device implementing a PID control coefficient method for controlling an opening degree of an electronic expansion valve according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic diagram of a refrigeration system in an environmental test chamber in the related art. In the prior art, an environmental test chamber generally comprises a chamber body, a control system and a refrigerating system, wherein the chamber body mainly comprises a heat insulation material, and the internal temperature can be adjusted at will within the range of-40 ℃ to 150 ℃. The control system mainly comprises a touch screen, a PLC, a temperature sensor, a pressure sensor and a related expansion module. The schematic structure of the refrigeration system is shown in fig. 1. The main components of the refrigeration system comprise a variable frequency compressor 102, a condenser 101, a hot side electromagnetic valve 103, a condenser fan 104, a cold side electromagnetic valve 105, an electronic superheat and temperature reduction expansion valve 106, a hot gas bypass valve 107, a liquid supply electromagnetic valve 108, a throttling electronic expansion valve 109, an evaporator fan 110, an evaporator 111, a heater 112, a straight electromagnetic valve 113, an evaporation pressure regulating valve 114 and a check valve 115.
The principle of the circulation process of the refrigeration system is as follows: the inverter compressor 102 sucks a refrigerant to compress the refrigerant, the compressed high-temperature high-pressure gaseous refrigerant enters the condenser 101 from an outlet of the inverter compressor 102, the condenser 101 releases heat to the high-temperature high-pressure gaseous refrigerant, the high-temperature high-pressure gaseous refrigerant is cooled into a low-temperature high-pressure liquid refrigerant, the low-temperature high-pressure liquid refrigerant flows out of an outlet of the condenser 101, passes through the liquid supply electromagnetic valve 108 and the throttle electronic expansion valve 109 and enters the evaporator 111, and the low-temperature high-pressure liquid refrigerant passes through the evaporator 111 to be changed into a low-pressure low-temperature gaseous refrigerant, passes through the direct electromagnetic valve 113 again and then returns to the inverter compressor 102 through the check valve 115. The evaporator 111 and the evaporator-related components are disposed in the case of the environmental test chamber. The cold bypass electromagnetic valve 105 and the electronic expansion valve 106 are used for shunting the low-temperature high-pressure liquid refrigerant flowing out of the condenser 101. The evaporation pressure regulating valve 114 is used to regulate the pressure of the branch of the evaporator 111.
In the above process, the opening degree of the electronic throttle expansion valve 109 is adjusted by the control system, but in the related art, the opening degree of the electronic throttle expansion valve 109 is generally adjusted only by a fixed PID control coefficient, and once the model is mismatched, the unchanged control coefficient may cause the performance of the refrigeration system to be reduced, and an ideal refrigeration effect cannot be achieved.
In view of the above technical problem, an embodiment of the present invention provides a method for determining a PID control coefficient for controlling an opening of an electronic expansion valve, including the following steps: acquiring an absolute value of the current superheat degree deviation of the evaporator; judging the absolute value of the current superheat degree deviation and a first preset value; when the absolute value of the current superheat degree deviation is smaller than or equal to a first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than a first preset value, determining a current control coefficient according to a second preset corresponding relation; acquiring an absolute value of the current temperature deviation of the compartment; judging the absolute value of the current temperature deviation and a second preset value; when the absolute value of the current temperature deviation is smaller than or equal to a second preset value, obtaining an adjustment coefficient of a current control coefficient; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration. The PID control coefficient is adjusted in real time according to the difference of the temperature of the chamber and the superheat degree deviation of the evaporator, so that the opening degree of the electronic expansion valve is adjusted in a real-time working condition matching mode, and the performance of the refrigerating system is improved.
Example one
Fig. 2 is a flowchart of a PID control coefficient determining method for controlling the opening of an electronic expansion valve according to an embodiment of the present invention. The method comprises the following steps:
s101, obtaining an absolute value of a current superheat degree deviation of an evaporator;
optionally, the step S101 of obtaining the absolute value of the current superheat deviation of the evaporator includes:
acquiring the temperature of the refrigerant at the outlet of the evaporator;
acquiring the saturated gas temperature of the refrigerant under the outlet pressure of the evaporator;
calculating the actual superheat degree of the outlet of the evaporator according to the temperature of the refrigerant and the temperature of the saturated gas of the refrigerant;
acquiring the current superheat deviation of the evaporator according to the actual superheat and the target superheat at the outlet of the evaporator;
and obtaining the absolute value of the current superheat deviation according to the current superheat deviation.
That is, the current superheat deviation is the difference between the current superheat of the evaporator and the target superheat. And the current superheat is the difference between the refrigerant temperature at the evaporator outlet and the saturated gas temperature of the refrigerant at the evaporator outlet pressure.
S102, judging the absolute value of the current superheat degree deviation and a first preset value;
s103, when the absolute value of the current superheat degree deviation is smaller than or equal to a first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than a first preset value, determining a current control coefficient according to a second preset corresponding relation;
in one embodiment, the first preset value may be 20, that is, when the absolute value of the difference between the current superheat degree of the evaporator and the target superheat degree is less than or equal to 20, the current control coefficient may be determined according to the first preset correspondence. It should be noted that the first preset corresponding relationship may be obtained by calibration in advance. The specific calibration process comprises the following steps: and determining the control coefficient through an empirical method, acquiring the absolute value of the superheat deviation under the corresponding control coefficient, and performing polynomial fitting on different control coefficients and the absolute value of the superheat deviation to acquire a first preset corresponding relation.
Optionally, in the first preset corresponding relationship, the current control coefficient and the absolute value of the current superheat deviation are in a linear correlation relationship.
For example, the first preset corresponding relation obtained by fitting may be K' v λ | e (k) | + b, where λ, b are constants. e (K) is the current superheat deviation, K' v Is the current control coefficient. It can be understood that the current control coefficient comprises three types of proportionality coefficient, integral coefficient and differential coefficient, wherein the proportionality coefficient satisfies the formula K' pv ＝λ 1 |e(k)|+b 1 (ii) a The integral coefficient satisfies the formula K' iv ＝λ 2 |e(k)|+b 2 (ii) a The coefficient of differential coefficient satisfies formula K' dv ＝λ 3 |e(k)|+b 3 . In other embodiments, the first predetermined correspondence relationship may be in other fitting forms.
Thus, when the absolute value of the difference between the current degree of superheat of the evaporator and the target degree of superheat is less than or equal to 20, the current control coefficient is determined according to the first preset correspondence.
And when the absolute value of the difference between the current superheat degree of the evaporator and the target superheat degree is larger than 20, determining the current control coefficient according to a second preset corresponding relation. In one embodiment, in the second predetermined correspondence, the current control coefficient is related to the first predetermined value.
The second preset corresponding relation can be obtained through calibration, the control coefficient is determined through an empirical method, the absolute value of the superheat deviation under the corresponding control coefficient is obtained, and polynomial fitting is conducted on different control coefficients and the absolute value of the superheat deviation.
It is understood that the second preset correspondence relationship may be represented as K' v 20 λ + b, where λ and b are constants. 20 is a first preset value, K' v Is the current control coefficient. The current control coefficient comprises three types of proportional coefficient, integral coefficient and differential coefficientWherein the proportionality coefficient satisfies the formula K' pv ＝20λ 1 +b 1 (ii) a Integral coefficient satisfies formula K' iv ＝20λ 2 +b 2 (ii) a The coefficient of differential coefficient satisfies formula K' dv ＝20λ 3 +b 3 。λ 1 ，b 1 ，λ 2 ，b 2 ，λ 3 ，b 3 All of which are constants, in other embodiments, the second predetermined correspondence relationship may be in other fitting forms. In a specific embodiment, λ 1 ＝-11.47、b 1 ＝-2.29、λ 2 ＝-0.91、b 2 ＝-0.13，λ 3 ＝-0.91、b 3 ＝-0.13。
S104, acquiring an absolute value of the current temperature deviation of the compartment;
optionally, the obtaining an absolute value of the current temperature deviation of the compartment comprises:
acquiring the current measured temperature of the compartment;
acquiring the set temperature of the chamber;
acquiring the current temperature deviation of the chamber according to the current measured temperature and the set temperature;
and acquiring the absolute value of the current temperature deviation according to the current temperature deviation.
It will be appreciated that the current measured temperature of the compartment may be obtained by a temperature sensor, and the set temperature of the compartment is the target compartment temperature that is desired to be controlled by the refrigeration system.
S105, judging the absolute value of the current temperature deviation and the second preset value;
s106, when the absolute value of the current temperature deviation is smaller than or equal to a second preset value, obtaining an adjustment coefficient of the current control coefficient; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
The second preset value may be 1.0 ℃, and when the absolute value of the current temperature deviation is less than or equal to 1.0 ℃, it indicates that the current working condition is close to the steady-state working condition, and the opening response of the electronic expansion valve needs to be reduced, and further, the current control coefficient obtained through step S101 to step S104 needs to be corrected. When the absolute value of the current temperature deviation is greater than 1.0 ℃, it is indicated that the current working condition is a cooling working condition, and the opening response of the electronic expansion valve needs to be improved, at this time, the adjustment coefficient according to the current control coefficient is constant 1, that is, the electronic expansion valve is controlled by the current control coefficient obtained in the steps S101 to S104.
Optionally, when the absolute value of the current temperature deviation is less than or equal to a third preset value, the adjustment coefficient of the current control coefficient is determined according to a third preset corresponding relationship; when the absolute value of the current temperature deviation is greater than the third preset value and less than or equal to the second preset value, the adjustment coefficient of the current control coefficient is determined according to a fourth preset corresponding relation; and the third preset corresponding relation and the fourth preset corresponding relation are obtained by calibration.
It should be noted that the third preset value may be 0.5 ℃, the adjustment coefficient of the current control coefficient is a constant smaller than 1 in the third preset corresponding relationship, and the adjustment coefficient of the current control coefficient is related to the square of the absolute value of the current temperature deviation in the fourth preset corresponding relationship. The adjustment coefficient in the third preset corresponding relation is smaller than the minimum value of the adjustment coefficient in the fourth preset relation.
That is, when the absolute value of the current temperature deviation is less than 0.5 ℃, it can be regarded as a steady-state condition, and the opening response of the electronic expansion valve needs to be suppressed, and the proportionality coefficient K pv ＝αK′ pv Wherein alpha is an adjustment coefficient and can be 0.0004, K' pv Is the current scale factor obtained through steps S101 to S104. Integral coefficient K iv ＝βK′ iv Wherein beta is a regulation coefficient, and beta can be 0.0001, K' iv Is the current integration coefficient acquired through step S101 to step S104. Differential coefficient K dv ＝γK′ dv Wherein γ is an adjustment coefficient, and γ may be 0.0004, K' dv Is the current differential coefficient acquired through step S101 to step S104.
When the absolute value of the current temperature deviation is greater than 0.5 ℃ and less than 1.0 ℃, the current temperature deviation is considered to be close to the steady-state working condition, and the electronic expansion needs to be reducedValve opening response, where α may satisfy α ═ 0.04 Δ T 2 Beta may satisfy beta-0.01 delta T 2 γ may satisfy γ ═ 0.04 Δ T 2 。
Overall, when | e (K) ≦ 20, K' v λ | e (k) | b; k 'when | e (K) | > 20' v 20 λ + b; when the absolute value | delta T | of the current temperature deviation is less than or equal to 1, K v ＝aK′ v (ii) a When | Δ T |>1 time, K v ＝K′ v (ii) a When | Δ T | < 0.5, a<1, a is a constant, 0.5 ≤ and | delta T ≤ 1, and a ═ c delta T 2 . Wherein λ, b, c are constants, all of which can be obtained in the fitting.
Therefore, when the absolute value of the superheat deviation is large, such as larger than 20, the upper limit value of the current control coefficient can be set, and the problems of superheat fluctuation and room temperature fluctuation and temperature return caused by the fact that the current control coefficient is too large can be prevented. And a is set to be a lower limit value, so that the problem of too low adjusting speed caused by too small delta T under a steady-state working condition is solved.
It will be appreciated that in other embodiments, only the integral and proportional coefficients may be adjusted, while the derivative coefficient is not. To reduce the overall computational load.
Fig. 3 is a graph showing the relationship between the integral coefficient and the proportional coefficient of the control coefficient and the superheat degree deviation. Fig. 4 is a graph of the adjustment coefficients of the integral coefficient and the proportional coefficient in the control coefficient with respect to the temperature deviation. As can be seen from fig. 3 and 4, when the absolute value of the superheat deviation value is greater than 20, both the integral coefficient and the proportional coefficient are constant, and when the absolute value of the superheat deviation value is less than 20, the integral coefficient and the proportional coefficient fluctuate with the magnitude of the superheat deviation value and are linearly related to the superheat deviation value. When the absolute value of the temperature deviation value is less than 0.5, the adjusting coefficient is constant, and when the absolute value of the temperature deviation value is more than 0.5 and less than 1, the adjusting coefficient fluctuates along with the temperature deviation value. And the adjustment coefficient is minimized when the absolute value of the temperature deviation value is less than 0.5.
It is understood that, when the sum of the PID control coefficients is obtained based on the above-described embodiment, the opening degree of the electronic expansion valve can be adjusted in the following manner. And u (k) is the opening output quantity of the electronic expansion valve controller, and the PID algorithm expression is as follows:
u(k)＝u(k-1)+ΔKk)
＝u(k-1)+K p Δe(k)+K i e(k)+K d [Δe(k)-Δe(k-1)]；
in the above formula: u (k-1) is the opening degree of the electronic expansion valve at the sampling moment of the k-1 st time; Δ u (k) is the opening increment; k p Is a proportionality coefficient; k i Is an integral coefficient; k d Is a differential coefficient; e (k) is the deviation value input at the k-th sampling moment; e (k-1) is an input deviation value at the sampling time of the k-1 st time; e (k-2) is an input deviation value at the k-2 sampling moment; Δ e (k) is a difference between the offset value input at the k-th sampling time and the offset value input at the k-1-th sampling time, that is, Δ e (k) -e (k-1); Δ e (k-1) is the difference between the offset value input at the sampling time point k-1 and the offset value input at the sampling time point k-2, i.e., Δ e (k-1) ═ e (k-1) -e (k-2). k is the number of samples.
Fig. 5 to 10 show the operation characteristics of the sample machine of the invention under the working conditions of temperature reduction and constant temperature. From fig. 5, it can be seen that, in the time from the beginning of cooling at 100 ℃ to the first reaching temperature of-40 ℃, the fixed gain a scheme is 2848s, the fixed gain B scheme is 1842s, the variable gain scheme is 1577s, and the cooling rates are respectively 2.95 ℃/min, 4.56 ℃/min and 5.33 ℃/min, and from data, the variable gain scheme is respectively improved by 80.6% and 16.8% in comparison with the former two in terms of the index of the cooling rate. FIG. 6 shows the room temperature overshoot condition when the prototype approaches the target temperature, the room temperature overshoot of the fixed gain A scheme and the variable gain scheme is 0.2 ℃, the room temperature overshoot of the fixed gain B scheme is 0.9 ℃, and the temperature oscillation phenomenon with the duration time exceeding 60min occurs. Fig. 7 is a comparison of temperature fluctuation after the prototype reaches a steady state, and it can be seen that the temperature fluctuation degree of the fixed gain B scheme is 0.3 ℃, and the temperature fluctuation degrees of the variable gain scheme and the fixed gain a scheme are both 0.1 ℃, indicating that the PID gain parameters are reduced, the opening response of the electronic expansion valve can be inhibited in the steady state, and the room temperature disturbance rejection capability is enhanced.
This is more visually apparent from the opening curve of the electronic expansion valve of fig. 8 and the superheat curve of the evaporator outlet of fig. 9. In the cooling process, the opening of the electronic expansion valve of the gain-variable scheme can be quickly adjusted according to the superheat degree of the outlet of the evaporator, so that the superheat degree is always kept within the range of 6 +/-0.8 ℃ of the target superheat degree, the heat exchange area of the evaporator can be fully utilized to realize high-efficiency heat exchange, and the cooling time is shortened; the gain of the constant gain A scheme is small, the opening response of the electronic expansion valve is slow, and the superheat degree is difficult to adjust in time in the cooling process, so that the superheat degree deviates from a target value greatly, and the cooling is slow; the gain of the constant gain B scheme is large, and when the system is close to a steady state, the opening of the electronic expansion valve is frequently adjusted by the controller due to unstable superheat degree, so that the room temperature is continuously oscillated for a long time. The curve shows that under the steady-state working condition, the response of the variable gain scheme and the fixed gain A scheme to the superheat degree deviation is reduced, the adjustment is slowed, and the superheat degree deviates from the target value by more than about 2 ℃. Fig. 10 shows the situation of the outlet pressure of the evaporator, and the curve changes along the trend of keeping more consistent with the adjustment change of the opening degree of the electronic expansion valve. Wherein, the proportionality coefficients of the scheme A and the scheme B are-0.5-70 respectively; the integral coefficients are respectively-0.01 and-0.5; the differential coefficients are-0.5, -70, respectively.
It should be noted that the fixed gain scheme a and the fixed gain scheme B in fig. 5 to fig. 10 are comparative schemes, that is, in the refrigeration condition, the PID control coefficients are fixed values, and the variable gain scheme is a PID control coefficient determination method for controlling the opening degree of the electronic expansion valve according to the present invention to determine the PID control coefficients. The advantages of the present invention can be seen in fig. 5 to 10. Under the cooling working condition, the opening response of the electronic expansion valve can be improved, the opening response of the electronic expansion valve can be reduced when the electronic expansion valve is close to the steady-state working condition, and the opening response of the electronic expansion valve can be inhibited under the steady-state working condition. Therefore, the problems that the traditional PID controller parameter setting is mostly based on a simplified and unchangeable mathematical model, the system gain is fixed, the feedback signal is single, when the model is mismatched, if the control parameter is still kept unchanged, the performance of the refrigerating system is reduced, and the ideal control effect is difficult to obtain under variable working conditions are solved. In addition, the problem that the performance of the system is easily influenced by the outside to greatly fluctuate due to the wide instability of the refrigeration system caused by superheat degree oscillation is solved. The complex scenes of large-range variable working conditions and superheat oscillation are considered, for example, dynamic rapid cooling and stable accurate temperature control of the environmental test chamber are beneficial to matching different working conditions, and the performance of the refrigeration system is beneficial to being improved.
Example two
Fig. 11 is a block diagram of a PID control coefficient determining apparatus for controlling the opening degree of an electronic expansion valve according to an embodiment of the present invention. As shown in fig. 11, the apparatus includes:
a first obtaining module 201, configured to obtain an absolute value of a current superheat deviation of the evaporator;
the first judging module 202 is configured to judge a magnitude of an absolute value of the current superheat degree deviation and a first preset value;
the first determining module 203 is configured to determine a current control coefficient according to a first preset corresponding relationship when the absolute value of the current superheat deviation is less than or equal to a first preset value; the superheat degree deviation control module is also used for determining a current control coefficient according to a second preset corresponding relation when the absolute value of the current superheat degree deviation is larger than a first preset value;
a second obtaining module 204, configured to obtain an absolute value of a current temperature deviation of the compartment;
a second judging module 205, configured to judge a magnitude of an absolute value of the current temperature deviation and a second preset value;
a second determining module 206, configured to obtain an adjustment coefficient of the current control coefficient when the absolute value of the current temperature deviation is smaller than or equal to a second preset value; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
According to an embodiment of the present invention, in the first preset corresponding relationship, the current control coefficient and the absolute value of the current superheat degree deviation are in a linear correlation relationship; in the second preset corresponding relationship, the current control coefficient is related to the first preset value.
According to one embodiment of the invention, the second determining module 206 comprises:
the second determination first subunit is used for determining the adjustment coefficient of the current control coefficient according to a third preset corresponding relation when the absolute value of the current temperature deviation is smaller than or equal to a third preset value;
a second determining second subunit, configured to determine, when the absolute value of the current temperature deviation is greater than a third preset value and is less than or equal to a second preset value, an adjustment coefficient of the current control coefficient according to a fourth preset correspondence;
and the third preset corresponding relation and the fourth preset corresponding relation are obtained by calibration.
According to an embodiment of the present invention, in the third preset correspondence, the adjustment coefficient of the current control coefficient is a constant smaller than 1, and in the fourth preset correspondence, the adjustment coefficient of the current control coefficient is related to the square of the current temperature deviation.
According to an embodiment of the invention, the apparatus further comprises: and the third determining module is used for acquiring the adjustment coefficient of the current control coefficient when the absolute value of the current temperature deviation is greater than the second preset value, wherein the adjustment coefficient of the current control coefficient is constant 1.
According to an embodiment of the present invention, the first obtaining module 201 includes:
a first acquisition unit for acquiring a refrigerant temperature at an outlet of the evaporator;
a second acquisition unit for acquiring a refrigerant saturated gas temperature at an evaporator outlet pressure;
a first calculation unit for calculating an actual superheat degree of an evaporator outlet based on the refrigerant temperature and the refrigerant saturated gas temperature; the system is also used for acquiring the current superheat deviation of the evaporator according to the actual superheat and the target superheat at the outlet of the evaporator; and the absolute value of the current superheat deviation is obtained according to the current superheat deviation.
According to an embodiment of the present invention, the second obtaining module 204 includes:
the third acquisition unit is used for acquiring the current actually measured temperature of the compartment;
a fourth acquiring unit for acquiring the set temperature of the compartment;
the second calculation unit is used for acquiring the current temperature deviation of the chamber according to the current measured temperature and the set temperature; and the absolute value of the deviation of the current temperature is obtained according to the deviation of the current temperature.
The PID control coefficient determining device for controlling the opening degree of the electronic expansion valve provided by the embodiment of the invention can execute the PID control coefficient determining method for controlling the opening degree of the electronic expansion valve provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 10 includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the PID control coefficient determining method of controlling an opening of an electronic expansion valve according to any of the embodiments of the present invention.
Example four
The present invention further provides a computer-readable storage medium storing computer instructions for implementing the PID control coefficient determining method for controlling the opening of an electronic expansion valve according to any of the embodiments of the present invention when the computer instructions are executed by a processor.
FIG. 12 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 12, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the PID control coefficient determination method that controls the opening of the electronic expansion valve may be implemented as a computer program that is tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the PID control coefficient determination method of controlling the opening of the electronic expansion valve described above may be performed. Alternatively, in other embodiments, processor 11 may be configured by any other suitable means (e.g., by way of firmware) to perform a PID control coefficient determination method that controls the opening of the electronic expansion valve.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
In summary, according to the PID control coefficient determining method, apparatus, device and medium for controlling the opening of the electronic expansion valve provided by the embodiments of the present invention, the method includes the following steps: acquiring an absolute value of the current superheat degree deviation of the evaporator; judging the absolute value of the current superheat degree deviation and a first preset value; when the absolute value of the current superheat degree deviation is smaller than or equal to a first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than a first preset value, determining a current control coefficient according to a second preset corresponding relation; acquiring an absolute value of the current temperature deviation of the compartment; judging the absolute value of the current temperature deviation and a second preset value; when the absolute value of the current temperature deviation is smaller than or equal to a second preset value, obtaining an adjustment coefficient of a current control coefficient; and determining the current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration. The PID control coefficient is adjusted in real time according to the difference of the temperature of the chamber and the superheat degree deviation of the evaporator, so that the opening degree of the electronic expansion valve is adjusted in a real-time working condition matching mode, and the performance of the refrigerating system is improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A PID control coefficient determining method for controlling the opening of an electronic expansion valve is characterized by comprising the following steps:
acquiring an absolute value of the current superheat degree deviation of the evaporator;
judging the absolute value of the current superheat degree deviation and a first preset value;
when the absolute value of the current superheat degree deviation is smaller than or equal to the first preset value, determining a current control coefficient according to a first preset corresponding relation; when the absolute value of the current superheat degree deviation is larger than the first preset value, determining the current control coefficient according to a second preset corresponding relation;
acquiring an absolute value of the current temperature deviation of the compartment;
judging the absolute value of the current temperature deviation and a second preset value;
when the absolute value of the current temperature deviation is smaller than or equal to the second preset value, obtaining an adjustment coefficient of the current control coefficient; and determining a current secondary control coefficient according to the adjustment coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
2. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 1, characterized in that in the first preset correspondence, the current control coefficient is in a linear correlation with an absolute value of the current superheat degree deviation; in the second preset corresponding relationship, the current control coefficient is related to the first preset value.
3. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 1, wherein obtaining the adjustment coefficient of the current control coefficient when the absolute value of the current temperature deviation is less than or equal to the second preset value includes:
when the absolute value of the current temperature deviation is smaller than or equal to a third preset value, the adjustment coefficient of the current control coefficient is determined according to a third preset corresponding relation;
when the absolute value of the current temperature deviation is greater than the third preset value and less than or equal to the second preset value, the adjustment coefficient of the current control coefficient is determined according to a fourth preset corresponding relation;
and obtaining the third preset corresponding relation and the fourth preset corresponding relation through calibration.
4. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 3, wherein in the third preset correspondence, the adjustment coefficient of the current control coefficient is a constant smaller than 1, and in the fourth preset correspondence, the adjustment coefficient of the current control coefficient is related to the current temperature deviation squared.
5. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 1, characterized by further comprising: and when the absolute value of the current temperature deviation is greater than the second preset value, acquiring an adjustment coefficient of the current control coefficient, wherein the adjustment coefficient of the current control coefficient is constant 1.
6. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 1, wherein the acquiring an absolute value of a current superheat degree deviation of the evaporator includes:
acquiring the temperature of the refrigerant at the outlet of the evaporator;
acquiring the saturated gas temperature of the refrigerant under the outlet pressure of the evaporator;
calculating an actual superheat degree of an outlet of an evaporator according to the refrigerant temperature and the refrigerant saturated gas temperature;
acquiring the current superheat deviation of the evaporator according to the actual superheat and the target superheat at the outlet of the evaporator;
and acquiring the absolute value of the current superheat degree deviation according to the current superheat degree deviation.
7. The PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to claim 1, wherein the obtaining of the absolute value of the current temperature deviation of the compartment includes:
acquiring the current measured temperature of the compartment;
acquiring the set temperature of the chamber;
acquiring the current temperature deviation of the compartment according to the current measured temperature and the set temperature;
and acquiring the absolute value of the deviation of the current temperature according to the deviation of the current temperature.
8. A PID control coefficient determining apparatus that controls an opening degree of an electronic expansion valve, comprising:
the first acquisition module is used for acquiring the absolute value of the current superheat deviation of the evaporator;
the first judgment module is used for judging the absolute value of the current superheat degree deviation and a first preset value;
the first determining module is used for determining a current control coefficient according to a first preset corresponding relation when the absolute value of the current superheat deviation is smaller than or equal to the first preset value; the control device is also used for determining the current control coefficient according to a second preset corresponding relation when the absolute value of the current superheat deviation is larger than the first preset value;
the second acquisition module is used for acquiring the absolute value of the current temperature deviation of the compartment;
the second judgment module is used for judging the absolute value of the current temperature deviation and a second preset value;
the second determining module is used for acquiring the adjusting coefficient of the current control coefficient when the absolute value of the current temperature deviation is smaller than or equal to the second preset value; and determining a current secondary control coefficient according to the adjustment coefficient of the current control coefficient and the current control coefficient, wherein the first preset corresponding relation and the second preset corresponding relation are obtained by calibration.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores a computer program executable by at least one of the processors to enable the at least one of the processors to perform the PID control coefficient determining method of controlling an opening degree of an electronic expansion valve according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the PID control coefficient determination method of controlling an opening degree of an electronic expansion valve according to any one of claims 1 to 7 when executed.
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| CN116594291A (en) * | 2023-07-17 | 2023-08-15 | 中国船舶集团有限公司第七一九研究所 | Sea-going system self-adaptive control method, device, equipment and readable storage medium |
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