CN116852934A

CN116852934A - Control method, control device, electronic equipment and storage medium

Info

Publication number: CN116852934A
Application number: CN202210313345.7A
Authority: CN
Inventors: 赵旭; 赵宇航; 李晨; 李瑞敏
Original assignee: Mind Electronics Appliance Co Ltd
Current assignee: Mind Electronics Appliance Co Ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2023-10-10

Abstract

The invention provides a control method, a control device, electronic equipment and a storage medium, and relates to the technical field of man-machine interaction. The method comprises the following steps: firstly, responding to a temperature demand instruction input by a user, and starting a high-pressure heater and a compressor successively; then, acquiring the temperature in the cabin, the inlet temperature of the warm air core body and the ambient temperature acquired by the sensors, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin and the inlet temperature of the warm air core body; and finally, the operation power of the high-pressure heater is increased from the initial operation power to the PID control power, and the operation rotating speed of the compressor is increased from the initial operation rotating speed to the PID control rotating speed. According to the invention, the HvH and the compressor are sequentially started, and the operation power control of HvH and the rotation speed control of the compressor are automatically adjusted in real time, so that the temperature control timeliness and the energy conservation are both considered in the operation process of the vehicle-mounted heat pump air conditioning system.

Description

Control method, control device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicle temperature control technologies, and in particular, to a control method, a control device, an electronic device, and a storage medium.

Background

Along with the popularization of new energy vehicles, in order to improve the range of the new energy vehicles and reduce the heating energy consumption of the air conditioner, the new energy vehicles are provided with a heat pump air conditioning system, so that the new energy vehicles are a main stream solution for solving the range problem, and the vehicle-mounted heat pump air conditioner can realize the operation corresponding to the optimal mode under different working conditions and meet the functional requirements of different types of the whole vehicle through the switching of multiple modes. Different heat pump architectures make the control logic or execution strategy of the heat pump air conditioner different.

In the related art, the control scheme of the existing vehicle-mounted heat pump air conditioner cannot meet the dual requirements of a user on the real-time performance and the energy consumption performance of temperature control.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device, electronic equipment and a storage medium, which aim to solve the problems in the background technology.

In order to solve the technical problems, the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a control method, where the method is applied to an air conditioner heat pump system, and the method includes:

responding to a temperature demand instruction input by a user, and starting the high-pressure heater and the compressor successively; the temperature demand instruction carries an air conditioner target temperature set by a user, and the high-pressure heater and the compressor respectively run at initial running power and initial running rotating speed;

Acquiring the temperature in the cabin, the temperature at the inlet of the warm air core body and the ambient temperature acquired by the sensor, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin, the ambient temperature and the temperature at the inlet of the warm air core body;

and (3) increasing the operating power of the high-pressure heater from the initial operating power to the PID control power, and simultaneously increasing the operating rotating speed of the compressor from the initial operating rotating speed to the PID control rotating speed.

Optionally, the step of determining the PID control power of the high pressure heater comprises:

determining the compensation temperature of the high-pressure heater and the first target temperature of the warm air core according to the air conditioner target temperature, the temperature in the cabin and the environment temperature;

determining the target temperature of the high-pressure heater according to the first target temperature of the warm air core body and the compensation temperature of the high-pressure heater;

obtaining the inlet temperature of the warm air core body, and determining the PID control temperature of the high-pressure heater at the first moment according to the target temperature of the high-pressure heater and the inlet temperature of the warm air core body;

calculating the PID proportion coefficient of the first moment of the high-pressure heater according to the PID control temperature of the first moment of the high-pressure heater;

Calculating the PID integral coefficient of the high-voltage heater at the first moment according to the PID control temperature of the high-voltage heater at the first moment and the PID control power of the high-voltage heater at the second moment;

calculating a PID differential coefficient of the high-pressure heater at the first moment according to the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and determining the PID control power of the high-voltage heater according to the PID proportion coefficient of the first moment of the high-voltage heater, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment.

Optionally, the step of determining the PID control rotational speed of the compressor comprises:

determining a second target temperature of the warm air core according to the temperature in the cabin, the target temperature of the air conditioner and the environmental temperature;

obtaining the inlet temperature of the warm air core body, and determining the PID control temperature of the compressor according to the second target temperature of the warm air core body and the inlet temperature of the warm air core body;

calculating the PID proportion coefficient of the compressor at the first moment according to the PID control temperature of the compressor;

calculating the PID integral coefficient of the first moment of the compressor according to the PID control temperature of the compressor and the PID control power of the second moment of the compressor;

Calculating the PID differential coefficient of the first moment of the compressor according to the PID control temperature of the compressor and the PID control temperature of the third moment of the compressor; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and determining the PID control rotating speed of the compressor according to the PID proportional coefficient of the first moment of the compressor, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment.

Optionally, the method further comprises:

acquiring low-pressure parameters of an air suction port and high-pressure parameters of an air exhaust port of the compressor at the current moment, and temperature parameters of the air suction port and the air exhaust port;

determining the low pressure change rate of the air suction port, the high pressure change rate of the air exhaust port and the temperature change rate of the air suction port and the air exhaust port according to the low pressure parameter of the air suction port, the high pressure parameter of the air exhaust port and the temperature parameter of the air suction port at the current moment, the low pressure parameter of the air suction port, the high pressure parameter of the air exhaust port at the previous moment, the temperature parameter of the air exhaust port and the corresponding preset change time;

when the low pressure change rate, the high pressure change rate or the temperature change rate is smaller than or equal to the respective preset first threshold value, the rotating speed of the compressor is increased or decreased to the PID control rotating speed;

when the low pressure change rate, the high pressure change rate or the temperature change rate is larger than the respective preset first threshold value, the rotating speed of the compressor maintains the current rotating speed;

And when the low pressure change rate, the high pressure change rate and the temperature change rate are larger than respective preset second thresholds, the rotating speed of the compressor is reduced to the initial operating rotating speed according to the preset reducing speed, wherein the second thresholds are larger than the first thresholds.

Optionally, the method further comprises:

acquiring a target temperature of the battery pack during heating, and determining the additional power of the high-voltage heater according to the target temperature of the battery pack during heating;

searching a preset additional power lookup table according to the additional power of the high-voltage heater, and determining an integral control temperature accumulated value corresponding to the additional power of the high-voltage heater by combining an interpolation algorithm;

determining the PID control power of the high pressure heater, comprising:

and determining the PID control power increased by the high-voltage heater according to the integral control temperature accumulated value corresponding to the additional power of the high-voltage heater.

Optionally, the method further comprises:

acquiring a gear change value of the air conditioner fan, and determining a voltage change value of the air conditioner fan according to the gear change value;

searching a preset voltage change value lookup table according to the voltage change value of the air conditioner fan, and determining a compressor integral control temperature accumulated value corresponding to the voltage change value of the air conditioner fan by combining an interpolation algorithm;

Determining a PID control rotational speed of the compressor, comprising:

and determining the PID control rotating speed increased by the compressor according to the accumulated value of the integral control temperature of the compressor corresponding to the voltage change value of the air conditioner fan.

Optionally, the method further comprises:

if the PID control power of the high-voltage heater is smaller than the initial operation power of the high-voltage heater, the high-voltage heater is controlled to be changed from the operation state to the stop state, and when the PID control power of the high-voltage heater is larger than the initial operation power of the high-voltage heater, the high-voltage heater is controlled to be changed from the stop state to the operation state;

and if the PID control rotating speed of the compressor is smaller than the initial running rotating speed of the compressor, controlling the compressor to be changed from the running state to the stop state, and when the PID control rotating speed of the compressor is larger than the initial running rotating speed of the compressor, controlling the compressor to be changed from the stop state to the running state.

A second aspect of an embodiment of the present invention provides a control device, including:

the response unit is used for responding to a temperature demand instruction input by a user and starting the high-pressure heater and the compressor in sequence; the temperature demand instruction carries an air conditioner target temperature set by a user, and the high-pressure heater and the compressor respectively run at initial running power and initial running rotating speed;

The acquisition unit is used for acquiring the temperature in the cabin, the temperature at the inlet of the warm air core body and the ambient temperature acquired by the sensor, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin and the temperature at the inlet of the warm air core body;

and the execution unit is used for increasing the operation power of the high-pressure heater from the initial operation power to the PID control power and increasing the operation rotating speed of the compressor from the initial operation rotating speed to the PID control rotating speed.

A third aspect of the embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

and the processor is used for realizing the method steps provided by the first aspect of the embodiment of the invention when executing the program stored in the memory.

A fourth aspect of the embodiments of the present invention proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as proposed in the first aspect of the embodiments of the present invention.

The embodiment of the invention has the following advantages: responding to a temperature demand instruction input by a user, and starting the high-pressure heater and the compressor successively; the temperature demand instruction carries an air conditioner target temperature set by a user, and the high-pressure heater and the compressor respectively run at initial running power and initial running rotating speed; acquiring the temperature in the cabin, the temperature at the inlet of the warm air core body and the ambient temperature acquired by the sensors, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin and the temperature at the inlet of the warm air core body; and (3) increasing the operating power of the high-pressure heater from the initial operating power to the PID control power, and simultaneously increasing the operating rotating speed of the compressor from the initial operating rotating speed to the PID control rotating speed. According to the invention, the high-pressure heater and the compressor are sequentially started, and the running power control of the high-pressure heater and the rotating speed control of the compressor are automatically regulated in real time, so that the temperature control timeliness and the energy conservation are both considered in the running process of the vehicle-mounted heat pump air conditioning system, namely the compressor is started in the starting process to start heat pump heating, and the rotating speed can be automatically regulated in time according to the threshold value. According to the invention, when the mode is switched, the corresponding PID control parameters can be adjusted according to the change of the temperature requirement, so that the preconditioning effect of different response effects is achieved, and the response speed of the heat pump system in different load/working modes and in the mode switching process is improved, so that the working adaptability of the heat pump system is stronger.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a system block diagram of an air-conditioning heat pump system in an embodiment of the application;

FIG. 2 is a flow chart of steps of a control method according to an embodiment of the present application;

FIG. 3 is a flow chart illustrating the speed control of a compressor in accordance with an embodiment of the present application;

FIG. 4 is a schematic block diagram of a control device according to an embodiment of the present application;

fig. 5 is a schematic diagram of functional modules of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Term interpretation:

HvH: a vehicle-mounted high-voltage heater mainly has the function of converting electric energy of a whole vehicle into heat energy, and the vehicle-mounted high-voltage heater is used for heating water.

Vehicle-mounted heat pump air conditioner: an air conditioning system for a vehicle can realize active cooling and heating functions of a passenger compartment and a power battery by controlling the air conditioning system to switch different loops.

Water-cooled condenser: a vehicle refrigerant circulation heat dissipation device is characterized in that a refrigerant side generates heat and is transferred to a cooling liquid circulation loop of an air conditioner warm air, so that the cooling liquid circulated by the air conditioner warm air loop is heated, the heated cooling liquid flows through a warm air core, and a blower blows air through the warm air core, and then sequentially passes through a cold and warm air door and a mode air door of an air conditioner box body and then enters an air conditioner air duct to heat a passenger cabin.

Warm air core body: a vehicle-mounted cooling liquid circulation heat dissipation device can transfer heat of air-conditioning warm air circulation cooling liquid to wind passing through the surface of the vehicle-mounted cooling liquid circulation heat dissipation device, so that wind blown into a passenger cabin is heated, and then enters an air-conditioning air channel after passing through an air-conditioning box body cold-warm air door and a mode air door to heat the passenger cabin.

In the related technology, in the autumn and winter, in the cold start heating process of a vehicle-mounted heat pump air conditioning system, a compressor corresponding to an air conditioning refrigerant loop is started for heating, if the control logic is improperly processed, abrupt changes of high-pressure and low-pressure of the system are easily caused, and meanwhile, the high-pressure and low-pressure protection of the system is easily triggered to cause the shutdown of the compressor, so that the fluctuation of the system is caused. There are 3 different solutions to this problem,

The first processing mode is as follows: considering the quick heating priority of the passenger cabin, the heating control strategy is to firstly start HvH, so that after the water inlet of the warm air core reaches the target temperature of the comfort requirement, the heat pump heating mode of the refrigerant loop is started, namely the compressor heating mode is started, the refrigerant is enabled to radiate through the water-cooling condenser, then HvH is implemented in a gradual power reduction and withdrawal mode, after HvH completely exits from working, the operation of the pure heat pump heating mode cannot completely meet the requirement of reaching the comfort water temperature, parameter calibration is still required for different load working conditions, the working conditions required to be verified are more in subdivision and the calibration workload is larger, and meanwhile, the timely response of the automatic control of the heat pump cannot be guaranteed. Therefore, the first processing method cannot meet all the temperature control requirements of the user.

The second processing mode is as follows: considering the energy saving priority of the whole vehicle, the control strategy is that when the environmental temperature is higher than a certain temperature, such as 0 ℃ (calibration value), if an air conditioning system is adopted for heating, only a heat pump mode is selected for heating, the control can not timely meet the target heating temperature when the temperature change of the vehicle cabin of the environment or the customer needs is large, different pure heat pumps can not meet the working condition calibration of HvH heating when the required water temperature is increased, the workload is large, and the automatic control is complex. Therefore, the second processing mode cannot meet the requirement of the user on the temperature control time limit.

The third processing mode is as follows: when the air conditioner is used for heating, firstly, a warm air loop is operated, the HvH is started, the operation power of the HvH is subjected to PID regulation control according to the water temperature of the warm air core inlet and the target water temperature calculated by the comfort, after the water temperature of the warm air core inlet is larger than a certain temperature value, for example, 25 ℃ (a calibration value), the compressor is started, and the rotation speed of the compressor is subjected to PID regulation according to the target comfort temperature of the warm air core inlet and the actual inlet water temperature, but the mode is required to calibrate the starting limit of the compressor under different environment temperature working conditions and different air conditioner set temperature requirements. The subdivision working conditions are more, the workload is larger, the heat pump starting control is complex, and the calibration verification is time-consuming. Therefore, the third processing method cannot satisfy the user's convenience in the temperature control operation.

Based on the above-mentioned problems, the inventors have proposed the inventive concept of the present application: the heat pump air conditioning system can be started HvH and the compressor in sequence during cold start, and the change rate threshold value is set through setting early warning and the dangerous change rate threshold value, so that the rotation speed control of the compressor is automatically adjusted in real time through monitoring of the system or high temperature and low pressure in the rotation speed rising process of the compressor, the vehicle-mounted heat pump air conditioning system is enabled to be opened in comfort, hvH is quickly warmed up, energy conservation is achieved, the compressor is started in the starting process, heat pump heating is started, and the rotation speed of the compressor can be automatically adjusted in due time according to the monitoring threshold value.

The embodiment of the application provides a heat pump air conditioning system, which is shown in fig. 1, wherein the heat pump air conditioning system comprises a blue circulation as a refrigerant side and a red circulation as a cooling liquid side of an air conditioning warm air circulation loop.

Refrigerant side: the heat in the air absorbed by the outdoor heat exchanger is compressed again by the compressor, acting and heating are conducted to the cooling liquid side in the water-cooled condenser, the heated cooling liquid flows through the warm air core, the blower blows air through the warm air core, and then the heated cooling liquid enters the air conditioning air channel after passing through the cold and warm air door and the mode air door of the air conditioning box body in sequence, so that heating of the passenger cabin is realized.

Cooling liquid side: the heating is carried out through HvH, the water pump circulates, heat is brought into the warm air core body, the air is blown by the blower and is brought into the air conditioning duct, and finally the air enters the cabin, so that the heating function is achieved.

The embodiment of the application provides a control method, referring to fig. 2, applied to the heat pump air conditioning system shown in fig. 1 fig. 2 shows a step flow chart of the control method of the embodiment of the application, the method comprises the following steps:

s201, responding to a temperature demand instruction input by a user, and starting a high-pressure heater and a compressor successively; the temperature demand instruction carries the air conditioner target temperature set by a user, and the high-pressure heater and the compressor respectively run at the initial running power and the initial running rotating speed.

When the user gets into the car in-cabin from outside the car, according to actual temperature situation, have different temperature demands, as an example, when external temperature is higher, the user gets into in-cabin after having the temperature demand to the rapid cooling in-cabin, when external temperature is lower, the user gets into in-cabin after having the temperature demand to the rapid heating in-cabin. Thus, the user sends to the controller the temperature demand in the cabin

And after receiving the temperature demand instruction, in order to avoid the impact of the simultaneous starting of the compressor and the PTC two high-voltage electric parts on the discharge of the battery pack, starting HvH and the compressor at intervals of 3s (calibration amount) in sequence, and respectively operating the high-voltage heater and the compressor at initial operating power and initial operating rotating speed, wherein the initial operating power is the minimum operating power of the high-voltage heater. The initial operating speed is the minimum operating speed of the compressor.

S202: and acquiring the temperature in the cabin, the temperature at the inlet of the warm air core body and the ambient temperature acquired by the sensors, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin, the ambient temperature and the temperature at the inlet of the warm air core body.

After the high-pressure heater and the compressor are operated at the initial operation power and the initial operation rotation speed respectively, according to the air conditioner target temperature set by a user, the temperature in the vehicle cabin collected by the temperature sensor arranged in the vehicle, the temperature of the warm air core inlet collected by the temperature sensor arranged at the warm air core inlet and the environment temperature collected by the temperature sensor arranged outside the vehicle, the control target power for the high-pressure heater, namely the PID control power of the high-pressure heater, and the compressor control target rotation speed, namely the PID control rotation speed of the compressor, are determined.

S203: and (3) increasing the operating power of the high-pressure heater from the initial operating power to the PID control power, and simultaneously increasing the operating rotating speed of the compressor from the initial operating rotating speed to the PID control rotating speed.

And after determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor, taking the calculated PID control power and PID control rotating speed as control target values, rapidly increasing the high-pressure heater from the initial operation power to the PID control power, simultaneously rapidly increasing the operation rotating speed of the compressor from the initial operation rotating speed to the PID control rotating speed, and if the operation power of the current high-pressure heater and the operation rotating speed of the compressor are not the initial operation power and the initial operation rotating speed, increasing the operation rotating speed of the high-pressure heater from the current operation power to the PID control power, simultaneously increasing the operation rotating speed of the compressor from the current operation rotating speed to the PID control rotating speed, and outputting the final control rotating speed through the real-time protection logic of the compressor. The PID control power performs table look-up processing according to the difference between the target water temperature and the actual water temperature of the high-pressure heater, so that the power output of the high-pressure heater can adjust the response speed in real time along with the size of the system load, and the purposes of system stability and small load change and energy saving of the system are achieved.

In one possible embodiment, the step of controlling the power in accordance with the determination of the PID of the high pressure heater comprises:

In this embodiment, the target temperature of the air conditioner set by the user is Tset, the temperature in the cabin is Tin, according To the difference between Tset and Tin, and in combination with the ambient temperature To, a compensation table as shown in fig. 1 is searched, the compensation temperature t_cano of the high-pressure heater is determined, according To the target temperature of the air conditioner is Tset, the temperature in the cabin is Tin and a preset calibration value, and in combination with the ambient temperature To, the first target temperature t_ Cft of the warm air core is determined, and t_ Cft is the target temperature for calculating the comfort of the air conditioner, and a specific calculation formula is shown in formula 1:

Tar_HvH＝T_Cft+T_cano(n) (1)

calculating a target temperature tar_ HvH of the high-pressure heater, subtracting the actual temperature of the warm air core inlet from the target temperature tar_ HvH of the high-pressure heater, determining a PID control temperature DeltaT 1 (n) of the high-pressure heater at a first moment, taking the first moment T=3S, the second moment T=2S and the third moment T=1S as examples, and calculating a PID proportion coefficient of the high-pressure heater at the first moment after calculating the PID control temperature DeltaT 1 (n) at the first moment, wherein a specific calculation formula is shown in formula 2:

P*△T(n)＝Kp*△T1(n) (2)

Wherein P is PID proportionality coefficient at the first moment, different parameters are set according to the difference of DeltaT (n) by the parameter Kp, and an algorithm table 2 of the parameter Kp is shown as follows. The PID integral coefficient of the first moment is determined according to the PID control temperature of the high-voltage heater at the first moment and the PID control power of the high-voltage heater at the second moment, and the specific calculation formula is shown in formula 3:

I*△T1(n)＝I*△T1(n-1)+Ki*{Powr_PID(n-1)-I*△T1(n-1)} (3)

wherein I is a PID integral coefficient at a first time, ki=0.1 (calibration amount), powr_pid (n-1) is PID control power at a second time of the high-pressure heater, and i×Δt1 (n-1) is a PID integral coefficient at the second time;

the PID differential coefficient of the first moment is determined according to the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment, and the specific calculation formula is shown in formula 4:

D*△T1(n)＝Kd*{△T1(n)-△T1(n-2)} (4)

where D is the PID differential coefficient at the first time, kd=150 (calibration amount), and Δt1 (n-2) is the PID control temperature at the third time of the high-pressure heater.

After determining the proportional coefficient of the first moment of the high-voltage heater, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment, calculating and determining the PID control power of the high-voltage heater according to a formula 5;

Powr_PID(n)＝P*△T1(n)+I*△T1(n)+D*△T1(n) (5)

in this embodiment, the target water temperature controlled by the high-pressure heater determines a corresponding air-conditioning comfort target water temperature+temperature compensation value according to a difference between the air-conditioning set temperature value and the temperature value in the cabin. The idea can realize that the temperature of the air conditioner set by a customer in winter can reach the required temperature more quickly than the ordinary control when the actual internal temperature value in the cabin is lower, and the temperature can be quickly reduced to the set required temperature when the set temperature is lower and the actual internal temperature in the cabin is higher, so that the response of the temperature rising and reducing control is quick and sensitive.

In one possible embodiment, the step of determining the PID control rotational speed of the compressor comprises:

determining a second target temperature of the warm air core according to the target temperature of the air conditioner and the temperature in the cabin;

In this embodiment, the comfort target water temperature is determined according to the air conditioner target temperature, the cabin interior temperature and the combined environmental temperature, and the second target temperature of the warm air core is determined by adding a preset calibration value to the comfort target water temperature. Then, according to the difference between the second target temperature of the warm air core and the inlet temperature of the warm air core, determining the PID control temperature DeltaT 2 (n) of the compressor, and then calculating the PID proportionality coefficient of the compressor at the first moment according to the PID control temperature DeltaT 2 (n) of the compressor, wherein the specific calculation formula is shown in formula 6:

P*△T(n)＝Kp*△T1(n) (6)

In the formula, the parameter Kp is set to be different according to the difference of DeltaT (n), and an algorithm table 3 of the parameter Kp is as follows.

The PID integral coefficient of the first moment is determined according to the PID control temperature of the first moment of the compressor and the PID control power of the second moment of the compressor, and the specific calculation formula is shown in formula 7:

I*△T2(n)＝I*△T2(n-1)+Ki*{Spd_PID(n-1)-I*△T2(n-1)} (7)

where ki=0.06 (calibration amount), spd_pid (n-1) is the PID control rotation speed at the second time of the compressor, and i×Δt2 (n-1) is the PID differential coefficient at the second time;

the PID differential coefficient of the first moment is determined according to the PID control temperature of the first moment of the compressor and the PID control temperature of the third moment of the compressor, and the specific calculation formula is shown in formula 8:

D*△T2(n)＝Kd*{△T2(n)-△T2(n-2)} (8)

after determining the proportional coefficient of the first moment of the compressor, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment, calculating and determining the PID control rotating speed of the compressor according to a formula 9;

Spd_PID(n)＝P*△T2(n)+I*△T2(n)+D*△T2(n) (9)

in the formula, spd_PID (n) is the PID control rotation speed of the first moment of the compressor.

In one possible embodiment, the method further comprises:

In the present embodiment, the maximum rate of rise of the rotational speed of the compressor is set as a parameter r_rise, and the controller monitors in real time a pressure (low pressure) parameter p_inlet of the compressor suction port, a discharge pressure (high pressure) parameter p_outlet of the compressor, and a temperature (high temperature) parameter t_out of the heat pump air conditioning system. And performing calculation processing of the high/low pressure and high temperature change rate, and when the calculated high pressure change rate is the parameter A, the calculated low pressure change rate is the parameter B, and the calculated high temperature change rate is the parameter C which is smaller than or equal to the respective preset first threshold value, increasing or decreasing the rotating speed of the compressor to the PID control rotating speed according to the specific control requirement. When the calculated high pressure change rate is a parameter A, the calculated low pressure change rate is a parameter B, the calculated high temperature change rate is a parameter C, the calculated high pressure change rate is a parameter P1_ war, the calculated low pressure change rate is a parameter P2_ war, the calculated high temperature change rate is a parameter T _ war, the calculated high pressure change rate is a parameter B, when the calculated high pressure change rate is a parameter B, the calculated high temperature change rate is a parameter C, the calculated high pressure change rate is a parameter C, the calculated high temperature change rate is a parameter P1_ dan, the calculated high temperature change rate is a parameter P2_ dan, the calculated high temperature change rate is a parameter T dan, the calculated high temperature change rate is a parameter Spd _ dec, and the calculated low temperature change rate is a parameter Spd _ min. Thereby realizing the stable cold start process of the heating of the heat pump air conditioning system. The specific control flow is shown in fig. 3.

Wherein, the parameter R_rise is 200rpm/s (calibration value), the unit of the parameter P_inlet and P_outlet is bar, the unit of the parameter Spd_min is rpm, the unit of the parameter R_ rise, A, B, P1_war, P2_war, P1_dan, P2_dan and Spd_dec is rpm/s, and the unit of the parameter T_out, C, T_war and T_ dan is ℃/s;

P1_war＜P1_dan，P2_war＜P2_dan，T_war＜T_dan；

the calculation formula of the high pressure change rate is shown as a formula 10:

wherein DeltaT 1 is the change time, and is initially 3s (calibration amount);

the calculation formula of the low pressure change rate is shown as 11:

wherein DeltaT 2 is the change time, and is initially 2s (calibration amount);

the calculation formula of the high temperature change rate is shown as a formula 12:

where DeltaT 3 is the change time, initially 2.5s (nominal).

In a possible implementation mode, when there is a battery pack heating requirement in the process of heating and heating the passenger compartment, when the working mode of the heat pump system is switched from the passenger compartment heating to the passenger compartment and battery pack double heating mode, in order to avoid the poor comfort of the air conditioner caused by the fact that the water temperature of the warm air core body is greatly reduced in a short time when the battery pack heating is interposed, corresponding power values are synchronously increased on the basis of different heating targets (different load changes) of the current battery on the power operation of the high-voltage heater. And the increased output power value is led out by a PID algorithm of the power value of the high-voltage heater, the increment DeltaI (calibration quantity) of the value of I, delta T (n) is led out, and after the I, delta T (n) is increased and changed, the target output power of the high-voltage heater is continuously calculated based on the PID algorithm.

The method comprises the following specific steps:

determining the PID control power of the high pressure heater, comprising:

In the present embodiment, as an example, when the mode switching is performed, that is, when the passenger compartment heating+battery pack double heating mode is switched to the passenger compartment heating mode, or when the passenger compartment heating mode is switched to the passenger compartment heating+battery pack double heating mode. The battery packs have corresponding temperature requirements, i.e. need to provide heat or release heat. Therefore, after the target temperature M of the battery pack is obtained according to the corresponding temperature requirement of the battery pack, the additional power N required by the current temperature reaching the target temperature M is determined, a preset additional power lookup table is searched according to the additional power N, a difference algorithm, that is, the linear correspondence between the additional power and the integral control temperature accumulated value i×Δt (N), is combined, the integral control temperature accumulated value L (that is, Δi) corresponding to the additional power N is determined, and then the PID control power of the high-voltage heater is updated according to the integral control temperature accumulated value L, wherein the calculation formula is shown in formula 13

Powr_PID(n)＝P*△T1(n)+(I*△T1(n)+L)+D*△T1(n (13)

The mode of increasing HvH target output power is achieved by increasing delta I value, instead of directly increasing the changed power value on the actual output power of the current high-voltage heater, so as to ensure the continuity of the high-voltage heater power PID calculation output target power, avoid the target power jump calculated by PID, and avoid the fluctuation and oscillation of water temperature during adjustment.

In a possible implementation manner, when the passenger cabin runs in a heat pump heating mode, at this time, compressor heating is started, and when the working voltage value of the air conditioner blower changes greatly after the gear is adjusted, for example, the current working voltage value of the air conditioner blower is higher than the working voltage value of the last blower setting gear by more than a preset threshold value (the calibration quantity threshold value is different under different working condition loads), in order to avoid the influence of poor air conditioning comfort caused by large system load increase and large heat source water temperature reduction variation of the warm air core, the corresponding rotating speed value is synchronously increased according to the gear change of the current blower on the basic rotating speed operation of the compressor, and the method specifically comprises the following steps:

determining a PID control rotational speed of the compressor, comprising:

In the present embodiment, when the shift is performed, that is, when the high shift is switched to the low shift or when the low shift is switched to the high shift. The corresponding voltage change exists in the air blower, namely the current working voltage value of the air blower (namely the air conditioner fan) is unchanged compared with the working voltage value of the set gear of the last air blower after the air blower is regulated. Therefore, after the gear change value X of the air conditioner fan is obtained, determining the voltage change value Y caused by the current gear being switched to the target gear, checking the integral control temperature accumulated value according to the voltage change value Y, determining the integral control temperature accumulated value Z (i.e. Δi) corresponding to the voltage change value Y according to the linear correspondence between the additional power and the integral control temperature accumulated value i×Δt (n) by combining the difference algorithm, and then updating the PID control rotation speed of the compressor according to the integral control temperature accumulated value Y, wherein the calculation formula is shown in formula 14

Spd_PID(n)＝P*△T2(n)+(I*△T2(n)+Z)+D*△T2(n) (14)

The above embodiment is a processing procedure that the working voltage is increased by more than a threshold value compared with the working voltage set by the last blower gear after the gear of the air conditioner blower is adjusted, and similarly, when the working voltage is reduced by more than the threshold value compared with the working voltage set by the last blower gear after the gear of the air conditioner blower is adjusted, the corresponding integral control temperature reducing and accumulating value is determined in the same procedure. The mode of increasing the target output rotating speed of the compressor is achieved by increasing the delta I value, rather than directly increasing the changing rotating speed on the actual rotating speed of the current compressor, so that the continuity of the PID calculation output target rotating speed of the compressor is ensured, jump of the target rotating speed calculated by the PID is avoided, fluctuation and oscillation of water temperature during adjustment are avoided, system control stability is improved, fluctuation of air outlet temperature is reduced, and thermal comfort of a passenger cabin is improved.

In one possible implementation, if the PID control power of the high-voltage heater is smaller than the initial operation power of the high-voltage heater, the high-voltage heater is controlled to be changed from the operation state to the stop state, and when the PID control power of the high-voltage heater is larger than the initial operation power of the high-voltage heater, the high-voltage heater is controlled to be changed from the stop state to the operation state;

In this embodiment, hvH can be automatically withdrawn when the calculated required power is less than the minimum operating power of the high-pressure heater body, and then restarted when the calculated required power is greater than the minimum operating power of the high-pressure heater body.

The embodiment of the invention provides a control device, the functional module block diagram of which is shown as 4, the device comprises:

a response unit 401, configured to sequentially turn on the high-pressure heater and the compressor in response to a temperature demand instruction input by a user; the temperature demand instruction carries an air conditioner target temperature set by a user, and the high-pressure heater and the compressor respectively run at initial running power and initial running rotating speed;

an acquisition unit 402, configured to acquire a cabin interior temperature, a warm air core inlet temperature, and an ambient temperature acquired by a sensor, and determine PID control power of the high-pressure heater and PID control rotation speed of the compressor according to an air conditioner target temperature, the cabin interior temperature, and the warm air core inlet temperature;

And an execution unit 403 for increasing the operation power of the high-pressure heater from the initial operation power to the PID control power and simultaneously increasing the operation rotation speed of the compressor from the initial operation rotation speed to the PID control rotation speed.

In one possible implementation, the acquisition unit 402 includes a first computing subunit and a second computing subunit;

the first computing subunit includes:

the first acquisition module is used for determining the compensation temperature of the high-pressure heater and the first target temperature of the warm air core body according to the target temperature of the air conditioner and the temperature in the cabin;

the second acquisition module is used for determining the target temperature of the high-pressure heater according to the first target temperature of the warm air core body and the compensation temperature of the high-pressure heater;

the third acquisition module is used for acquiring the inlet temperature of the warm air core body and determining the PID control temperature of the high-pressure heater at the first moment according to the target temperature of the high-pressure heater and the inlet temperature of the warm air core body;

the first calculation module is used for calculating the PID proportion coefficient of the high-voltage heater at the first moment according to the PID control temperature of the high-voltage heater at the first moment;

the second calculation module is used for calculating the PID integral coefficient of the high-voltage heater at the first moment according to the PID control temperature of the high-voltage heater at the first moment and the PID control power of the high-voltage heater at the second moment;

The third calculation module is used for calculating the PID differential coefficient of the high-pressure heater at the first moment according to the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and the fourth calculation module is used for determining the PID control power of the high-voltage heater according to the PID proportional coefficient of the first moment of the high-voltage heater, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment.

The second computing subunit includes:

the first acquisition module is used for determining a second target temperature of the warm air core body according to the target temperature of the air conditioner and the temperature in the cabin;

the second acquisition module is used for acquiring the inlet temperature of the warm air core body and determining the PID control temperature of the compressor according to the second target temperature of the warm air core body and the inlet temperature of the warm air core body;

the third acquisition module is used for calculating the PID proportionality coefficient of the compressor at the first moment according to the PID control temperature of the compressor;

the first calculation module is used for calculating the PID integral coefficient of the compressor at the first moment according to the PID control temperature of the compressor and the PID control power of the compressor at the second moment;

The second calculation module is used for calculating the PID differential coefficient of the first moment of the compressor according to the PID control temperature of the compressor and the PID control temperature of the third moment of the compressor; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and the third calculation module is used for determining the PID control rotating speed of the compressor according to the PID proportional coefficient of the first moment of the compressor, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment.

In a possible implementation manner, the device further comprises an early warning unit:

the early warning unit includes:

the acquisition module is used for acquiring the low-pressure parameters of the air suction port, the high-pressure parameters of the air exhaust port and the temperature parameters of the air suction port and the air exhaust port at the current moment of the compressor;

the calculation module is used for determining the low pressure change rate of the air suction port, the high pressure change rate of the air exhaust port and the temperature change rate of the air suction port and the air exhaust port according to the low pressure parameter of the air suction port, the high pressure parameter of the air exhaust port and the temperature parameter of the air suction port at the current moment, the low pressure parameter of the air suction port, the high pressure parameter of the air exhaust port and the temperature parameter of the air exhaust port at the previous moment and the corresponding preset change time;

the first early warning module is used for increasing or decreasing the rotating speed of the compressor to the PID control rotating speed when the low pressure change rate, the high pressure change rate or the temperature change rate is smaller than or equal to the first preset threshold value;

The second early warning module is used for maintaining the current rotation speed of the compressor when the low pressure change rate, the high pressure change rate or the temperature change rate is larger than the respective preset first threshold value;

and the third early warning module is used for reducing the rotating speed of the compressor to the initial running rotating speed according to the preset reducing speed when the low pressure change rate, the high pressure change rate and the temperature change rate are larger than respective preset second thresholds, wherein the second thresholds are larger than the first thresholds.

Based on the same inventive concept, another embodiment of the present invention provides an electronic device, as shown in fig. 5, comprising a processor 51, a communication interface 52, a memory 43 and a communication bus 54, wherein the processor 51, the communication interface 52, the memory 53 complete communication with each other through the communication bus 54,

a memory 53 for storing a computer program;

the processor 51 is configured to implement the steps of the first aspect of the embodiment of the present invention when executing the program stored in the memory 53.

The communication bus mentioned by the above terminal may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the terminal and other devices.

The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one storage system located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present application, a vehicle is further provided, which includes the control device of the second aspect of the embodiment of the present application.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable vehicles having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. "and/or" means either or both of which may be selected. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The above detailed description of a control method, device, electronic apparatus and storage medium provided by the present invention applies specific examples to illustrate the principles and embodiments of the present invention, and the above examples are only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A control method, characterized in that the method comprises:

acquiring the temperature in the cabin, the inlet temperature of the warm air core and the ambient temperature acquired by the sensors, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin, the ambient temperature and the inlet temperature of the warm air core;

And increasing the operating power of the high-pressure heater from the initial operating power to the PID control power, and simultaneously increasing the operating rotating speed of the compressor from the initial operating rotating speed to the PID control rotating speed.

2. The method of claim 1, wherein determining the PID control power of the high pressure heater comprises:

determining a compensation temperature of a high-pressure heater and a first target temperature of a warm air core according to the air conditioner target temperature, the temperature in the cabin and the environment temperature;

determining a target temperature of the high-pressure heater according to a first target temperature of the warm air core body and a compensation temperature of the high-pressure heater;

obtaining the inlet temperature of a warm air core body, and determining the PID control temperature of the high-pressure heater at the first moment according to the target temperature of the high-pressure heater and the inlet temperature of the warm air core body;

calculating the PID proportion coefficient of the first moment of the high-voltage heater according to the PID control temperature of the first moment of the high-voltage heater;

calculating a PID integral coefficient of the high-voltage heater at the first moment according to the PID control temperature of the high-voltage heater at the first moment and the PID control power of the high-voltage heater at the second moment;

Calculating the PID differential coefficient of the high-pressure heater at the first moment according to the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and determining the PID control power of the high-voltage heater according to the PID proportional coefficient of the first moment of the high-voltage heater, the PID integral coefficient of the first moment and the PID derivative coefficient of the first moment.

3. The method of claim 1, wherein determining the PID control rotational speed of the compressor comprises:

determining a second target temperature of a warm air core according to the temperature in the cabin, the target temperature of the air conditioner and the environmental temperature;

obtaining the inlet temperature of a warm air core body, and determining the PID control temperature of a compressor according to the second target temperature of the warm air core body and the inlet temperature of the warm air core body;

calculating the PID proportionality coefficient of the first moment of the compressor according to the PID control temperature of the compressor;

calculating a PID integral coefficient of the compressor at a first moment according to the PID control temperature of the compressor and the PID control power of the compressor at a second moment;

Calculating a PID differential coefficient of the compressor at the first moment according to the PID control temperature of the compressor and the PID control temperature of the compressor at the third moment; the first moment, the second moment and the third moment are sequentially decreased on the time axis scale;

and determining the PID control rotating speed of the compressor according to the PID proportional coefficient of the first moment, the PID integral coefficient of the first moment and the PID differential coefficient of the first moment.

4. The method according to claim 1, wherein the method further comprises:

when the low pressure change rate, the high pressure change rate or the temperature change rate is smaller than or equal to a first preset threshold value, the rotating speed of the compressor is increased or decreased to the PID control rotating speed;

When the low pressure change rate, the high pressure change rate or the temperature change rate is larger than a first preset threshold value, the rotating speed of the compressor maintains the current rotating speed;

5. The method according to claim 1, wherein the method further comprises:

acquiring a target temperature of a battery pack during heating, and determining the additional power of the high-voltage heater according to the target temperature of the battery pack during heating;

determining the PID control power of the high pressure heater, comprising:

and determining the increased PID control power of the high-voltage heater according to the integral control temperature accumulated value corresponding to the additional power of the high-voltage heater.

6. The method according to claim 1, wherein the method further comprises:

Acquiring a gear change value of an air conditioner fan, and determining a voltage change value of the air conditioner fan according to the gear change value;

determining a PID control rotational speed of the compressor, comprising:

7. The method according to claim 1, wherein the method further comprises:

8. A control apparatus, characterized in that the apparatus comprises:

the acquisition unit is used for acquiring the temperature in the cabin, the temperature at the inlet of the warm air core body and the ambient temperature acquired by the sensor, and determining the PID control power of the high-pressure heater and the PID control rotating speed of the compressor according to the target temperature of the air conditioner, the temperature in the cabin, the ambient temperature and the temperature at the inlet of the warm air core body;

9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

A memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 1-7 when executing a program stored on a memory.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.