CN118068893A - Temperature control method and device of nitrogen-oxygen sensor and electronic equipment - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 71
- DOTMOQHOJINYBL-UHFFFAOYSA-N molecular nitrogen;molecular oxygen Chemical compound N#N.O=O DOTMOQHOJINYBL-UHFFFAOYSA-N 0.000 title claims description 26
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- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- AVXURJPOCDRRFD-UHFFFAOYSA-N Hydroxylamine Chemical class ON AVXURJPOCDRRFD-UHFFFAOYSA-N 0.000 claims 1
- MWUXSHHQAYIFBG-UHFFFAOYSA-N Nitric oxide Chemical compound O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 abstract description 87
- 230000000694 effects Effects 0.000 abstract description 8
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 12
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- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 3
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- RVTZCBVAJQQJTK-UHFFFAOYSA-N oxygen(2-);zirconium(4+) Chemical compound [O-2].[O-2].[Zr+4] RVTZCBVAJQQJTK-UHFFFAOYSA-N 0.000 description 2
- 229910052697 platinum Inorganic materials 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 229910001928 zirconium oxide Inorganic materials 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
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- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- -1 oxygen ions Chemical class 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
本申请涉及一种氮氧传感器的温度控制方法、装置和电子设备，该氮氧传感器的温度控制方法包括：计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，根据目标差值对上一时刻的目标预测电阻向量进行校正并移位得到当前时刻的初始预测电阻向量，根据当前时刻的初始预测电阻向量确定上一时刻的初始预测电阻向量，根据上一时刻的初始预测电阻向量、期望电阻向量和动态预测矩阵确定当前时刻的脉宽控制增量和脉宽控制量，根据单位阶跃响应向量、当前时刻的脉宽控制增量和初始预测电阻向量确定当前时刻的目标预测电阻向量。本发明能够更加准确地将陶瓷片芯维持在设定工作温度，解决了目前的氮氧传感器的温度控制方法存在温度控制效果差的问题。
The present application relates to a temperature control method, device and electronic device of a nitrogen oxide sensor, the temperature control method of the nitrogen oxide sensor includes: calculating the target difference between the actual resistance value at the current moment and the target predicted resistance value, correcting and shifting the target predicted resistance vector at the previous moment according to the target difference to obtain the initial predicted resistance vector at the current moment, determining the initial predicted resistance vector at the previous moment according to the initial predicted resistance vector at the current moment, determining the pulse width control increment and pulse width control amount at the current moment according to the initial predicted resistance vector at the previous moment, the expected resistance vector and the dynamic prediction matrix, and determining the target predicted resistance vector at the current moment according to the unit step response vector, the pulse width control increment at the current moment and the initial predicted resistance vector. The present invention can more accurately maintain the ceramic core at the set operating temperature, solving the problem of poor temperature control effect in the current temperature control method of nitrogen oxide sensors.
Description
技术领域Technical Field
本申请涉及发动机尾气排放监测领域，特别是涉及一种氮氧传感器的温度控制方法、装置和电子设备。The present application relates to the field of engine exhaust emission monitoring, and in particular to a temperature control method, device and electronic equipment for a nitrogen oxide sensor.
背景技术Background technique
氮氧传感器基于材料的电化学原理，利用氧化锆的能斯特电势和极限电流实现对氮氧化合物的浓度测量。氧化锆必须在高温条件下才能表现出对于氧离子的导通性，在传感器正常工作之前，要先对探头内部的陶瓷片芯进行加热，使其达到合适的工作温度（例如800℃）；同时，能斯特电势和极限电流，两者的大小都与环境的工作温度有关，因此陶瓷片芯的工作温度对于车用氮氧传感器的测量有极大的影响。准确的陶瓷片芯工作温度是氮氧传感器正常工作的首要条件。因此需要快速、精确地对陶瓷片芯工作温度进行控制，工作中调节加热电极的加热功率和加热速率，使陶瓷片芯快速升温到正常工作温度；且需要在不同工作环境下保持发热、散热功率的保持动态稳定，使之维持在所需的工作温度。Based on the electrochemical principle of materials, the nitrogen oxide sensor uses the Nernst potential and limiting current of zirconium oxide to measure the concentration of nitrogen oxides. Zirconium oxide must be under high temperature conditions to show conductivity to oxygen ions. Before the sensor works normally, the ceramic core inside the probe must be heated to a suitable working temperature (for example, 800°C); at the same time, the Nernst potential and limiting current are both related to the working temperature of the environment, so the working temperature of the ceramic core has a great influence on the measurement of automotive nitrogen oxide sensors. Accurate ceramic core working temperature is the primary condition for the normal operation of nitrogen oxide sensors. Therefore, it is necessary to quickly and accurately control the working temperature of the ceramic core, adjust the heating power and heating rate of the heating electrode during operation, so that the ceramic core can quickly heat up to the normal working temperature; and it is necessary to keep the heating and heat dissipation power dynamically stable under different working environments to maintain it at the required working temperature.
目前，在氮氧传感器温度加热控制方面大都采用PID控制温度策略，因PID控制技术的固有特性，使得氮氧传感器温度会在设定工作温度左右波动，特别是在温度控制的前中期。具体会表现为周期性出现实际控制温度超过正常设定工作温度现象。当氮氧传感器出现加热温度过高时，需要较长时间散热降温，才能达到准确温度工作点；同时温度低于工作点后，再加热又会出现温度过高现象，因此将影响传感器的响应速度和测量精度。At present, PID control temperature strategy is mostly used in the temperature heating control of nitrogen oxide sensors. Due to the inherent characteristics of PID control technology, the temperature of the nitrogen oxide sensor will fluctuate around the set working temperature, especially in the early and middle stages of temperature control. Specifically, it will be manifested as the actual control temperature exceeding the normal set working temperature periodically. When the heating temperature of the nitrogen oxide sensor is too high, it takes a long time to dissipate heat and cool down to reach the accurate temperature working point; at the same time, when the temperature is lower than the working point, the temperature will be too high if heated again, which will affect the response speed and measurement accuracy of the sensor.
针对目前的氮氧传感器的温度控制方法存在温度控制效果差的问题，目前还没有提出有效的解决方案。The current temperature control method of nitrogen oxide sensors has the problem of poor temperature control effect, and no effective solution has been proposed yet.
发明内容Summary of the invention
在本发明中提供了一种氮氧传感器的温度控制方法、装置和电子设备，以解决目前的氮氧传感器的温度控制方法存在温度控制效果差的问题。The present invention provides a temperature control method, device and electronic device for a nitrogen oxide sensor to solve the problem that the current temperature control method for the nitrogen oxide sensor has a poor temperature control effect.
第一个方面，在本发明中提供了一种氮氧传感器的温度控制方法，所述氮氧传感器通过加热电阻对陶瓷片芯进行加热，所述温度控制方法包括多轮迭代的温度控制步骤，每轮温度控制步骤包括：In a first aspect, the present invention provides a temperature control method for a nitrogen oxide sensor, wherein the nitrogen oxide sensor heats a ceramic core by a heating resistor, and the temperature control method comprises multiple rounds of iterative temperature control steps, each round of temperature control steps comprising:
计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，根据目标差值对上一时刻的目标预测电阻向量进行校正，目标预测电阻向量包括目标预测电阻向量对应时刻之后的多个目标预测电阻值；Calculating a target difference between the actual resistance value at the current moment and the target predicted resistance value, and correcting the target predicted resistance vector at the previous moment according to the target difference, wherein the target predicted resistance vector includes a plurality of target predicted resistance values after the moment corresponding to the target predicted resistance vector;
通过移位矩阵对上一时刻的校正后的目标预测电阻向量进行移位得到当前时刻的初始预测电阻向量，根据当前时刻的初始预测电阻向量确定上一时刻的初始预测电阻向量，初始预测电阻向量包括初始预测电阻向量对应时刻之后的多个初始预测电阻值；The corrected target predicted resistance vector at the previous moment is shifted by a shift matrix to obtain an initial predicted resistance vector at the current moment, and the initial predicted resistance vector at the previous moment is determined according to the initial predicted resistance vector at the current moment, wherein the initial predicted resistance vector includes a plurality of initial predicted resistance values after the time corresponding to the initial predicted resistance vector;
根据上一时刻的初始预测电阻向量、期望电阻向量和动态预测矩阵确定当前时刻的脉宽控制增量和脉宽控制量，将当前时刻的脉宽控制量发送至陶瓷片芯加热系统，期望电阻向量包括期望电阻向量对应时刻之后的多个期望电阻值；Determine the pulse width control increment and pulse width control amount at the current moment according to the initial predicted resistance vector, the expected resistance vector and the dynamic prediction matrix at the previous moment, and send the pulse width control amount at the current moment to the ceramic core heating system, wherein the expected resistance vector includes a plurality of expected resistance values after the time corresponding to the expected resistance vector;
对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量，根据所述单位阶跃响应向量、当前时刻的脉宽控制增量和初始预测电阻向量确定当前时刻的目标预测电阻向量。The pulse width control increment at the current moment is subjected to unit step sampling to obtain a unit step response vector, and the target predicted resistance vector at the current moment is determined according to the unit step response vector, the pulse width control increment at the current moment and the initial predicted resistance vector.
在其中的一些实施例中，目标差值的计算公式如下：In some of the embodiments, the target difference is calculated as follows:
上一时刻的目标预测电阻向量的校正公式如下：The correction formula of the target predicted resistance vector at the previous moment is as follows:
其中，其中，k表示上一时刻，k+1表示当前时刻，和/>表示校正前和校正后的k时刻的目标预测电阻向量，e（k+1）和/>分别表示k+1时刻的目标差值和实际电阻值，/>、……、/>分别表示在k时刻预测得到的k+1时刻、……、k+N时刻的目标预测电阻值，N表示模型时域，h表示反馈校正向量。Among them, k represents the previous moment, k + 1 represents the current moment, and/> represents the target predicted resistance vector at time k before and after correction, e ( k +1) and/> Respectively represent the target difference and actual resistance value at time k + 1, /> 、……、/> They respectively represent the target predicted resistance values at time k + 1, ..., k+N predicted at time k, N represents the model time domain, and h represents the feedback correction vector.
在其中的一些实施例中，移位矩阵为：In some of these embodiments, the shift matrix is:
在其中的一些实施例中，根据上一时刻的初始预测电阻向量、期望电阻向量和动态预测矩阵确定当前时刻的脉宽控制增量和脉宽控制量，包括：In some of the embodiments, the pulse width control increment and the pulse width control amount at the current moment are determined according to the initial predicted resistance vector, the expected resistance vector and the dynamic prediction matrix at the previous moment, including:
根据优化时域对上一时刻的初始预测电阻向量进行截取，得到上一时刻的优化预测电阻向量；The initial predicted resistance vector of the previous moment is intercepted according to the optimized time domain to obtain the optimized predicted resistance vector of the previous moment;
通过最小化目标函数得到上一时刻的目标脉宽控制向量，上一时刻的目标脉宽控制向量包含当前时刻的脉宽控制增量；The target pulse width control vector at the previous moment is obtained by minimizing the objective function, and the target pulse width control vector at the previous moment includes the pulse width control increment at the current moment;
根据上一时刻的脉宽控制量和当前时刻的脉宽控制增量得到当前时刻的脉宽控制增量；Obtaining the pulse width control increment at the current moment according to the pulse width control amount at the previous moment and the pulse width control increment at the current moment;
其中，目标函数为：Among them, the objective function is:
其中，表示k时刻的优化预测电阻向量，/>表示k时刻的期望电阻向量，/>表示k时刻的目标脉宽控制向量，/>、……、/>分别表示在k时刻预测得到的k+1时刻、……、k+P时刻的初始预测电阻值，A表示动态预测矩阵，Q表示误差权矩阵，R控制权矩阵，/>、/>、……、/>分别表示k时刻、k+1时刻、……、k+M-1时刻的脉宽控制增量，P表示优化时域，M表示控制时域，a 1、a 2、……、a p 分别表示对上一时刻的脉宽控制增量进行单位阶跃采样得到的单位阶跃响应值。in, represents the optimized predicted resistance vector at time k ,/> represents the expected resistance vector at time k , /> represents the target pulse width control vector at time k , /> 、……、/> They represent the initial predicted resistance values at time k+ 1, ..., k+P predicted at time k , A represents the dynamic prediction matrix, Q represents the error weight matrix, R represents the control weight matrix, /> 、/> 、……、/> They respectively represent the pulse width control increments at time k , time k+ 1, ..., time k + M -1, P represents the optimization time domain, M represents the control time domain, a1 , a2 , ..., ap respectively represent the unit step response values obtained by performing unit step sampling on the pulse width control increment at the previous moment.
在其中的一些实施例中，目标函数的优化结果为：In some of the embodiments, the optimization result of the objective function is:
在其中的一些实施例中，当前时刻的目标预测电阻向量的确定公式为：In some of the embodiments, the formula for determining the target predicted resistance vector at the current moment is:
其中，a表示对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量。Wherein, a represents the unit step response vector obtained by performing unit step sampling on the pulse width control increment at the current moment.
第二个方面，在本发明中提供了一种氮氧传感器的加热控制方法，所述氮氧传感器通过加热电阻对陶瓷片芯进行加热，所述加热控制方法包括：In a second aspect, the present invention provides a heating control method for a nitrogen oxide sensor, wherein the nitrogen oxide sensor heats a ceramic core by a heating resistor, and the heating control method comprises:
当陶瓷片芯的实际温度与设定工作温度之间的差值小于阈值时，采用第一个方面所述的氮氧传感器的温度控制方法对陶瓷片芯的实际温度进行控制。When the difference between the actual temperature of the ceramic core and the set operating temperature is less than the threshold, the temperature control method of the nitrogen oxide sensor described in the first aspect is used to control the actual temperature of the ceramic core.
在其中的一些实施例中，所述加热控制方法包括：In some embodiments, the heating control method includes:
将预设起始温度与所述设定工作温度之间的温度范围划分为多个温度区间，多个所述温度区间至少包括第一温度区间和第二温度区间，所述第一温度区间低于所述第二温度区间；Dividing the temperature range between the preset starting temperature and the set working temperature into a plurality of temperature intervals, wherein the plurality of temperature intervals at least include a first temperature interval and a second temperature interval, wherein the first temperature interval is lower than the second temperature interval;
当陶瓷片芯的实际温度从所述第一温度区间进入所述第二温度区间时，降低所述陶瓷片芯的加热功率。When the actual temperature of the ceramic core enters the second temperature range from the first temperature range, the heating power of the ceramic core is reduced.
第三个方面，在本发明中提供了一种氮氧传感器的温度控制装置，所述氮氧传感器通过加热电阻对陶瓷片芯进行加热，所述温度控制装置用于执行多轮迭代的温度控制步骤，所述温度控制装置包括：In a third aspect, the present invention provides a temperature control device for a nitrogen oxide sensor, wherein the nitrogen oxide sensor heats a ceramic core by a heating resistor, and the temperature control device is used to perform multiple rounds of iterative temperature control steps, and the temperature control device includes:
预测校正模块，用于计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，根据目标差值对上一时刻的目标预测电阻向量进行校正，目标预测电阻向量包括目标预测电阻向量对应时刻之后的多个目标预测电阻值；A prediction correction module, used to calculate a target difference between the actual resistance value at the current moment and the target predicted resistance value, and to correct the target predicted resistance vector at the previous moment according to the target difference, wherein the target predicted resistance vector includes a plurality of target predicted resistance values after the moment corresponding to the target predicted resistance vector;
第一预测模块，用于通过移位矩阵对上一时刻的校正后的目标预测电阻向量进行移位得到当前时刻的初始预测电阻向量，根据当前时刻的初始预测电阻向量确定上一时刻的初始预测电阻向量，初始预测电阻向量包括初始预测电阻向量对应时刻之后的多个初始预测电阻值；A first prediction module, configured to shift the corrected target prediction resistance vector at the previous moment by means of a shift matrix to obtain an initial prediction resistance vector at the current moment, and determine the initial prediction resistance vector at the previous moment according to the initial prediction resistance vector at the current moment, wherein the initial prediction resistance vector includes a plurality of initial prediction resistance values after the moment corresponding to the initial prediction resistance vector;
脉宽确定模块，用于根据上一时刻的初始预测电阻向量和期望电阻向量确定当前时刻的脉宽控制增量和脉宽控制量，将当前时刻的脉宽控制量发送至陶瓷片芯加热系统，期望电阻向量包括期望电阻向量对应时刻之后的多个期望电阻值；A pulse width determination module, used to determine the pulse width control increment and pulse width control amount at the current moment according to the initial predicted resistance vector and the expected resistance vector at the previous moment, and send the pulse width control amount at the current moment to the ceramic core heating system, wherein the expected resistance vector includes a plurality of expected resistance values after the moment corresponding to the expected resistance vector;
第二预测模块，用于对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量，根据所述单位阶跃响应向量、当前时刻的脉宽控制增量和初始预测电阻向量确定当前时刻的目标预测电阻向量。The second prediction module is used to perform unit step sampling on the pulse width control increment at the current moment to obtain a unit step response vector, and determine the target predicted resistance vector at the current moment according to the unit step response vector, the pulse width control increment at the current moment and the initial predicted resistance vector.
第四个方面，在本发明中提供了一种电子设备，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行第一个方面所述的氮氧传感器的温度控制方法。In a fourth aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the temperature control method of the nitrogen oxygen sensor described in the first aspect.
与相关技术相比，本发明采用动态预测的方式，计算出能够使得未来时刻的加热电阻的实际电阻值和期望电阻值一致的脉宽控制增量，并且通过实际电阻值和目标预测电阻值之间的目标差值实时校正预测误差。相比于现有的PID温度控制算法，更加准确地将陶瓷片芯的实际温度维持在设定工作温度，解决了目前的氮氧传感器的温度控制方法存在温度控制效果差的问题。Compared with the related art, the present invention adopts a dynamic prediction method to calculate the pulse width control increment that can make the actual resistance value of the heating resistor at the future moment consistent with the expected resistance value, and corrects the prediction error in real time through the target difference between the actual resistance value and the target predicted resistance value. Compared with the existing PID temperature control algorithm, the actual temperature of the ceramic core is more accurately maintained at the set operating temperature, solving the problem of poor temperature control effect in the current temperature control method of nitrogen oxide sensors.
本申请的一个或多个实施例的细节在以下附图和描述中提出，以使本申请的其他特征、目的和优点更加简明易懂。Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明中氮氧传感器的加热器的结构示意图；FIG1 is a schematic diagram of the structure of a heater of a nitrogen oxygen sensor in the present invention;
图2是本发明中提供的氮氧传感器的温度控制方法的流程图；FIG2 is a flow chart of a temperature control method for a nitrogen oxygen sensor provided in the present invention;
图3是本发明一些实施例中提供的氮氧传感器的温度控制方法的流程图；FIG3 is a flow chart of a temperature control method for a nitrogen oxygen sensor provided in some embodiments of the present invention;
图4是本发明一些实施例中提供的氮氧传感器的加热控制方法的加热示意图；FIG4 is a heating schematic diagram of a heating control method for a nitrogen oxygen sensor provided in some embodiments of the present invention;
图5是本发明提供的加热控制方法与PID控制方法的控制效果对比图；FIG5 is a comparison diagram of the control effects of the heating control method provided by the present invention and the PID control method;
图6是本发明中提供的氮氧传感器的温度控制装置。FIG. 6 is a temperature control device of a nitrogen oxide sensor provided in the present invention.
具体实施方式Detailed ways
为更清楚地理解本申请的目的、技术方案和优点，下面结合附图和实施例，对本申请进行了描述和说明。In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.
除另作定义外，本申请所涉及的技术术语或者科学术语应具有本申请所属技术领域具备一般技能的人所理解的一般含义。在本申请中的“一”、“一个”、“一种”、“该”、“这些”等类似的词并不表示数量上的限制，它们可以是单数或者复数。在本申请中所涉及的术语“包括”、“包含”、“具有”及其任何变体，其目的是涵盖不排他的包含；例如，包含一系列步骤或模块（单元）的过程、方法和系统、产品或设备并未限定于列出的步骤或模块（单元），而可包括未列出的步骤或模块（单元），或者可包括这些过程、方法、产品或设备固有的其他步骤或模块（单元）。在本申请中所涉及的“连接”、“相连”、“耦接”等类似的词语并不限定于物理的或机械连接，而可以包括电气连接，无论是直接连接还是间接连接。在本申请中所涉及的“多个”是指两个或两个以上。“和/或”描述关联对象的关联关系，表示可以存在三种关系，例如，“A和/或B”可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。通常情况下，字符“/”表示前后关联的对象是一种“或”的关系。在本申请中所涉及的术语“第一”、“第二”、“第三”等，只是对相似对象进行区分，并不代表针对对象的特定排序。Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with general skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not indicate a quantitative limitation, and they may be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and/or B" may mean: A exists alone, A and B exist at the same time, and B exists alone. Generally, the character "/" indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.
在本发明中提供了一种氮氧传感器的温度控制方法，氮氧传感器通过加热电阻对陶瓷片芯进行加热。The present invention provides a temperature control method for a nitrogen oxygen sensor, wherein the nitrogen oxygen sensor heats a ceramic core by a heating resistor.
其中，陶瓷片芯的加热是通过内部加热电极的铂金（Pt）电阻（为本发明中的加热电阻）来实现，加热电阻的阻值会随着温度的升高而线性增加，因此，陶瓷片芯的温度测量与调控可以通过对加热电阻进行阻值测量与调控来实现。陶瓷片芯的温度和加热电阻的阻值关系可以表示为：The heating of the ceramic core is achieved through the platinum (Pt) resistor (the heating resistor in the present invention) of the internal heating electrode. The resistance of the heating resistor increases linearly with the increase of temperature. Therefore, the temperature measurement and control of the ceramic core can be achieved by measuring and controlling the resistance of the heating resistor. The relationship between the temperature of the ceramic core and the resistance of the heating resistor can be expressed as:
Rt = R0( 1+Kt )Rt = R 0 ( 1 + K t )
其中，t表示陶瓷片芯的温度，Rt表示在温度t时加热电阻的阻值，R0表示常温下冷态加热电阻的阻值，K表示加热电阻的温度系数，一般取0.00385。Among them, t represents the temperature of the ceramic core, Rt represents the resistance of the heating resistor at temperature t, R0 represents the resistance of the cold heating resistor at room temperature, and K represents the temperature coefficient of the heating resistor, which is generally 0.00385.
在加热控制中，需确定常温下（25℃）冷态加热电阻与加热到目标温度（例如800℃）时加热电阻的阻值即可。In heating control, it is necessary to determine the resistance value of the cold heating resistor at room temperature (25°C) and the resistance value of the heating resistor when heated to the target temperature (for example, 800°C).
具体的，图1是本发明中氮氧传感器的加热器的结构示意图。参照图1，RPt为加热电极的铂金电阻，向其施加电流后加热器就可以工作；RL和RT是引线电阻，H+、TEMP和H-是加热器的三个引线；其中RL和RT的阻值为定值，而RPt的阻值会随温度的上升而线性增加。Specifically, Fig. 1 is a schematic diagram of the structure of the heater of the nitrogen oxygen sensor in the present invention. Referring to Fig. 1, R Pt is a platinum resistor of the heating electrode, and the heater can work after applying current to it; R L and RT are lead resistors, and H + , TEMP and H - are three leads of the heater; wherein the resistance values of R L and RT are constant values, and the resistance value of R Pt increases linearly with the increase of temperature.
RPt的阻值无法直接通过测量三个引线获得，也无法直接测得RPt的阻值，但是测量通过三个引线之间的电阻，可以计算得到RPt的阻值。三个引线之间的电阻可以表示为：The resistance value of R Pt cannot be directly obtained by measuring the three leads, nor can it be directly measured. However, by measuring the resistance between the three leads, the resistance value of R Pt can be calculated. The resistance between the three leads can be expressed as:
RH+ TEMP =RL + RPt + RT RH +TEMP = RL + RPt + RT
RH+ H- =2RL + RPt RH +H- = 2RL + RPt
RH- TEMP =RL + RT RH-TEMP = RL + RT
通过组合三个引线之间的电阻，可以计算得到RPt的阻值：By combining the resistances between the three leads, the resistance value of R Pt can be calculated:
RPt = RH+ TEMP + RH- TEMP R Pt = RH + TEMP + RH - TEMP
通过上述计算式，则可以得到RPt的阻值，也就是加热电阻的阻值，在本发明后文中简称为电阻值。By using the above calculation formula, the resistance value of R Pt , that is, the resistance value of the heating resistor, can be obtained, which is referred to as the resistance value in the following text of the present invention.
图2是本发明中提供的氮氧传感器的温度控制方法的流程图，图3是本发明一些实施例中提供的氮氧传感器的温度控制方法的流程图。如图2和图3所示，温度控制方法包括多轮迭代的温度控制步骤，每轮温度控制步骤包括：FIG2 is a flow chart of a temperature control method for a nitrogen oxide sensor provided in the present invention, and FIG3 is a flow chart of a temperature control method for a nitrogen oxide sensor provided in some embodiments of the present invention. As shown in FIG2 and FIG3, the temperature control method includes multiple rounds of iterative temperature control steps, and each round of temperature control steps includes:
步骤S110，计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，根据目标差值对上一时刻的目标预测电阻向量进行校正，目标预测电阻向量包括目标预测电阻向量对应时刻之后的多个目标预测电阻值。Step S110, calculating a target difference between the actual resistance value at the current moment and the target predicted resistance value, and correcting the target predicted resistance vector at the previous moment according to the target difference, wherein the target predicted resistance vector includes multiple target predicted resistance values after the moment corresponding to the target predicted resistance vector.
在本步骤中，当前时刻的实际电阻值是在当前时刻对加热电阻进行温度采样得到，当前时刻的目标预测电阻值是在上一时刻进行预测得到，也就是上一轮温度控制步骤的计算结果。In this step, the actual resistance value at the current moment is obtained by temperature sampling the heating resistor at the current moment, and the target predicted resistance value at the current moment is predicted at the previous moment, that is, the calculation result of the previous round of temperature control steps.
其中，目标差值的计算公式如下：The target difference is calculated as follows:
上一时刻的目标预测电阻向量的校正公式如下：The correction formula of the target predicted resistance vector at the previous moment is as follows:
其中，k表示上一时刻，k+1表示当前时刻，和/>表示校正前和校正后的k时刻的目标预测电阻向量，e（k+1）和/>分别表示k+1时刻的目标差值和实际电阻值，、……、/>分别表示在k时刻预测得到的k+1时刻、……、k+N时刻的目标预测电阻值，N表示模型时域，h表示反馈校正向量。其中，各个物理量后括号内的变量表示该物理量对应的时刻，比如/>表示在k时刻预测得到的k+i时刻的目标预测电阻值。Among them, k represents the previous moment, k + 1 represents the current moment, and/> represents the target predicted resistance vector at time k before and after correction, e ( k +1) and/> They represent the target difference and actual resistance value at time k + 1 respectively, 、……、/> They represent the target predicted resistance values at time k + 1, ..., k + N predicted at time k, respectively. N represents the model time domain, and h represents the feedback correction vector. The variables in brackets after each physical quantity represent the time corresponding to the physical quantity, such as/> It represents the target predicted resistance value at time k+i predicted at time k .
由于该方法是在模型时域内对电阻值进行预测，进而模型时域决定了目标预测电阻向量的时序长度。上一时刻的目标预测电阻向量中包含了上一时刻之后的N个目标预测电阻值，向量中第一个物理量便是当前时刻的目标预测电阻值，通过当前时刻的实际电阻值和目标预测电阻值之间的目标差值对目标预测电阻向量进行校正，可以得到预测精度更高的目标预测电阻向量，可以在温度控制过程中避免温度波动和温冲的出现。Since this method predicts the resistance value in the model time domain, the model time domain determines the time series length of the target predicted resistance vector. The target predicted resistance vector at the previous moment contains the N target predicted resistance values after the previous moment. The first physical quantity in the vector is the target predicted resistance value at the current moment. By correcting the target predicted resistance vector by the target difference between the actual resistance value at the current moment and the target predicted resistance value, a target predicted resistance vector with higher prediction accuracy can be obtained, which can avoid temperature fluctuations and temperature surges during the temperature control process.
步骤S120，通过移位矩阵对上一时刻的校正后的目标预测电阻向量进行移位得到当前时刻的初始预测电阻向量，根据当前时刻的初始预测电阻向量确定上一时刻的初始预测电阻向量，初始预测电阻向量包括初始预测电阻向量对应时刻之后的多个初始预测电阻值。Step S120, shifting the corrected target predicted resistance vector at the previous moment through a shift matrix to obtain an initial predicted resistance vector at the current moment, and determining the initial predicted resistance vector at the previous moment according to the initial predicted resistance vector at the current moment, wherein the initial predicted resistance vector includes a plurality of initial predicted resistance values after the time corresponding to the initial predicted resistance vector.
具体的，初始预测电阻值是指在控制作用保持不变时（或是变化发生前）的加热电阻的预测电阻值，目标预测电阻值是指在控制作用变化后的加热电阻的预测电阻值。因此，上一时刻的目标预测电阻向量是上一时刻在控制作用变化后的加热电阻的预测电阻向量，当前时刻的初始预测电阻向量是当前时刻在控制作用变化前的加热电阻的预测电阻向量，进而两者是等同的。考虑到两个向量之间的各个电阻值数据存在一个时刻的时间差，因此通过移位矩阵对上一时刻的校正后的目标预测电阻向量进行移位得到当前时刻的初始预测电阻向量。其中，移位矩阵为：Specifically, the initial predicted resistance value refers to the predicted resistance value of the heating resistor when the control action remains unchanged (or before the change occurs), and the target predicted resistance value refers to the predicted resistance value of the heating resistor after the control action changes. Therefore, the target predicted resistance vector at the previous moment is the predicted resistance vector of the heating resistor after the control action changes at the previous moment, and the initial predicted resistance vector at the current moment is the predicted resistance vector of the heating resistor before the control action changes at the current moment, and the two are equivalent. Considering that there is a time difference of one moment between each resistance value data of the two vectors, the corrected target predicted resistance vector at the previous moment is shifted by the shift matrix to obtain the initial predicted resistance vector at the current moment. Among them, the shift matrix is:
当前时刻的初始预测电阻向量包含了当前时刻之后的多个初始预测电阻值，通过Z-1运算（Z变换的逆运算），可以由当前时刻的初始预测电阻向量得到上一时刻的初始预测电阻向量。上一时刻的初始预测电阻向量中的第一个物理量则是当前时刻的初始预测电阻值。The initial predicted resistance vector at the current moment includes multiple initial predicted resistance values after the current moment. Through Z -1 operation (inverse operation of Z transformation), the initial predicted resistance vector at the previous moment can be obtained from the initial predicted resistance vector at the current moment. The first physical quantity in the initial predicted resistance vector at the previous moment is the initial predicted resistance value at the current moment.
需要说明的是，在上一轮温度控制步骤中（对应上一时刻），也会计算得到初始预测电阻向量。但是在本轮温度步骤中，上一时刻的初始预测电阻向量是基于校正后的上一时刻的目标预测电阻向量计算得到的，因此其与上一轮文中控制步骤中计算得到的初始预测电阻向量并不相同。可以理解为，本轮温度控制步骤中的上一时刻的初始预测电阻向量是对上一轮温度控制步骤中的初始预测电阻向量的校正结果。It should be noted that in the previous round of temperature control steps (corresponding to the previous moment), the initial predicted resistance vector is also calculated. However, in this round of temperature steps, the initial predicted resistance vector at the previous moment is calculated based on the corrected target predicted resistance vector at the previous moment, so it is different from the initial predicted resistance vector calculated in the previous round of control steps. It can be understood that the initial predicted resistance vector at the previous moment in this round of temperature control steps is the correction result of the initial predicted resistance vector in the previous round of temperature control steps.
步骤S130，根据上一时刻的初始预测电阻向量、期望电阻向量和动态预测矩阵确定当前时刻的脉宽控制增量和脉宽控制量，将当前时刻的脉宽控制量发送至陶瓷片芯加热系统，期望电阻向量包括期望电阻向量对应时刻之后的多个期望电阻值。Step S130, determining the pulse width control increment and pulse width control amount at the current moment according to the initial predicted resistance vector, the expected resistance vector and the dynamic prediction matrix at the previous moment, and sending the pulse width control amount at the current moment to the ceramic core heating system, wherein the expected resistance vector includes multiple expected resistance values after the moment corresponding to the expected resistance vector.
具体的，当前时刻的脉宽控制增量和脉宽控制量的确定过程为：Specifically, the process of determining the pulse width control increment and the pulse width control amount at the current moment is as follows:
步骤S131，根据优化时域对上一时刻的初始预测电阻向量进行截取，得到上一时刻的优化预测电阻向量。Step S131 , intercepting the initial predicted resistance vector at the previous moment according to the optimized time domain to obtain the optimized predicted resistance vector at the previous moment.
步骤S132，通过最小化目标函数得到上一时刻的目标脉宽控制向量，上一时刻的目标脉宽控制向量包含当前时刻的脉宽控制增量。Step S132, obtaining the target pulse width control vector at the previous moment by minimizing the objective function, where the target pulse width control vector at the previous moment includes the pulse width control increment at the current moment.
步骤S133，根据上一时刻的脉宽控制量和当前时刻的脉宽控制增量得到当前时刻的脉宽控制增量。Step S133, obtaining the pulse width control increment at the current moment according to the pulse width control amount at the previous moment and the pulse width control increment at the current moment.
其中，目标函数为：Among them, the objective function is:
其中，表示k时刻的优化预测电阻向量，/>表示k时刻的期望电阻向量，/>表示k时刻的目标脉宽控制向量，/>、……、/>分别表示在k时刻预测得到的k+1时刻、……、k+P时刻的初始预测电阻值，A表示动态预测矩阵，Q表示误差权矩阵，R控制权矩阵，/>、/>、……、/>分别表示k时刻、k+1时刻、……、k+M-1时刻的脉宽控制增量，P表示优化时域，M表示控制时域，a 1、a 2、……、a p 分别表示对上一时刻的脉宽控制增量进行单位阶跃采样得到的单位阶跃响应值。通常满足/>。in, represents the optimized predicted resistance vector at time k ,/> represents the expected resistance vector at time k , /> represents the target pulse width control vector at time k , /> 、……、/> They represent the initial predicted resistance values at time k+ 1, ..., k+P predicted at time k , A represents the dynamic prediction matrix, Q represents the error weight matrix, R represents the control weight matrix, /> 、/> 、……、/> represents the pulse width control increment at time k , k+ 1, ..., k + M -1 respectively , P represents the optimization time domain, M represents the control time domain, a1 , a2 , ..., ap respectively represent the unit step response value obtained by sampling the pulse width control increment at the previous moment by unit step. Usually it satisfies/> .
具体的，该方法是在优化时域内对预测电阻值进行优化，进而优化时域决定了优化预测电阻向量的时序长度。初始预测电阻向量的时序长度由模型时域决定，进而初始预测电阻向量的时序长度大于或等于优化预测电阻向量的时序长度，因此需要根据优化时域对初始预测电阻向量进行截取，取初始预测电阻向量中最靠前的处于优化时域内的元素构成优化预测电阻向量。同时，该方法是在控制时域内计算目标脉宽控制向量，进而控制时域决定了目标脉宽控制向量的时序长度。Specifically, the method optimizes the predicted resistance value in the optimization time domain, and the optimization time domain determines the timing length of the optimized predicted resistance vector. The timing length of the initial predicted resistance vector is determined by the model time domain, and the timing length of the initial predicted resistance vector is greater than or equal to the timing length of the optimized predicted resistance vector. Therefore, it is necessary to intercept the initial predicted resistance vector according to the optimization time domain, and take the most forward element in the initial predicted resistance vector in the optimization time domain to form the optimized predicted resistance vector. At the same time, the method calculates the target pulse width control vector in the control time domain, and the control time domain determines the timing length of the target pulse width control vector.
其中，目标函数的构建过程如下：The construction process of the objective function is as follows:
当脉宽控制增量在未来M个采样间隔都发生变化时，在t=kT时刻和PWM的脉宽控制增量作用下，在未来P个时刻的加热电阻的输出预测值为：When the pulse width control increment changes in the next M sampling intervals, the pulse width control increment of PWM at time t=kT Under this effect, the predicted output value of the heating resistor at the next P moments is:
在t=kT时刻，滚动优化性能指标为：At t=kT, the rolling optimization performance index is:
将代入后，则可得：Will After substitution, we can get:
在输入输出无约束的条件下，t=kT时刻，为已知，可通过极值必要条件求出使得J(k)最小的/>，即最优控制增量序列：Under the condition that input and output are unconstrained, at time t=kT, is known, we can find the method that minimizes J(k) by using the necessary conditions for extreme values/> , that is, the optimal control increment sequence:
最优控制增量序列则为目标脉宽控制向量，当k表示上一时刻时，则为上一时刻的目标脉宽控制向量，该向量中的第二个物理量/>则为当前时刻的脉宽控制增量，其可以表示为：The optimal control increment sequence is the target pulse width control vector. When k represents the previous moment, is the target pulse width control vector of the previous moment. The second physical quantity in this vector is is the pulse width control increment at the current moment, which can be expressed as:
其中，由/>和选择向量（用于选择目标脉宽控制向量中第二个物理量）构成。in, By/> and a selection vector (used to select the second physical quantity in the target pulse width control vector).
得到当前时刻的脉宽控制增量后，经过z/（z-1）变换便可得到当前时刻的脉宽控制量，将其发送至陶瓷片芯加热系统，该系统则根据该脉宽控制量调整加热信号的脉宽。After obtaining the pulse width control increment at the current moment, the pulse width control amount at the current moment can be obtained through z/(z-1) transformation, which is sent to the ceramic core heating system, and the system adjusts the pulse width of the heating signal according to the pulse width control amount.
需要说明的是，动态预测矩阵中各个元素通过对脉宽控制增量进行单位阶跃采样得到的单位阶跃响应值。由于当前时刻在优化目标函数时，当前时刻的脉宽控制增量还未生成，此时动态预测矩阵是由对上一时刻的脉宽控制增量进行单位阶跃采样得到的单位阶跃响应值。同时，随着温度控制步骤的迭代进行，相对当前时刻，上一时刻的脉宽控制增量不断更新变化，进而动态预测矩阵也是不断更新变化的。It should be noted that the unit step response values of each element in the dynamic prediction matrix are obtained by sampling the pulse width control increment by unit step. Since the pulse width control increment at the current moment has not been generated when optimizing the objective function at the current moment, the dynamic prediction matrix is the unit step response value obtained by sampling the pulse width control increment at the previous moment by unit step. At the same time, as the temperature control step is iterated, the pulse width control increment at the previous moment is continuously updated and changed relative to the current moment, and thus the dynamic prediction matrix is also continuously updated and changed.
步骤S140，对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量，根据单位阶跃响应向量、当前时刻的脉宽控制增量和初始预测电阻向量确定当前时刻的目标预测电阻向量，当前时刻的目标预测电阻向量包括下一时刻的目标预测电阻值。Step S140, performing unit step sampling on the pulse width control increment at the current moment to obtain a unit step response vector, and determining the target predicted resistance vector at the current moment according to the unit step response vector, the pulse width control increment at the current moment and the initial predicted resistance vector, wherein the target predicted resistance vector at the current moment includes the target predicted resistance value at the next moment.
具体的，当前时刻的目标预测电阻向量的确定公式为：Specifically, the formula for determining the target predicted resistance vector at the current moment is:
其中，k+1表示当前时刻，k+2表示下一时刻，a表示对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量。Wherein, k +1 represents the current moment, k +2 represents the next moment, and a represents a unit step response vector obtained by performing unit step sampling on the pulse width control increment at the current moment.
在当前时刻的目标预测电阻向量中，其第一个物理量/>则为在当前时刻k+1预测得到的下一时刻k+2的目标预测电阻值。基于下一时刻的目标预测电阻值，则可以开始下一轮的温度控制步骤，也就是计算下一时刻的实际电阻值和目标预测电阻值之间的目标差值。The target predicted resistance vector at the current moment In the above equation, the first physical quantity is The target predicted resistance value at the next moment k+2 predicted at the current moment k+1 is then obtained. Based on the target predicted resistance value at the next moment, the next round of temperature control steps can be started, that is, the target difference between the actual resistance value at the next moment and the target predicted resistance value is calculated.
如上，已经通过多个实施例介绍了本发明提供的氮氧传感器的温度控制方法。其主要基于上一时刻的初始预测电阻向量和期望电阻向量，采用动态预测矩阵确定当前时刻的脉宽控制增量，从而使得加热电阻的实际电阻值和期望电阻值尽量接近；同时还会实时计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，并利用该目标差值对上一时刻的目标预测电阻向量进行校正，从而可以得到更加准确地上一时刻的初始预测电阻向量，提高了电阻预测准确度，进而能够更加准确地计算当前时刻的脉宽控制增量，可以减缓甚至避免温度波动和温冲的出现。本发明采用动态预测的方式，计算出能够使得未来时刻的加热电阻的实际电阻值和期望电阻值一致的脉宽控制增量，并且通过实际电阻值和目标预测电阻值之间的目标差值实时校正预测误差。相比于现有的PID温度控制算法，更加准确地将陶瓷片芯的实际温度维持在设定工作温度。As mentioned above, the temperature control method of the nitrogen oxide sensor provided by the present invention has been introduced through multiple embodiments. It is mainly based on the initial predicted resistance vector and the expected resistance vector of the previous moment, and uses a dynamic prediction matrix to determine the pulse width control increment at the current moment, so that the actual resistance value of the heating resistor is as close as possible to the expected resistance value; at the same time, the target difference between the actual resistance value at the current moment and the target predicted resistance value is calculated in real time, and the target predicted resistance vector of the previous moment is corrected by using the target difference, so that a more accurate initial predicted resistance vector of the previous moment can be obtained, the resistance prediction accuracy is improved, and then the pulse width control increment at the current moment can be calculated more accurately, which can slow down or even avoid the occurrence of temperature fluctuations and temperature surges. The present invention adopts a dynamic prediction method to calculate the pulse width control increment that can make the actual resistance value of the heating resistor at the future moment consistent with the expected resistance value, and the prediction error is corrected in real time by the target difference between the actual resistance value and the target predicted resistance value. Compared with the existing PID temperature control algorithm, the actual temperature of the ceramic core is more accurately maintained at the set operating temperature.
在本发明中还提供了一种氮氧传感器的加热控制方法，氮氧传感器通过加热电阻对陶瓷片芯进行加热，加热控制方法包括：The present invention also provides a heating control method for a nitrogen oxygen sensor, wherein the nitrogen oxygen sensor heats a ceramic core by a heating resistor, and the heating control method comprises:
当陶瓷片芯的实际温度与设定工作温度之间的差值小于阈值时，采用本发明中提供的氮氧传感器的温度控制方法对陶瓷片芯的实际温度进行控制。When the difference between the actual temperature of the ceramic core and the set operating temperature is less than the threshold value, the temperature control method of the nitrogen oxide sensor provided in the present invention is used to control the actual temperature of the ceramic core.
具体的，加热控制方法首先对陶瓷片芯进行快速加热，当陶瓷片芯的实际温度快达到设定工作温度时，停止加热并启动本发明提供的温度控制方法，使得陶瓷片芯的温度能够准确地维持的设定工作温度。其中，阈值可以根据实际情况进行设定，比如可以是设定工作温度的1%。Specifically, the heating control method firstly heats the ceramic core rapidly, and when the actual temperature of the ceramic core is about to reach the set working temperature, the heating is stopped and the temperature control method provided by the present invention is started, so that the temperature of the ceramic core can accurately maintain the set working temperature. The threshold value can be set according to the actual situation, for example, it can be 1% of the set working temperature.
进一步，加热控制方法在加热陶瓷片芯的过程中，可以采用分段式加热策略。进而在一些实施例中，加热控制方法包括：Furthermore, the heating control method may adopt a segmented heating strategy during the heating of the ceramic core. In some embodiments, the heating control method includes:
将预设起始温度与设定工作温度之间的温度范围划分为多个温度区间，多个温度区间至少包括第一温度区间和第二温度区间，第一温度区间低于第二温度区间；当陶瓷片芯的实际温度从第一温度区间进入第二温度区间时，降低陶瓷片芯的加热功率。The temperature range between the preset starting temperature and the set working temperature is divided into multiple temperature intervals, and the multiple temperature intervals include at least a first temperature interval and a second temperature interval, and the first temperature interval is lower than the second temperature interval; when the actual temperature of the ceramic core enters the second temperature interval from the first temperature interval, the heating power of the ceramic core is reduced.
具体的，预设起始温度可以根据实际情况设定，可以是为室温、零度甚至更低的温度。当陶瓷片芯的实际温度处于更高的温度区间内时，陶瓷片芯应当采用更低的加热功率，从而实现陶瓷片芯的加热功率的阶段性下降。对于多个温度区间中的任意两个温度区间，可以将其中较低的温度区间定义为第一温度区间以及其中较高的温度区间定义为第二温度区间。根据陶瓷片芯的材料特性和加热升温要求，在实际工作过程中，可对加热过程和加热温控点进行灵活设置为多段进行加热控制。图4是本发明一些实施例中提供的氮氧传感器的加热控制方法的加热示意图。参照图4，本实施例将加热过程分为A、B、C、D四个阶段（对应四个温度区间），采用分段从常温R0线性依次加热至R1、R2、R3和R工作等四个不同温度点，加热斜率逐渐减小，也就是各个阶段的加热功率依次降低，E阶段则采用本发明提供的氮氧传感器的温度控制方法。Specifically, the preset starting temperature can be set according to the actual situation, and can be room temperature, zero degrees or even lower. When the actual temperature of the ceramic core is in a higher temperature range, the ceramic core should use a lower heating power, so as to achieve a phased decrease in the heating power of the ceramic core. For any two temperature intervals in a plurality of temperature intervals, the lower temperature interval can be defined as the first temperature interval and the higher temperature interval can be defined as the second temperature interval. According to the material properties of the ceramic core and the heating and temperature rise requirements, in the actual working process, the heating process and the heating temperature control point can be flexibly set to multiple stages for heating control. Figure 4 is a heating schematic diagram of the heating control method of the nitrogen oxygen sensor provided in some embodiments of the present invention. Referring to Figure 4, this embodiment divides the heating process into four stages A, B, C, and D (corresponding to four temperature intervals), and adopts segmented linear heating from room temperature R0 to four different temperature points such as R1, R2, R3 and R working in sequence, and the heating slope gradually decreases, that is, the heating power of each stage decreases in sequence, and the temperature control method of the nitrogen oxygen sensor provided by the present invention is adopted in the E stage.
图5是本发明提供的加热控制方法与PID控制方法的控制效果对比图。参照图5可知，本发明提供的加热控制方法，由于在温度保持阶段采用了本发明提供的温度控制方法，具有更好的温度维持效果，比如温度波动性更小，能够更快地稳定在预设工作温度。Fig. 5 is a control effect comparison diagram of the heating control method provided by the present invention and the PID control method. Referring to Fig. 5, it can be seen that the heating control method provided by the present invention has a better temperature maintenance effect, such as smaller temperature fluctuation and faster stabilization at the preset working temperature, because the temperature control method provided by the present invention is adopted in the temperature maintenance stage.
在本发明的实施例中还提供了一种氮氧传感器的温度控制装置，氮氧传感器通过加热电阻对陶瓷片芯进行加热，该装置用于实现上述实施例及优选实施方式，即温度控制装置用于执行多轮迭代的温度控制步骤。已经进行过说明的不再赘述。以下所使用的术语“模块”、“单元”、“子单元”等可以实现预定功能的软件和/或硬件的组合。尽管在以下实施例中所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。In an embodiment of the present invention, a temperature control device for a nitrogen oxide sensor is also provided. The nitrogen oxide sensor heats a ceramic core by a heating resistor. The device is used to implement the above-mentioned embodiments and preferred implementations, that is, the temperature control device is used to perform multiple rounds of iterative temperature control steps. What has been explained will not be repeated. The terms "module", "unit", "sub-unit", etc. used below can implement a combination of software and/or hardware for predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.
图6是本发明中提供的氮氧传感器的温度控制装置，参照图6，该装置包括：FIG6 is a temperature control device of a nitrogen oxygen sensor provided in the present invention. Referring to FIG6 , the device comprises:
预测校正模块，用于计算当前时刻的实际电阻值和目标预测电阻值之间的目标差值，根据目标差值对上一时刻的目标预测电阻向量进行校正，目标预测电阻向量包括目标预测电阻向量对应时刻之后的多个目标预测电阻值；A prediction correction module, used to calculate a target difference between the actual resistance value at the current moment and the target predicted resistance value, and to correct the target predicted resistance vector at the previous moment according to the target difference, wherein the target predicted resistance vector includes a plurality of target predicted resistance values after the moment corresponding to the target predicted resistance vector;
第一预测模块，用于通过移位矩阵对上一时刻的校正后的目标预测电阻向量进行移位得到当前时刻的初始预测电阻向量，根据当前时刻的初始预测电阻向量确定上一时刻的初始预测电阻向量，初始预测电阻向量包括初始预测电阻向量对应时刻之后的多个初始预测电阻值；A first prediction module, configured to shift the corrected target prediction resistance vector at the previous moment by means of a shift matrix to obtain an initial prediction resistance vector at the current moment, and determine the initial prediction resistance vector at the previous moment according to the initial prediction resistance vector at the current moment, wherein the initial prediction resistance vector includes a plurality of initial prediction resistance values after the moment corresponding to the initial prediction resistance vector;
脉宽确定模块，用于根据上一时刻的初始预测电阻向量和期望电阻向量确定当前时刻的脉宽控制增量和脉宽控制量，将当前时刻的脉宽控制量发送至陶瓷片芯加热系统，期望电阻向量包括期望电阻向量对应时刻之后的多个期望电阻值；A pulse width determination module, used to determine the pulse width control increment and pulse width control amount at the current moment according to the initial predicted resistance vector and the expected resistance vector at the previous moment, and send the pulse width control amount at the current moment to the ceramic core heating system, wherein the expected resistance vector includes a plurality of expected resistance values after the moment corresponding to the expected resistance vector;
第二预测模块，用于对当前时刻的脉宽控制增量进行单位阶跃采样得到单位阶跃响应向量，根据所述单位阶跃响应向量、当前时刻的脉宽控制增量和初始预测电阻向量确定当前时刻的目标预测电阻向量。The second prediction module is used to perform unit step sampling on the pulse width control increment at the current moment to obtain a unit step response vector, and determine the target predicted resistance vector at the current moment according to the unit step response vector, the pulse width control increment at the current moment and the initial predicted resistance vector.
本发明采用动态预测的方式，计算出能够使得未来时刻的加热电阻的实际电阻值和期望电阻值一致的脉宽控制增量，并且通过实际电阻值和目标预测电阻值之间的目标差值实时校正预测误差。相比于现有的PID温度控制算法，更加准确地将陶瓷片芯的实际温度维持在设定工作温度。The present invention adopts a dynamic prediction method to calculate the pulse width control increment that can make the actual resistance value of the heating resistor at a future moment consistent with the expected resistance value, and corrects the prediction error in real time through the target difference between the actual resistance value and the target predicted resistance value. Compared with the existing PID temperature control algorithm, the actual temperature of the ceramic core is more accurately maintained at the set working temperature.
需要说明的是，上述各个模块可以是功能模块也可以是程序模块，既可以通过软件来实现，也可以通过硬件来实现。对于通过硬件来实现的模块而言，上述各个模块可以位于同一处理器中；或者上述各个模块还可以按照任意组合的形式分别位于不同的处理器中。It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.
在本发明中还提供了一种电子设备，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行本发明提供的氮氧传感器的温度控制方法或氮氧传感器的加热控制方法。The present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the temperature control method of the nitrogen oxygen sensor or the heating control method of the nitrogen oxygen sensor provided by the present invention.
应该明白的是，这里描述的具体实施例只是用来解释这个应用，而不是用来对它进行限定。根据本申请提供的实施例，本领域普通技术人员在不进行创造性劳动的情况下得到的所有其它实施例，均属本申请保护范围。It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.
显然，附图只是本申请的一些例子或实施例，对本领域的普通技术人员来说，也可以根据这些附图将本申请适用于其他类似情况，但无需付出创造性劳动。另外，可以理解的是，尽管在此开发过程中所做的工作可能是复杂和漫长的，但是，对于本领域的普通技术人员来说，根据本申请披露的技术内容进行的某些设计、制造或生产等更改仅是常规的技术手段，不应被视为本申请公开的内容不足。Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.
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| ANTOTIAN: "模型预测控制（MPC）——动态矩阵控制（DMC）", pages 1 - 7, Retrieved from the Internet <URL:https://blog.csdn.net/qq_35379989/article/details/105914960> * |
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