CN118092540B - Ammonia gas sensor chip temperature control method and system - Google Patents
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Abstract
The invention discloses a ammonia gas sensor chip temperature control method, which relates to the field of automobile electronic sensing detection, and comprises the following steps: step 1, predicting the behavior of an ammonia sensor chip system by using a feedforward controller based on a model, calculating an accurate and proper heater driving duty ratio by combining a feedback controller, and performing feedforward control to realize staged heating; step 2, timely observing disturbance through an immediate observer controlled by active disturbance rejection and eliminating the disturbance by combining a total disturbance suppressor, so that the disturbance can still be accurately heated to a target temperature when being disturbed; compared with the prior art, the invention has the beneficial effects that: the invention can greatly improve the response speed of the ammonia sensor chip temperature control, realize staged heating and effectively solve the precision problem of chip temperature control, and is a control technology suitable for controlling the ammonia sensor chip temperature.
Description
Technical Field
The invention relates to the field of automobile electronic sensing detection, in particular to a method and a system for controlling the temperature of an ammonia sensor chip.
Background
In recent years, with the rapid development of economy, the life rhythm is continuously accelerated, and people have an increasing demand for automobiles for convenience in traveling. However, this also aggravates the problem of environmental pollution. Nitrogen oxides (NO X) are a kind of harmful substances in automobile exhaust, the most common method for eliminating the nitrogen oxides is Selective Catalytic Reduction (SCR), nitrogen oxides (NO X) can be converted into nitrogen and water by spraying urea into a gas spraying pipe, a nitrogen-oxygen sensor is usually installed at the outlet of the SCR to detect the content of nitrogen oxides (NO X) after SCR, and the amount of urea sprayed is controlled to be adjusted correspondingly according to the detection result. Although SCR can effectively solve the emission of harmful nitrogen oxides, if urea is injected too much, excessive ammonia (NH 3) is generated, and ammonia is also a harmful gas, colorless, has strong pungent smell and is a toxic gas, so that the emission problem of ammonia is solved while eliminating nitrogen oxides, and the problem is to be solved first, so that an ammonia sensor is also installed in a vehicle equipped with an SCR system to detect the concentration of ammonia in real time.
Most of the existing measurement principles of various ammonia sensors rely on elements formed by gas-sensitive materials to react with ammonia gas to detect the concentration of ammonia gas, and the gas-sensitive materials generally have an optimal temperature to keep the activity and sensitivity of the materials, when the gas-sensitive materials are at the optimal temperature, the detection precision is the highest, but due to some influences of environment or other factors, the temperature of the ammonia sensor may not be always maintained at the temperature at which the gas-sensitive materials are most active, and thus the detection precision is also affected.
The existing control method for the chip temperature is mainly a PID control method, and the PID control is used as a classical control method, so that the control method is very effective in many applications at present, but has many problems: PID control is a control method which eliminates errors by errors and affects results by results, and is different from modern control methods such as active disturbance rejection control and the like, which can consider model information of a system to realize control by applying control force in the running process of the system, so that the PID control method which affects results by results does not consider future states and cannot realize better performance by optimizing future control inputs; in addition, for disturbance suffered by the system, simple PID control cannot compensate the disturbance, and compared with active disturbance rejection control, the system has poor robustness and adaptability; some PID control depends on the effect of error integration, however, the introduction of integral terms brings problems such as integral saturation and oscillation generation. Besides the problems of the control method, the control requirement of high precision cannot be realized by simply relying on PID control, and the simple PID control is not suitable for the case of high-precision control of the temperature of the sensor chip.
Therefore, the existing PID control ammonia sensor chip temperature effect is general, and needs improvement.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the temperature of an ammonia sensor chip core, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an ammonia gas sensor chip temperature control method comprises the following steps:
step 1, predicting the behavior of an ammonia sensor chip system by using a feedforward controller based on a model, calculating an accurate and proper heater driving duty ratio by combining a feedback controller, and performing feedforward control to realize staged heating;
Step 2, timely observing disturbance through an immediate observer controlled by active disturbance rejection and eliminating the disturbance by combining a total disturbance suppressor, so that the disturbance can still be accurately heated to a target temperature when being disturbed;
and 3, continuously correcting the feedforward model according to the relation between the control signal and the actual output of the ammonia sensor chip system by using an accumulation observer, and further continuously improving the calculation accuracy and the control capability of the feedforward controller model.
As still further aspects of the invention: the step 1 specifically comprises the following steps:
Step 11, a feedforward controller based on a model predicts the behavior of an ammonia sensor chip system and receives the target temperature of the ammonia sensor chip system;
step 12, driving a heater based on a feedforward controller and a feedback controller of a model based on the target temperature of the ammonia sensor chip system;
step 13, the model-based feedforward controller receives the parameters returned by the cumulative observer AndThe duty ratio of the driving heater is adjusted to realize staged heating.
As still further aspects of the invention: the step 2 specifically comprises the following steps:
Step 21, the real-time observer observes the temperature change, humidity change and aging and wearing internal disturbance of the sensor element of the system in real time;
step 22, the real-time observer observes the disturbance of the gas chemical substances, the pollution of the particulate matters and the external disturbance of the mechanical vibration in real time;
step 23, the real-time observer estimates the internal disturbance and the external disturbance, quantifies the size, the direction and the time-varying characteristics of the disturbance, and estimates the disturbance Transmitting to a total disturbance suppressor;
In step 24, the total disturbance suppressor generates a compensation signal and adds the compensation signal to the control signal of the ammonia sensor die system to counteract or reduce the effect of the disturbance on the system.
As still further aspects of the invention: the step 3 specifically comprises the following steps:
Step 31, in the stage of heating initialization stage, giving a proper initial value for the initialization stage of the accumulation observer;
Step 32, the cumulative observer continuously updates the estimation of the system parameters by using the newly observed data, gradually converges the estimation of the system parameters to the true value through continuous iteration and gradual updating, and changes the parameters output to the feedforward controller based on the model And 。
As still further aspects of the invention: step 32 specifically includes:
step 321, accumulating temperature data of the chip system in real time by an observer for updating estimation of system parameters, and ensuring that the estimation of the system parameters is suitable for new observation data by an updating rule of the accumulated observer;
step 322, adjusting the weight of the observed data to balance new and previous data information, avoiding over-reliance on certain observed data;
in step 323, convergence criteria are set, and when the observer converges and the estimation of the system parameters tends to be stable, the observed parameters are returned to the feedforward controller to continuously improve the control accuracy of the feedforward controller.
As still further aspects of the invention: in step 321, the Kalman filtering and least squares estimation method are used to ensure that the estimation of the system parameters is adapted to the new observed data.
An ammonia gas sensor chip temperature control system comprises,
Model-based feedforward controller for accumulating observer-returned parameters using a computational model of an ammonia sensor chip systemAndThe target temperature is used as input to calculate the duty ratio, and the working and stopping time proportion of the heater is controlled so that the actual temperature of the system approaches the target temperature;
an accumulation observer for estimating the chip system state in real time, providing variable parameters for a model-based feedforward controller AndTo improve the control accuracy of the model-based feedforward controller;
An instantaneous observer for observing internal disturbance and external disturbance of the chip system in real time by taking the input (duty ratio) and the output (actual temperature) of the ammonia sensor chip system as the input of the part, estimating the disturbance, quantifying the magnitude, direction and time-varying characteristics of the disturbance, and estimating the disturbance Transmitting to a total disturbance suppressor;
the total disturbance suppressor is used for generating a compensation signal and adding the compensation signal into the control signal so as to counteract or reduce the influence of disturbance on the chip system and improve the robustness of the system;
The feedback controller is used for calculating the most suitable duty ratio by combining with the feedforward controller based on the model, compensating disturbance by the total disturbance suppressor, and then taking the most suitable duty ratio as the input of the ammonia sensor chip system to adjust the working time of the heater so as to realize the control of the chip temperature;
The feedforward controller based on the model is connected with the heater, the feedback controller is connected with the heater, the heater is connected with the total disturbance suppressor, the total disturbance suppressor is connected with the ammonia sensor chip system, the accumulation observer and the instant observer, the ammonia sensor chip system is connected with the accumulation observer, the instant observer and the feedback controller, the accumulation observer is connected with the feedforward controller based on the model, and the instant observer is connected with the total disturbance suppressor.
Compared with the prior art, the invention has the beneficial effects that: the feedforward controller and the active disturbance rejection feedback based on the model are combined to control the temperature of the ammonia sensor chip, so that the response speed to the temperature control of the ammonia sensor chip can be greatly improved, the staged heating is realized, the precision problem of the chip temperature control is effectively solved, and the method is a control technology suitable for controlling the temperature of the ammonia sensor chip.
Drawings
FIG. 1 is a schematic diagram of an ammonia sensor die temperature control system.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
Design-related considerations:
The ammonia sensor is used for detecting the concentration of ammonia gas, and the ammonia gas sensor is dependent on gas-sensitive materials which can react with the ammonia gas, and the gas-sensitive materials generally reach the most active state when the temperature is relatively high so as to detect the concentration of the detected gas with high precision, but for a sensor chip, the device like the sensor chip cannot apply a large current to the sensor chip to raise the chip temperature to reach a target temperature value, the chip temperature can be excessively raised or exceed the bearing range of the sensor chip to cause overheating and damage, and in addition, the sensor performance can be influenced due to the excessive current, so that the measurement accuracy is reduced. Therefore, the concept of heating in stages can be adopted for the problem of the rise of the temperature of the sensor chip, and the sensor chip is divided into a plurality of stages before being heated to the target temperature, and only the sensor chip is heated to the target temperature of each stage at a time, so that the problem can be avoided.
At present, control of the temperature of a sensor is mostly realized by adopting a PID controller mainly based on PI control, wherein the PID controller consists of a proportional unit, an integral unit and a differential unit, and the PID controller respectively corresponds to the present, the past and the future of errors and realizes control by setting three corresponding parameters. It is the essence of PID control to eliminate the error between the control objective and the actual output of the system without using an accurate model of the controlled object. The PID control is widely and effectively used in the control engineering practice due to the control principle of eliminating errors by errors. However, the PID control has obvious disadvantages that the model information of the system is not deeply considered, the error is eliminated based on the current generated error, the system cannot accurately predict the future behavior of the system due to lack of consideration of the past historical behavior, and the PID control cannot well resist the ageing and abrasion of disturbance like sensor elements and particulate matter interference and the like, so that the PID control is not suitable for high-requirement chip temperature control cases, and the Active Disturbance Rejection Control (ADRC) brings new ideas for solving the control problem: the system control method has the advantages that the control force is applied in the running process of the system to achieve the control purpose, the state of the system can be estimated and disturbance compensated in real time, compared with a PID control method, the active disturbance rejection control considers system model information, and the system control method is an advanced control method for emphasizing disturbance rejection, so that compared with the PID control, the active disturbance rejection control has better robustness, and the adaptability of the active disturbance rejection control to system changes and parameter changes is stronger, and compared with the PID control, the active disturbance rejection control is more robust in the face of a continuously changing environment.
Besides, the existing PID control ammonia sensor chip temperature effect is general, the simple dependence on the active disturbance rejection control is not feasible in the application of heating the sensor chip, the active disturbance rejection control can eliminate disturbance suffered by the system and improve the robustness of the system, but for the case of chip heating, the chip temperature is gradually raised by means of the concept of staged heating to avoid the damage of the chip, and the system with the active disturbance rejection control cannot realize the function.
Therefore, the method of combining the feedforward controller 100 and the active disturbance rejection control can effectively solve the defects of PID control, realize the concept of staged heating, meet the control requirement of high precision and realize high-efficiency response speed.
Referring to fig. 1, a method for controlling the temperature of an ammonia sensor chip includes the following steps:
Step 1, predicting the behavior of an ammonia sensor chip system by using a feedforward controller 100 based on a model, calculating an accurate and proper heater driving duty ratio by combining a feedback controller 200, and performing feedforward control to realize staged heating;
Step 2, the disturbance is eliminated by timely observing the disturbance through the instant observer 500 controlled by the active disturbance rejection and combining with the total disturbance suppressor 400, so that the target temperature can still be accurately heated when the disturbance is received;
And 3, continuously correcting the feedforward model according to the relation between the control signal and the actual output of the ammonia sensor chip system by utilizing the accumulation observer 300, and further continuously improving the calculation accuracy and the control capability of the feedforward controller 100 model.
In this embodiment, step1 specifically includes:
Step 11, the feedforward controller 100 based on the model predicts the behavior of the ammonia sensor chip system and receives the target temperature of the ammonia sensor chip system;
step 12, driving a heater by a feedforward controller 100 and a feedback controller 200 based on the ammonia gas sensor chip system target temperature;
step 13, the model-based feedforward controller 100 receives the parameters returned by the cumulative observer 300 AndThe duty ratio of the driving heater is adjusted to realize staged heating.
In this embodiment, step2 specifically includes:
Step 21, the instant observer 500 observes the temperature variation, humidity variation, and aging and wearing internal disturbance of the sensor element of the system in real time;
step 22, the real-time observer 500 observes the disturbance of the gas chemistry, the particulate matter pollution, the mechanical vibration external disturbance in real time;
step 23, the real-time observer 500 estimates the internal disturbance and the external disturbance, quantifies the magnitude, direction and time-varying characteristics of the disturbance, and estimates the disturbance Transmitted to the total disturbance suppressor 400;
in step 24, the total disturbance suppressor 400 generates and adds to the control signal of the ammonia sensor die system a compensation signal to counteract or reduce the effect of the disturbance on the system.
In this embodiment, step 3 specifically includes:
Step 31, in the stage of heating initialization stage, giving an appropriate initial value to the initialization stage of the cumulative observer 300;
Step 32, the cumulative observer 300 continuously updates the estimation of the system parameters using the newly observed data, gradually converges the estimation of the system parameters to the true value through continuous iterative and gradual updating, and changes the parameters output to the model-based feedforward controller 100 And 。
In this embodiment, step 32 specifically includes:
step 321, the cumulative observer 300 collects the temperature data of the chip system in real time for updating the estimation of the system parameters, and the estimation of the system parameters is ensured to adapt to the new observation data through the updating rule of the cumulative observer 300;
step 322, adjusting the weight of the observed data to balance new and previous data information, avoiding over-reliance on certain observed data;
In step 323, convergence criteria are set, and when the observer converges and the estimation of the system parameters tends to be smooth, the observed parameters are returned to the feedforward controller 100 to continuously improve the control accuracy of the feedforward controller 100.
In this embodiment, in step 321, the kalman filtering and least squares estimation method are used to ensure that the estimation of the system parameters adapts to the new observed data.
In this embodiment, referring to fig. 1, an ammonia sensor chip temperature control system includes,
Model-based feedforward controller 100 for using a computational model of ammonia sensor die system to accumulate parameters returned by observer 300AndThe target temperature is used as input to calculate the duty ratio, and the working and stopping time proportion of the heater is controlled so that the actual temperature of the system approaches the target temperature;
The final goal is to heat the ammonia sensor chip to the target temperature, but the chip cannot be directly heated to the target temperature, so that the temperature of the one-time heating is too high, the required current value is too large, and some adverse effects can be caused, so that the idea of staged heating is adopted, the ammonia sensor chip is divided into a plurality of stages before being heated to the target temperature, and the system is only heated to the temperature value of each stage each time, and the feedforward controller 100 is needed in the process.
The feedforward controller 100 is a controller for adjusting the behavior of the system, the design of which is based on a priori knowledge and models of the system. The feedforward controller 100 in the present invention uses a computational model of the ammonia sensor die system to accumulate the parameters returned by the observer 300AndAnd a target temperature as input, which is used in the present invention to calculate the duty cycle, u=f #,Target temperature), the detailed description is: a key idea of the invention is to increase the temperature of the sensor die in a phased heating manner, in which phase the appropriate duty cycle is calculated by means of the feedforward controller 100 and in combination with the feedback controller 200 to enable the system to reach the target temperature value quickly, and in which phase the cumulative observer 300 will model the parameters of the system, assuming the temperature of the die is now 100 degrees celsius and the target temperature is 200 degrees celsiusAndThe target temperature of 200 ℃ is continuously observed and transmitted to the feedforward controller 100, and is provided as input to the feedforward controller 100 to tell the state to be tracked by the system, after the system parameters and the target temperature are included, the feedforward controller 100 can adjust and control the output duty ratio (u) by predicting the dynamic behavior of the system, and further can realize the control of the working and stopping time proportion of the heater so that the actual temperature of the system quickly approaches the target temperature. During each stage of staged heating, the accumulation observer 300 continuously recognizes system parameters and communicates to the feedforward controller 100 to continuously improve control accuracy.
An accumulation observer 300 for estimating the chip system state in real time, providing variable parameters for the model-based feedforward controller 100AndTo improve the control accuracy of the model-based feedforward controller 100;
The accumulation observer 300 plays an important role in the control system, mainly for estimating the system state in real time and improving the control accuracy of the feedforward controller 100 by continuously identifying the chip system parameters, and is embodied in the present invention to provide accurate system parameters to the feedforward controller 100. The process of providing the identification parameters can be divided into several processes of parameter initialization, data observation and parameter updating.
Parameter initialization: as a tool for identifying the parameters of the chip system, the cumulative observer 300 needs to give a proper initial value to the initial stage of the cumulative observer 300 in the first stage of heating stage, provide a proper starting point for the cumulative observer 300, and start to adjust gradually to the dynamic characteristics of the real system at this point. The proper initial value setting can be estimated by means of priori knowledge and experience, especially if there is previous measurement data, the parameter initial value can be estimated according to the analysis of the measurement data or the dynamic behavior and response of the chip temperature system can be deeply understood to reasonably select the initial value.
And (5) observing and updating: observation update is a key step of the cumulative observer 300 and is why the cumulative observer 300 is used in the present invention, the cumulative observer 300 can continuously update the estimation of the system parameters by using the newly observed data, and the estimation of the system parameters gradually converges to the true value through continuous iteration and gradual update. In this process, the accumulated observer 300 collects the temperature data of the chip system in real time for updating the estimation of the system parameters, the estimation of the system parameters is ensured to be suitable for new observation data through the updating rule of the observer, a Kalman filtering and least square estimation method can be used, the weight of the observation data is then appropriately adjusted for balancing new and previous data information to avoid over-dependence on certain observation data, finally, a convergence criterion is set, and when the observer converges to the estimation of the system parameters to be stable, the observed parameters are returned to the feedforward controller 100 to continuously improve the control accuracy of the feedforward controller 100.
An instantaneous observer 500 for observing internal disturbance and external disturbance of the ammonia sensor chip system in real time with the input (duty ratio) and output (actual temperature) of the ammonia sensor chip system as the inputs of the part, estimating the disturbance, quantifying the magnitude, direction and time-varying characteristics of the disturbance, and estimating the disturbanceTransmitted to the total disturbance suppressor 400;
The instant observer 500 is a core component in the active-disturbance-rejection feedback control, and has the main task of observing the state of the system, expanding the observed total disturbance of the system into a new state for introduction, and then eliminating the disturbance by combining with a compensation strategy to improve the robustness of the system.
In the present invention, the real-time observer 500 (ESO) takes the input (duty cycle) and output (actual temperature) of the ammonia sensor chip system as the input of the part to observe the internal disturbance such as temperature change, humidity change, aging and abrasion of the sensor element, and the disturbance of chemical substances such as gas, particulate matter pollution, mechanical vibration, and the like of the system in real time, and estimates the disturbance by using some mathematical models and observation algorithms, quantifies the magnitude, direction and time-varying characteristics of the disturbance, and then the real-time observer 500 will estimate the disturbanceIs transmitted to the total disturbance suppressor 400. The total disturbance suppressor 400 generates a compensation signal and adds to the control signal to counteract or reduce the effect of the disturbance on the system. Through real-time observation and disturbance compensation, the system can better maintain the expected working state to improve the robustness, in addition, the instant observer 500 has self-adaptive capability, and the observer parameters can be dynamically adjusted according to the effect of real-time observation, so that the temperature control system has more adaptive capability, and can handle the change and uncertainty of the system environment.
The total disturbance suppressor 400 is configured to generate a compensation signal and add the compensation signal to the control signal, so as to counteract or reduce the influence of disturbance on the chip system, and improve the robustness of the system;
The feedback controller 200 is used for calculating the most suitable duty ratio in combination with the feedforward controller 100 based on the model, compensating disturbance by the total disturbance suppressor 400, and then taking the most suitable duty ratio as input of the ammonia sensor chip system to adjust the working time of the heater so as to realize the control of the chip temperature;
The feedback controller 200 in the invention is mainly used for calculating the most suitable duty ratio (u) by combining with the feedforward controller 100, compensating disturbance by the total disturbance suppressor 400, and then taking the calculated duty ratio as input of an ammonia sensor chip system so as to adjust the working time of a heating element to realize the control of the chip temperature.
The feedback controller 200 of the present invention adopts the PID control method, the inputs are the target temperature and the actual temperature output of the system, and by comparing the difference between the actual output (actual temperature) of the system and the desired output (target temperature), a control input is generated for reducing this error, that is, the control idea of PID is utilized: errors are eliminated by the errors. The specific implementation process of the feedback controller 200 in the present invention is: taking the difference e between the actual temperature output and the target temperature as the input of PID control, adjusting the "duty ratio" of the output signal through the actions of proportion, differentiation and integration can continuously measure the actual temperature, calculate errors and adjust the execution structure to maintain the actual temperature close to the target temperature so as to achieve the purpose of controlling the temperature of the chip system, another important function of the feedback controller 200 in the invention is to compensate the deficiency of the feedforward controller 100, the feedforward controller 100 calculates the proper duty ratio based on the model of the system, but the model cannot describe the system completely and accurately, thus the feedback controller 200 is required to adjust the uncertainty of the compensation model and the system change according to the difference between the actual output and the expected in real time so as to improve the stability of the system.
The model-based feedforward controller 100 is connected with a heater, the feedback controller 200 is connected with a heater, the heater is connected with the total disturbance suppressor 400, the total disturbance suppressor 400 is connected with an ammonia sensor chip system, the accumulation observer 300 and the instant observer 500, the ammonia sensor chip system is connected with the accumulation observer 300, the instant observer 500 and the feedback controller 200, the accumulation observer 300 is connected with the model-based feedforward controller 100, and the instant observer 500 is connected with the total disturbance suppressor 400.
The control requirement of the ammonia sensor chip temperature is mainly concentrated on: the system is still affected by disturbance at steady state to ensure enough control precision, and secondly, has enough response speed in the transition process of staged heating.
The existing temperature control method of the sensor chip mainly uses a PID control method, but the invention adopts a temperature control method combining a feedforward controller 100 based on a model and active disturbance rejection feedback, which can effectively solve the defects of the PID control method and solve the problems that independent active disturbance rejection control can resist disturbance but can not realize staged heating. Predicting the behavior of the ammonia sensor chip by using a temperature control model through a method of combining the accumulation observer 300 and the feedforward controller 100, identifying system parameters by using the input (duty ratio) of the system and the actual temperature output of the system as the input of the accumulation observer 300 through a least square method and returning the system parameters to the feedforward controller 100 to continuously update the feedforward model so as to improve feedforward control precision; by combining with an active disturbance rejection control method, the system disturbance can be estimated and compensated in real time by utilizing the instant observer 500 and the total disturbance suppressor 400, so that the robustness of the system can be effectively improved; the short plates which cannot be compensated for modeling errors and combat uncertainty by the feedforward controller 100 can be effectively compensated for by the feedback controller 200, which can correct deviations due to modeling errors by measuring the actual temperature output of the system in real time and comparing with the target temperature to improve the accuracy of the system.
In conclusion, the invention can greatly improve the response speed of the ammonia sensor chip temperature control, realize staged heating and effectively solve the precision problem of chip temperature control, and is a control technology suitable for controlling the ammonia sensor chip temperature.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (3)
1. The ammonia gas sensor chip temperature control method is characterized by comprising the following steps of:
step 1, predicting the behavior of an ammonia sensor chip system by using a feedforward controller based on a model, calculating an accurate and proper heater driving duty ratio by combining a feedback controller, and performing feedforward control to realize staged heating;
Step 2, timely observing disturbance through an immediate observer controlled by active disturbance rejection and eliminating the disturbance by combining a total disturbance suppressor, so that the disturbance can still be accurately heated to a target temperature when being disturbed;
step 3, continuously correcting the feedforward model according to the relation between the control signal and the actual output of the ammonia sensor chip system by using an accumulation observer, and further continuously improving the calculation accuracy and the control capability of the feedforward controller model;
the step 1 specifically comprises the following steps:
Step 11, a feedforward controller based on a model predicts the behavior of an ammonia sensor chip system and receives the target temperature of the ammonia sensor chip system;
step 12, driving a heater based on a feedforward controller and a feedback controller of a model based on the target temperature of the ammonia sensor chip system;
step 13, the model-based feedforward controller receives the parameters returned by the cumulative observer AndThe duty ratio of the driving heater is adjusted to realize staged heating;
The step 2 specifically comprises the following steps:
Step 21, the real-time observer observes the temperature change, humidity change and aging and wearing internal disturbance of the sensor element of the system in real time;
step 22, the real-time observer observes the disturbance of the gas chemical substances, the pollution of the particulate matters and the external disturbance of the mechanical vibration in real time;
step 23, the real-time observer estimates the internal disturbance and the external disturbance, quantifies the size, the direction and the time-varying characteristics of the disturbance, and estimates the disturbance Transmitting to a total disturbance suppressor;
Step 24, the total disturbance suppressor generates a compensation signal and adds the compensation signal to a control signal of an ammonia sensor chip system so as to offset or reduce the influence of disturbance on the system;
The step 3 specifically comprises the following steps:
Step 31, in the stage of heating initialization stage, giving a proper initial value for the initialization stage of the accumulation observer;
Step 32, the cumulative observer continuously updates the estimation of the system parameters by using the newly observed data, gradually converges the estimation of the system parameters to the true value through continuous iteration and gradual updating, and changes the parameters output to the feedforward controller based on the model And；
Step 32 specifically includes:
step 321, accumulating temperature data of the chip system in real time by an observer for updating estimation of system parameters, and ensuring that the estimation of the system parameters is suitable for new observation data by an updating rule of the accumulated observer;
step 322, adjusting the weight of the observed data to balance new and previous data information, avoiding over-reliance on certain observed data;
in step 323, convergence criteria are set, and when the observer converges and the estimation of the system parameters tends to be stable, the observed parameters are returned to the feedforward controller to continuously improve the control accuracy of the feedforward controller.
2. The ammonia sensor die temperature control method of claim 1, wherein in step 321, a kalman filter and a least squares estimation method are used to ensure that the estimation of system parameters is adapted to new observed data.
3. An ammonia gas sensor chip temperature control system applied to the ammonia gas sensor chip temperature control method of claim 1 or 2, the ammonia gas sensor chip temperature control system comprising:
model-based feedforward controller for accumulating observer-returned parameters using a computational model of an ammonia sensor chip system AndThe target temperature is used as input to calculate the duty ratio, and the working and stopping time proportion of the heater is controlled so that the actual temperature of the system approaches the target temperature;
an accumulation observer for estimating the chip system state in real time, providing variable parameters for a model-based feedforward controller AndTo improve the control accuracy of the model-based feedforward controller;
The real-time observer is used for taking the input and the output of the ammonia sensor chip system as the input, observing the internal disturbance and the external disturbance of the chip system in real time, estimating the disturbance, quantifying the size, the direction and the time-varying characteristic of the disturbance, and estimating the disturbance Transmitting to a total disturbance suppressor;
the total disturbance suppressor is used for generating a compensation signal and adding the compensation signal into the control signal so as to counteract or reduce the influence of disturbance on the chip system and improve the robustness of the system;
The feedback controller is used for calculating the most suitable duty ratio by combining with the feedforward controller based on the model, compensating disturbance by the total disturbance suppressor, and then taking the most suitable duty ratio as the input of the ammonia sensor chip system to adjust the working time of the heater so as to realize the control of the chip temperature;
The feedforward controller based on the model is connected with the heater, the feedback controller is connected with the heater, the heater is connected with the total disturbance suppressor, the total disturbance suppressor is connected with the ammonia sensor chip system, the accumulation observer and the instant observer, the ammonia sensor chip system is connected with the accumulation observer, the instant observer and the feedback controller, the accumulation observer is connected with the feedforward controller based on the model, and the instant observer is connected with the total disturbance suppressor.
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