JPH02238241A - Control device for heat pump - Google Patents

Abstract

PURPOSE:To shorten settlement time by determining an operation signal vector such that a response of a state signal vector is coincident with a response target signal vector. CONSTITUTION:There are assumed as addition signal an output signal from an operation signal operation part input distribution matrix operation unit 63 which takes a small time before operation signal vector 59 as an input signal, an output signal from an operation signal, an output signal from an operation signal operation part response target response government matrix operation unit 62 which takes a state signal vector as an input signal, and an output signal from an operation signal operation part response target input distribution matrix operation unit 60 which takes a target signal vector 41 as an input signal. Additionally, there are added as subtraction signals a small time before state differentiation signal vector 56 and an output signal from an operation signal operation part error response government matrix operation unit 61 which takes an error signal vector 45 as an input signal. An operation signal vector 43 is yielded by an output signal from an operation signal operation part input distribution inverse matrix operation unit 65 which takes further as an input signal an output signal from an operation signal operation part vector addition/ subtraction operation unit 64. Hereby, the device can be stabilized even with severe wasteful time.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a heat pump control device for controlling the temperature of the medium used in a heat pump cycle that heats and cools the medium. is a system configuration diagram of an air conditioner using a heat pump, which includes a compressor 1, a pressure reducing device 8, and a first four-way valve 2.
The heat source side heat exchanger 3 and the usage side heat exchanger 4 which are switchably connected to the discharge part and the suction part of the compressor 1, and the heat source side heat exchanger 3 and the usage side heat exchanger 4 are reduced in pressure by A closed circuit is formed by the first four-way valve 2 and the second four-way valve 5 connected to the opposite side, and the refrigerant is introduced into the closed circuit. It is sealed to form a heat pump cycle.

7 is an accumulator, 8 is a utilization section, 9 is a heat source side blower that circulates air serving as a heat source medium to the heat source side heat exchanger 3, and 10 is a heat source side blower that circulates the air in the utilization section 6 to the utilization side heat exchanger 4. A user side blower, 11 a user part air temperature state detector that detects the air temperature in the user part 8, 12 a temperature detector,
A refrigerant superheat state detector consisting of a pressure detector and a refrigerant superheat degree calculator, 13 a user-side air discharge temperature state detector that detects the air discharge temperature to the usage part 8 of the user-side heat exchanger 4;
4 is a refrigerant supercooling degree state detector consisting of a temperature detector, a pressure sensor, and a refrigerant supercooling degree calculator; 15 is a compression capacity operating device for operating the compression capacity of the compressor 1; and 16 is a pressure reducing capacity of the pressure reducing device 6. 17 is a user side air blowing capacity operator that operates the air blowing capacity of the user side blower 10;
is a heat source side blowing capacity operating device that operates the blowing capacity of the heat source side blower 9.

The operation mode of an air conditioner using a heat pump in such a configuration will be explained below. During heating operation, as shown by the arrow (solid line) in Fig. 2, the refrigerant is compressed in the compressor 1 to become high-temperature, high-pressure steam, which passes through the first four-way valve 2 and reaches the user-side heat exchanger 4. . At this time, the user-side heat exchanger 4 functions as a condenser and heats the user section 8 by applying heat to the air within the user section 8, and the refrigerant is condensed and liquefied. The liquefied refrigerant passes through the second four-way valve 5, is appropriately reduced in pressure in the pressure reducing device 6, becomes low pressure, and reaches the heat source side heat exchanger 3. At this time, the heat source side heat exchanger 3 acts as an evaporator, receives heat from the heat source air, evaporates, becomes low pressure steam, and is sucked into the compressor 1 through the first four-way valve 2 and the accumulator 7. .

During cooling operation, as shown by the arrow (broken line) in Fig. 2, by switching the first four-way valve 2 and the second four-way valve 5, the heat source side heat exchanger 3 becomes a condenser, and the user side heat exchanger 4 becomes an evaporator. Act as a vessel;
By absorbing heat from the air within the usage area 8, the usage area 8 is cooled.

Next, the mode of operation of each operating device will be explained below.

When the operation amount of the compression capacity manipulator 15 is increased, the compression capacity of the compressor 1 increases, the heating capacity in the utilization section 8 increases during heating operation, the air temperature within the utilization section 8 rises, and during cooling operation On the contrary, the temperature decreases, and the temperature change is detected by the utilization part air temperature temperature detector 11.

When the operation amount of the pressure reducing capacity operating device 16 is increased, the pressure reducing device 6
During heating operation, the refrigerant circulation amount decreases, and as a result, the refrigerant subcooling degree increases, and the change in the subcooling degree is detected by the refrigerant subcooling degree state detector 14. The suction pressure of the compressor 1 decreases, and as a result, the degree of superheat of the refrigerant increases, and the change in the degree of superheat is detected by the refrigerant superheat degree detector 12.

When the operation amount of the user-side air blowing capacity controller 17 is increased, the air blowing capacity of the user-side blower 10 increases and the air volume increases, and during heating operation, although the heating capacity increases, the air flow to the user section 8 of the user-side heat exchanger 4 increases. The air discharge temperature of the user side decreases, and although the cooling capacity increases during cooling operation, the air discharge temperature of the user side heat exchanger 4 to the user section 8 increases, and the temperature change is detected by the user side air discharge temperature state detection. is detected by the device 13.

When the operation amount of the heat source side air blowing capacity controller 18 is increased, the air blowing capacity of the heat source side blower 9 increases, the air volume increases, and the evaporation capacity increases during heating operation, resulting in an increase in the degree of superheating of the refrigerant and its superheating. The change in the degree of supercooling is detected by the refrigerant superheating state detector 12, and during cooling operation, the condensing capacity increases, and as a result, the degree of subcooling of the refrigerant increases, and the change in the degree of supercooling is detected by the refrigerant supercooling state detector 14. be done.

In an air conditioner using a heat pump, a control device is required to optimize the operation amount of each of the compression capacity control device 15, pressure reduction capacity control device 16, user side blowing capacity control device 17, and heat source side blowing capacity control device 18. The mode of operation of the control device will be explained below based on the drawings.

FIG. 3 is a block configuration diagram of a conventional control device for an air conditioner using a heat pump, in which 19 is a control calculator, 20 is a usage part air temperature state signal which is an output signal of the usage part air temperature state detector 11, and 21 is a user-side air discharge temperature state signal which is an output signal of the user-side air discharge temperature state detector 13;
22 is a refrigerant superheat degree state signal which is an output signal of the refrigerant superheat degree state detector 12, and 23 is a refrigerant supercooling degree state detector 1.
4 is the output signal of the refrigerant subcooling degree state signal, 24 is the usage part air temperature target signal which is the target signal of the usage part air temperature state signal 20, and 25 is the target signal of the usage side air discharge temperature state signal 21. A side air discharge temperature target signal, 26 a refrigerant superheat degree target signal which is a target signal of the refrigerant superheat degree state signal 22, 27 a refrigerant supercooling degree target signal which is a standard signal of the refrigerant supercooling degree state signal 23, and 28 a refrigerant supercooling degree target signal. The usage part air temperature deviation signal 29 is the difference between the usage part air temperature state signal 20 and the usage part air temperature target signal 24, and 29 is the difference between the usage part air discharge temperature state signal 21 and the usage part air discharge temperature target signal 25. A user-side air discharge temperature deviation signal, 30 is a refrigerant superheat degree deviation signal that is the difference between the refrigerant superheat degree state signal 22 and the refrigerant superheat degree target signal 26, and 31 is the refrigerant subcool degree state signal 23 and the refrigerant subcool degree target signal. A refrigerant subcooling degree deviation signal that is the difference from the signal 27, 32 is a compression capacity operation signal that gives the operation amount of the compression capacity operation device 15, and 33 is a user side blowing capacity operation that gives the operation amount of the user side blowing capacity operation device 17. signal, 34 is a heat source side blowing capacity operation signal that gives the operation amount of the heat source side blowing capacity operating device 18;
Reference numeral 35 denotes a pressure reduction capacity operation signal that provides the operation amount of the pressure reduction capacity operation unit 16; 36 a first PID calculator that determines the compression capacity operation signal 32 based on the usage section air temperature deviation signal 28;
7 is a second PID computing unit 38 that determines the user-side air blowing capacity operation signal 33 based on the user-side air discharge temperature deviation signal 29;
3 is a third PID calculator which determines a heat source side air blowing capacity operation signal 34 based on a refrigerant superheating degree deviation signal 30 during heating operation and a refrigerant subcooling degree deviation signal 31 during cooling operation;
Reference numeral 9 denotes a fourth PID controller that determines a pressure reducing capacity operation signal 35 based on the refrigerant subcooling degree deviation signal 31 during heating operation and the refrigerant superheating degree deviation signal 30 during cooling operation, and 40 determines the refrigerant superheating degree deviation signal 30 during heating operation. is transmitted to the third PID calculator 38, and the refrigerant supercooling degree deviation signal 31 is transmitted to the fourth PID calculator 39, and during cooling operation, the refrigerant superheating degree deviation signal 30 is transmitted to the fourth PID calculator 39 to calculate the refrigerant subcooling degree deviation. This is a refrigerant superheating/supercooling degree deviation signal switch that transmits the signal 31 to the third PID calculator 38.

The operating mode of the control device for an air conditioner using a heat pump in such a configuration will be described below. Each PI from 1st to 4th
The D calculators 36 to 39 calculate each quantity obtained by multiplying each deviation signal 28 to 31 by each proportional coefficient, each quantity obtained by multiplying each integral value of each deviation signal 28 to 31 by each integral coefficient, and each deviation signal 28. ~31
By adding each value obtained by multiplying each differential value by each differential coefficient to each value as each operation signal 32 to 35, each deviation signal 28 to 31 is set to zero, and the usage part air temperature state signal 20 is The user air temperature target signal 24, the user air discharge temperature state signal 21, the user air discharge temperature target signal 25, the refrigerant superheat degree state signal 22, the refrigerant superheat target signal 26, and the refrigerant subcooling state signal 23. are made to correspond to the refrigerant supercooling degree target signal 27.

Each control response performance is determined by the values of each proportional coefficient, each integral coefficient, and each differential coefficient, and the Ziegler-Nichols step response method is well known as a typical method for determining each coefficient. This is done in advance for each operation signal 32-. Usage area air temperature status signal 20 when changing 35 in steps
, the user-side air discharge temperature state signal 21, the refrigerant superheat state signal 22, and the refrigerant subcooling state signal 23. The transfer function is determined as a dead time, a time constant, and a gain, and each By setting coefficients, an attempt is made to obtain an appropriate response.

Problems to be Solved by the Invention However, in such a control device for an air conditioner using a heat pump, when the compression capacity operation signal 32 is changed, the refrigerant superheat degree state signal 22 and the user side air discharge temperature state signal 21 are also affected. There are mutual interference problems such as
For this reason, if the values of each coefficient obtained using the Ziegler-Nichols step response method are left as they are, an unstable response such as a hunting phenomenon will occur.In order to stabilize the response, the value must be made sufficiently smaller than this, resulting in an increase in the settling time. becomes long.

Further, depending on the magnitude of each operation signal 32 to 35, the user side air temperature status signal 20 and the user side air discharge temperature status signal 2
1. There is a problem with non-linear characteristics in which the magnitude of influence and response to the refrigerant superheating state signal 22 and the refrigerant subcooling state signal 23 are different, so the heat load conditions of the usage section 8, the temperature conditions of the heat source air, etc. When , the magnitude of each operation signal 32 to 35 changes, and the transfer function determined in advance by the step response changes, resulting in unstable responses such as hunting phenomenon, and even if stable, the settling time is short. It becomes unnecessarily long.

In addition, in an air conditioner using a heat pump, changes in each of the operation signals 32 to 35 may be caused by changes in each of the status signals 20 to 23 due to movement of refrigerant in piping or a heat exchanger, movement of air in the usage section 8, etc. It has a long dead time before it appears, and it tends to be unstable.

In this way, problems such as mutual interference and nonlinear characteristics, as well as a large dead time, result in unstable responses such as the hunting phenomenon, and as a result, the degree of superheating of the refrigerant drops below zero and liquid refrigerant is sucked into the compressor 1, resulting in compression failure. This will cause problems such as damage to machine 1.

In addition, when trying to obtain a stable control response, each of the first to fourth P
Each coefficient of the ID calculators 36 to 39 must be set to a sufficiently small value, which results in a long settling time, which makes it difficult for the air temperature in the usage area to reach the target, resulting in a loss of comfort.

Means for Solving the Problems The present invention has been made to solve the above-mentioned problems. In addition to the state signal vector whose elements are signals, the differential signal of the cane state signal vector is the state differential signal vector from an infinitesimal time ago, the compression capacity operation signal, the user side air blowing capacity operation signal, and the heat source side air blowing capacity also from an infinitesimal time ago. An operation signal vector whose elements are the operation signal and the decompression capacity operation signal, a response target signal vector whose elements are each response target signal that gives the target of the response of each state signal, and the difference between the response target signal vector and the state signal vector. An input allocation matrix operator whose input is an operation signal vector from an infinitesimal time ago based on the error signal vector, whose matrix operation components are each input allocation coefficient that governs the magnitude of the influence of the operation signal vector on the state signal vector. and the output signal vector of a response target response governing matrix calculator whose input is a state signal vector and whose matrix operation components are each response target response governing coefficient that governs the response of the response target signal vector, and its input. is the target signal vector, and the output signal vector of the response target input distribution matrix calculator whose matrix calculation components are each input distribution coefficient that governs the magnitude of the influence of the target signal vector on the response target signal vector, and , subtracts the infinitesimal pre-time state differential signal vector from the output signal vector of the error response governing matrix operator whose input is the error signal vector and whose matrix operation components are each error response governing coefficient that governs the response of the error signal vector. The output of the inverse input allocation matrix calculator whose input is the output signal vector of the vector adder/subtractor and whose matrix calculation component is the inverse matrix of the matrix calculation component of the input allocation matrix calculator. The signal vector is used as an operation signal vector.

Furthermore, depending on the dead time until a change in the operation signal vector appears as a change in the state signal vector, each input distribution coefficient, which is a matrix calculation component of the input distribution matrix calculator, is set to the operation signal for the actual state signal vector. This is to make the influence of the vector larger than each input distribution coefficient that controls the magnitude of the influence.

In the present invention, by using the heat bomb control device as described above, the response of the barking signal vector to the operating signal vector of a minute time ago is controlled from the barking differential signal vector and the operation signal vector of the minute time ago. The product of each coefficient and each state signal is estimated as a quantity, and the operation signal vector is determined so that the quantity is canceled out and the response of the state signal vector matches the response target signal vector. All coefficients related to the response of the state signal are estimated and canceled as products with the state signal, so there is no mutual interference, and there is no deterioration of the control response due to changes in response characteristics due to nonlinear characteristics, ensuring a stable and desirable response at all times. Obtainable.

Furthermore, by making each input distribution coefficient, which is a matrix operation component of the input distribution matrix calculator, larger than each input distribution coefficient that controls the influence of the operation signal vector on the actual state signal vector, a large amount of dead time can be achieved. Even in the case where there is a gain surplus, it is possible to stabilize the system.

EXAMPLE Hereinafter, a heat pump control device according to an example of the present invention will be explained based on FIGS. 1 and 2.

FIG. 1 is a block diagram showing a control computing unit of a heat pump control device in an embodiment in which the present invention is applied to the heat pump air conditioner shown in FIG.
is a target signal vector (r+t+
L 42 is a state signal vector (X+t+) whose elements are the usage part air temperature state signal 20, the usage side air discharge temperature state signal 21, the refrigerant superheat degree state signal 22, and the refrigerant subcooling degree state signal 23; 43 is the compression capacity operation An operation signal vector (
+. zt+), 44 is the target signal vector (r+1) 41
A response target signal vector (Xs+t+) giving the target of the response of the state signal vector (X(mouth) 42 to The vector (+3+t+L 46 is the target signal vector (r+t
+) 47 is a response target signal vector (Xs
+t+) 44 is a response target generation part response target response governing matrix calculator (A.) whose matrix calculation components are each response dominant coefficient governing the response, and 48 is a response target generation part vector whose elements are integrators of each signal. An integrator (1/s), 49 a response target generator vector addition/subtraction calculator whose elements are addition/subtraction calculators for each signal, 50 a response target generator response target input distribution matrix calculator (B.) 48, response target generator response target response governing matrix calculator (A.) 47, response target generator vector integrator (1)
/s) 48 and response target generator vector addition/subtraction calculator 49
51 is an error signal calculation unit vector addition/subtraction calculation unit having addition/subtraction calculation units for each signal as elements;
2 is an error signal calculation unit including an error signal calculation unit vector addition/subtraction calculation unit 51; 53 is a minute time pre-state differential signal calculation unit vector delay unit (e 54 is a vector differentiator (
S), 55 is a minute pre-time state differential signal comprising a minute pre-time state fi differential signal calculation section vector delayer (e-'s) 53 and a minute pre-time state differential signal calculation section vector differentiator (s) 54. The arithmetic unit 56 is a state signal vector (X+t
+) Minute time previous state differential signal calculation unit 5 which inputs 42
The minute previous state differential signal vector (
dxtt-L+/dt), 57 is a minute time pre-operation signal calculation unit vector delay device (e-Ls) whose elements are each delay device whose delay time is minute time L, and 58 is a minute time pre-operation signal calculation unit. A small time pre-operation signal calculation section including a vector delay device (e-'') 57, 59 is a control signal vector (e-'')
The minute time previous operation signal vector (u
+t-+. +), 80 is a response target input distribution matrix calculator (B.), a response target input distribution matrix calculator (B.), 61 is a response target input distribution matrix calculator (B.), an operation signal calculation unit consisting of the same matrix calculation components as those of 46; Error signal vector (e+t+)
Operation signal calculation section error response dominant matrix calculator (K) whose matrix calculation components are each error response dominant coefficient governing the response of 45.
, 63 is a response target generation unit response target response governing matrix calculator (
A. ) an operation signal calculation unit response target response governing matrix calculation unit (A.) consisting of the same matrix calculation components as the matrix calculation components of 47;
Reference numeral 63 denotes an operation signal operation unit input allocation matrix operation unit (B) whose matrix operation components are each input allocation coefficient that governs the magnitude of the influence of the operation signal vector (u+t+) 43 on the state signal vector (X+t+) 42; Operation signal calculation unit vector addition and subtraction calculation unit having addition and subtraction calculation units for each signal as elements, 65
83 is an operation signal calculation unit input distribution matrix calculation unit (B-1) whose matrix calculation component is the inverse matrix of the matrix calculation component, and 6B is the operation signal calculation unit response. Target input distribution matrix calculation unit (B.) 60, operation signal calculation section error response governing matrix calculation unit (K) 61, operation signal calculation section response target response governing matrix calculation unit (A.) 82, operation signal calculation section input distribution The operation signal operation section includes a matrix operation section (B) 83, an operation signal operation section vector addition/subtraction operation section 84, and an operation signal operation section input distribution inverse matrix operation section (B-1) 65.

Response target generation unit response target input distribution matrix calculator (B.) 46 with target signal vector (r+t+) 41 as input signal
The response target generation unit response target response governing matrix calculator (A. )47 output signal (A@”Xs
+t+) as an addition signal to each response target generation section vector addition/subtraction calculator 49, and the output signal (A.●Xsit)+B of the response target generation section vector addition/subtraction calculator 49.
The response target signal vector (Xs+t+) 44 is the output signal of the response target generator vector integrator (1/s) 48 which uses the response target signal vector (Xs+t+) as an input signal.

Response target signal vector (X.+t+) 4 4 is added as an addition signal, and state signal vector (X+t+) 42 is added as a subtraction signal, and the output signal of the error signal calculation unit vector addition/subtraction calculator 51 is the error signal vector (e+t+) 45.
It is.

A vector delay device (e-LQ
The output signal of the minute pre-time state differential signal calculation section vector differentiator (s) 54 which uses the output signal of 53 as an input signal is the minute pre-time state differential signal vector (d x + t-L
+/dt) 5B.

Minute time pre-operation signal calculation unit vector delay device (e-L”) 5 using the operation signal vector (tzt+) 43 as an input signal
The output signal of 7 is the minute time previous operation signal vector (u +
t-+. +) 5 9.

Minute time pre-operation signal vector (u +t-t+) 5
Output signal (B'utt-L+) of the operation signal calculation unit input distribution matrix calculation unit (B) 63 which takes 9 as an input signal
and an operation signal calculation unit response target response governing matrix calculation unit (A.) which receives the state signal vector (X+t+) 42 as an input signal.
82 output signal (As"Xtt+) and the output signal (As"
B. ●r(i) as the addition signal, and the micro-time previous state differential signal vector (d x +t=L+/d
t) 56 and the error signal vector (e+t+) 45 as input signals.
) 81 output signal (K●e+t+) as a subtraction signal, the output signal of the operation signal calculation unit vector addition/subtraction calculation unit 64 (dX+t-t+/d t+B''u+t-t
++As”X+t++Ba”r+t+ K@e+t+
) is further input as the output signal (B-1●(-d
X+t-t+/d t +B 11u+t-t++A
a●X +c++Ba"r+t+-K' e+t+)
) becomes the operation signal vector (u+t+) 43.

The relationship between the response of the state signal vector (X+t+) 42 to the operation signal vector (u+t+) 43 is expressed by the following equation as a well-known state equation.

dXtt+/dt=A+x. t+”X+t
++B I1u +t+- ●-(1) Here, t is time, A+x, t+ are state signal vector (X
ct+) 42 responses as components, and each response governing coefficient is a state signal vector (X+
B is an input distribution matrix whose components are each input distribution coefficient that governs the magnitude of the influence of the operation signal vector (u+t+) 43 on the state signal vector (X+t+) 42. , which is used as a matrix calculation component in the input distribution matrix calculation unit (B) 63 of the operation signal calculation section.

Similarly, the response relationship of the response target signal vector (X.+t+) 44 to the target signal vector (r+t+) 41 is also as follows.
The state equation is expressed by the following formula.

This is used as a calculation component. B, is a response target input distribution matrix whose components are each input distribution coefficient that governs the magnitude of influence of the target signal vector (r+t+) 41 on the response target signal vector (xa+t+) 44; This is used as a matrix calculation component in the distribution matrix calculation unit (B.) 48.

The error signal vector (e+t+) 45 is composed of the response target signal vector (X..mouth) 44 and the state signal vector (X+t+).
)42 is expressed by the following formula.

eftl=Xsl)-Xltl-11
"" (3) d Xm + t + / d t = As
@Xa+t+ 1Be●r +t+● ● ● (2) Also, the response of the error signal vector (e+mouth) 45 is expressed by the following differential equation.

Here A. is the response target signal vector ( x m Lt
1) A response target response governing matrix whose components are the respective response governing coefficients governing the 44 responses.
+t+/d t: (A@+K) ” e
+t+● ● - (4) Here, K is an error response governing matrix whose components are each error response governing coefficient that governs the response of the error signal vector (e+t+) 45, and the error response governing matrix operator (K )
This is used as a matrix calculation component in 81. Operation signal vector (u+t+)4 that satisfies equation (4)
3, the response of the error signal vector (e+t+) 45 is dominated by (A.+K), and by setting (A.+K) to a matrix that indicates a stable and desirable response,
The state signal vector (X+t+) 42, which is the object of control, can be matched with the target signal vector (rtt+) 41.

Differentiating both sides of equation (3), substituting equations (2), (3), and (4) into equation (6), dX+t+/d t=A, * Xs+t++Bs” r
+t+- (A.+K) ● (xs+t+-X+
t+) 1 ● ● (7) Expanding equation (7), dX+t+/d t=As” X+t+10Bs” r+
t+1K@e+t+ ● ● ● (8)
d e (t+/ d t = d Xs+t+/ d
t-dX+t+/dt @ **(5)(5)
Transforming the formula, we get: Also, by transforming equation (1), u +t+ = B-' ” (d X +t+/
d t- Atx,t+ ”X +t+) d X +t+/ d t = d Xs+t+/ d
tdeath/dt "" (8) Substituting equation (8) into equation (9), u+t+=B-"(A+x.t+"X+t+
+As”X+t++Bs”r+t+-K”e
+t+)●●−(10). That is, if the operation signal vector (LI+t+) 43 is given by equation (10), equation (4) will be satisfied, but each response dominant coefficient of the response dominant matrix A+x, t+ is given by the state signal vector (X+t+) 42 and Since it is an unknown quantity that depends on time t, it is necessary to estimate it.

Therefore, the current amount of (A+...●X《.) is approximated by the amount of (A+x.t-t+●x (t-t)) a minute time L ago.

A (x.t+ ”X +t+ = A f,t
-Ll ”X +t-L+● ● ● (1 1
) When formula (1) is transformed, A+x. t-t+ ” X +t-+.+= d X
+t-t+/ d tB 11u +t-L+ ● (12) Substituting equations (11) and (12) into equation (10), utt+=B" (d X+t-L+/ d t
+ B ″ u +t-t+ + A@ ' X
+t++Ba@r+t+-K ” e+t+)φ
● ● (13) According to this equation (13), the operation signal vector (u
If tt+)43 is given, equation (4) will be satisfied.

That is, the operation signal vector (u+t+) 43 determined in the heat pump control device of this embodiment allows the state signal vector (X+t>>) 42, which is the purpose of control, to match the target signal vector (rtt+) 41.

However, in an air conditioner using a heat pump, the operation signal vector (u+t+)
There is a dead time until a change in the state signal vector (X+t+) 43 appears as a change in the state signal vector (X+t+) 42, and if the dead time is large, the gain margin of the state signal vector (X+t+) 42 with respect to the operation signal vector (u+t+) 43 is small. Eventually, it becomes unstable.

Therefore, depending on the dead time, each input distribution coefficient, which is a matrix calculation component of the input distribution matrix calculation unit (B) 63 of the operation signal calculation section, is calculated as follows: By making the magnitude of the influence larger than each input allocation coefficient that governs it,
Even when the phase delay due to dead time is large, the gain at the phase intersection frequency of the open-loop transfer function becomes small, a gain margin is secured, and a stable response can be obtained.

Such a heat bomb control device is used not only when the heat medium is air, but also when heating/cooling water, etc., and a circulator such as a pump may be used instead of the blower in FIG. 2.

Effects of the Invention As described above, according to the heat pump control device of the present invention, all the coefficients related to the response of each status signal to each operation signal are estimated as a product with the status signal and canceled, thereby eliminating mutual interference. In addition, there is no deterioration of the control response due to changes in response characteristics due to nonlinear characteristics.Furthermore, each input distribution coefficient, which is a matrix calculation component of the input distribution matrix calculator, is calculated based on the influence of the operation signal vector on the actual state signal vector. By making the size of the input distribution coefficient larger than each controlling input distribution coefficient, it is possible to stabilize the function even when there is a large dead time.

As a result, a stable and desirable response is always obtained, which eliminates problems such as when the degree of superheat of the refrigerant drops below zero and liquid refrigerant is sucked into the compressor, causing damage to the compressor. It is possible to solve problems such as damage to the image.

[Brief explanation of drawings]

Fig. 1 is a block configuration diagram showing a control computing unit of a heat pump control device in an embodiment of the present invention, Fig. 2 is a system configuration diagram of an air conditioner using a heat pump, and Fig. 3 is a conventional air conditioner using a heat pump. FIG. 2 is a block configuration diagram of a control device of FIG. 1,. ．． Compressor, 3. ．． ．． Heat source side heat exchanger, 4. ．． ．． User side heat exchanger, 6. ．． ．． pressure reducing device, 8. ．． ．． Usage Department, 9
．． ．． ．． Heat source side blower, io. ．． ．． User-side blower, 11.
．． ．． Utilization part air temperature condition detector, 12. ．． ．． Refrigerant superheat state detector, 13. ．． ．． User-side air discharge temperature state detector, 14. ．． ．． Refrigerant subcooling degree state detector, 15. ．． ．． Compression capacity manipulator, 16. ．． ．． Decompression capacity operator, 17. ．． ．． User side air blowing capacity controller, 18. ．． ．． Heat source side ventilation capacity controller, 4 1. ．． ．． Target signal vector (r+t+), 4
2. ．． ．． State signal vector (X+t+L 4 3
．． ．． ．． Operation signal vector (.u+t+), 44. ．． ．． Response target signal vector (Xalt+), 4 5 . ．． ．． Error signal vector (e.t,), 50, . ．． Response target generation unit, 52. ．． ．． Error signal calculation unit, 5 5. ．． ．． Minute time previous state differential signal calculation section, 5E3. ．． ．． Minute time previous state differential signal vector (d X lt-L, / dt),
5 8. ．． ．． Minute time pre-operation signal calculation unit, 59. ．． ．．
Minute time previous operation signal vector (u+t-L+L 60
．． ．． , operation signal calculation unit response target input distribution matrix calculation unit (B
．． ), 81. ．． ．． Operation signal calculation unit error response governing matrix calculation unit (K), 82. ．． ．． Operation signal calculation unit response target response governing matrix calculation unit (A.), 63. ．． ．． Operation signal calculation unit input distribution matrix calculation unit (B), 64. ．． ．． Operation signal calculation unit vector addition/subtraction calculation unit, 85. ．． ．． Operation signal calculation unit input distribution inverse matrix calculation unit (B-1), 88. ．． ．． Operation signal calculation section. Name of agent: Patent attorney Shigetaka Awano and one other person. 11 Pressure 67- Accum radar 8---Nari use II] I61 Decompression tactile force 1 lower a

Claims (2)

[Claims] (1) A compressor, a heat source side heat exchanger, a usage side heat exchanger, and a pressure reducing device are sequentially connected in a ring shape to form a closed circuit, and a refrigerant is sealed inside the closed circuit to form a heat pump cycle, Detecting the temperature state of the usage medium of a heat pump device comprising a usage side circulator that circulates the usage medium to the usage side heat exchanger, and a heat source side circulator that circulates the heat source medium to the heat source side heat exchanger. a superheating state detector of the refrigerant in the compressor suction section, a temperature state detector of the discharge medium of the usage medium to the usage section of the usage side heat exchanger, and a supercooling degree state of the refrigerant at the inlet of the pressure reducing device. Any or all of the detectors, a compression capacity operating device that operates the compression capacity of the compressor, a pressure reducing capacity operating device that operates the pressure reducing capacity of the pressure reducing device, and a use that operates the circulation capacity of the user-side circulator. Any or all of a side circulation capacity manipulator and a heat source side circulation capacity manipulator that operates the circulation capacity of the heat source side circulator, a state signal vector having each state signal from each of the detectors as elements, and the above-mentioned state signal vector. For a heat pump, comprising a control calculator whose input is a target signal vector whose elements are each target signal for each state signal, and whose output is an operation signal vector whose elements are each operation signal to each of the operating devices. The control device includes: a response target generation unit in which the control calculator generates a response target signal vector that provides a target for the response of the state signal vector to the target signal vector; an error signal calculation unit that calculates an error signal vector that is a difference; an error signal calculation unit that calculates a state differential signal vector before a minute time that is a differential signal of the state signal vector before a minute time; a minute time previous operation signal calculation unit that calculates a minute time previous operation signal vector that is the operation signal vector of , the target signal vector, the state signal vector, the error signal vector, the minute time previous state differential signal vector, and the an operation signal calculation unit that calculates the operation signal vector from a minute time previous operation signal vector, and in the operation signal calculation unit, an input thereof is the minute time previous operation signal vector, and the operation signal vector for the state signal vector is provided. an output signal vector of an input distribution matrix calculator whose matrix operation components are each input distribution coefficient that governs the magnitude of the influence of , and each response whose input is the state signal vector and which governs the response of the response target signal vector. an output signal vector of a response target response dominant matrix calculator having a target response governing coefficient as a matrix calculation component, whose input is the target signal vector, and controls the magnitude of influence of the target signal vector on the response target signal vector; The output signal vector of a response target input distribution matrix calculator having each input distribution coefficient as a matrix calculation component is used as an addition signal, and the minute pre-time state differential signal vector and the error signal vector whose input is the error signal vector are used as addition signals. The output signal vector of the error response governing matrix calculator, which has each error response governing coefficient governing the response of the signal vector as a matrix calculation component, is input as a subtraction signal to each vector addition/subtraction calculator, and the input is the vector addition/subtraction calculator. The operation signal vector is an output signal vector of an input distribution inverse matrix calculation unit whose matrix calculation component is an inverse matrix of a matrix calculation component of the input distribution matrix calculation unit. Heat pump control device. (2) Each input distribution coefficient, which is a matrix calculation component of the input distribution matrix calculator, is increased in accordance with the dead time, which is the time required for a change in the operation signal vector to appear as a change in the state signal vector. The heat pump control device according to claim 1, characterized in that the heat pump control device is configured as follows.