JPH086953B2 - Heat pump controller - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a heat pump controller for controlling the temperature of a medium used in a heat pump cycle for heating and cooling a medium used.

2. Description of the Related Art FIG. 2 is a system configuration diagram of an air conditioner using a heat pump, which can be switched to a discharge part and a suction part of the compressor 1 by a compressor 1, a pressure reducing device 6, and a first four-way valve 2. Source side heat exchanger 3 and utilization side heat exchanger 4 connected to the
And the heat source side heat exchanger 3 and the use side heat exchanger 4 are switchably connected to the outlet and the inlet of the decompression device 6 and are connected to the first four-way valve 2 on the respective opposite sides. The two-four-way valve 5 forms a closed circuit, and a refrigerant is enclosed in the closed circuit to form a heat pump cycle.

7 is an accumulator, 8 is a utilization part, 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 utilization that circulates air inside the utilization part 6 to the utilization side heat exchanger 4. Side blower, 11 is a utilization part air temperature condition detector for detecting the air temperature in the utilization part 8, 12 is a refrigerant superheat condition detector consisting of a temperature detector, a pressure detector and a refrigerant superheat degree calculator, 13 is a use Use side air discharge temperature state detector for detecting the air discharge temperature to the use part 8 of the side heat exchanger 4, 14 is a refrigerant supercooling degree state detection including a temperature detector, a pressure detector and a refrigerant supercooling degree calculator A device, 15 is a compression capacity operation device that operates the compression capacity of the compressor 1, 16 is a decompression capacity operation device that operates the decompression capacity of the decompression device 6, and 17 is a usage side ventilation capacity that operates the ventilation capacity of the usage side blower 10. An operation device, 18 is a heat source side for operating the blowing ability of the heat source side blower 9. It is a wind capacity operating unit.

The mode of operation of the air conditioner using the heat pump having such a configuration will be described below. During the heating operation, as shown by the arrow (solid line) in FIG. 2, the refrigerant becomes high-temperature high-pressure vapor compressed in the compressor 1 and passes through the first four-way valve 2 to the utilization side heat exchanger 4. Reach At this time, the use-side heat exchanger 4 functions as a condenser, heats the air in the use unit 8 to heat the use unit 8, and condenses and liquefies the refrigerant. The liquefied refrigerant passes through the second four-way valve 5 and is appropriately decompressed in the decompression device 6 to a low pressure, and reaches the heat source side heat exchanger 3.
At this time, the heat source side heat exchanger 3 functions as a steamer, 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 the cooling operation, as shown by the arrow (broken line) in FIG. 2, the heat source side heat exchanger 3 is a condenser and the use side heat exchanger 4 is evaporated by switching the first four-way valve 2 and the second four-way valve 5. It acts as a container and absorbs heat from the air in the utilization part 8 to cool the utilization part 8.

Next, the mode of operation of each operating device will be described below. When the operation amount of the compression capacity operation unit 15 is increased, the compression capacity of the compressor 1 is increased. During the heating operation, the heating capacity in the use unit 8 is increased, the air temperature in the use unit 8 is increased, and the cooling operation is performed. On the contrary, the temperature change decreases, and the temperature change
Detected by.

When the operation amount of the decompression capacity operation device 16 is increased, the decompression device 6
The depressurizing capacity is increased, the refrigerant circulation amount is reduced during the heating operation, and as a result, the refrigerant supercooling degree increases, and the change in the supercooling degree is detected by the cooling supercooling degree state detector 14, and during the cooling operation. The suction pressure of the compressor 1 decreases, and as a result, the refrigerant superheat degree rises, and the change in the superheat degree indicates that the refrigerant superheat state detector 12
Detected by.

When the operation amount of the use side blower capacity operation unit 17 is increased, the blower capacity of the use side blower 10 is increased to increase the air volume, and the heating capacity is increased during the heating operation, but to the use unit 8 of the use side heat exchanger 4. The air discharge temperature of the use side heat exchanger 4 increases while the air discharge temperature of the use side heat exchanger 4 increases while the cooling capacity increases during the cooling operation. It is detected by the device 13.

When the operation amount of the heat source side blower capacity operation device 18 is increased, the blower capacity of the heat source side blower 9 is increased to increase the air volume, the evaporation capacity is increased during the heating operation, and as a result, the refrigerant superheat degree is increased and the superheat thereof is increased. Degree change is detected by the refrigerant superheat state detector 12, the condensing capacity increases during cooling operation, as a result the refrigerant supercooling degree rises, and the supercooling degree change is detected by the refrigerant supercooling degree state detector 14. To be done.

In an air conditioner using a heat pump, these compression capacity operation unit 15, decompression capacity operation unit 16, user-side blowing capacity operation unit 1
7, and a control device for optimizing each operation amount of the heat source side blowing ability operation device 18 is required, and the operation mode of the control device will be described below with reference to the drawings.

FIG. 3 is a block configuration diagram of a conventional air conditioner control device using a heat pump, 19 is a control arithmetic unit, 20 is a utilization part air temperature state signal which is an output signal of the utilization part air temperature state detector 11, and 21. Is a use side air discharge temperature state signal that is an output signal of the use side air discharge temperature state detector 13, 22 is a refrigerant superheat state signal that is an output signal of the refrigerant superheat state detector 12, and 23 is a refrigerant supercooling degree state Refrigerant supercooling degree state signal which is an output signal of the detector 14, 24 is a target portion air temperature target signal which is a target signal of the user portion air temperature state signal 20, and 25 is a target signal of the user side air discharge temperature state signal 21. A certain use-side air discharge temperature target signal, 26 is a refrigerant superheat degree target signal which is a target signal of the refrigerant superheat degree state signal 22, and 27 is a refrigerant supercooling degree state signal 23.
Refrigerant supercooling degree target signal which is a target signal of 28, 28 is a use portion air temperature deviation signal which is a difference between the use portion air temperature state signal 20 and the use portion air temperature target signal 24, and 29 is a use side air discharge temperature state signal 21 and the use side air discharge temperature deviation signal which is the difference between the use side air discharge temperature target signal 25, 30 is the refrigerant superheat degree deviation signal which is the difference between the refrigerant superheat degree state signal 22 and the refrigerant superheat degree target signal 26, 31 Is a refrigerant supercooling degree deviation signal which is the difference between the refrigerant supercooling degree state signal 23 and the refrigerant supercooling degree target signal 27, 32 is a compression capacity operation signal which gives the operation amount of the compression capacity operator 15, and 33 is a user side blower Utilization side blowing capacity operation signal for giving the operation amount of the capacity operation unit 17, 34 is a heat source side blowing capacity operation signal for giving the operation amount of the heat source side blowing capacity operation unit 18, 35 is a decompression capacity operation unit section 16
Depressurization capacity operation signal that gives the operation amount, 36 is a first PID calculator that determines the compression capacity operation signal 32 based on the use part air temperature deviation signal 28, 37 is the use side air blow based on the use side air discharge temperature deviation signal 29 A second PID calculator that determines the capacity operation signal 33, 38 determines the heat source side blowing capacity operation signal 34 based on the refrigerant supercooling degree deviation signal 31 based on the refrigerant superheat degree deviation signal 30 during heating operation A third PID calculator, 39 is a fourth PID controller that determines the pressure reduction operation signal 35 based on the refrigerant superheat degree deviation signal 30 based on the refrigerant supercooling degree deviation signal 31 during heating operation, and 40 is the refrigerant during heating operation The superheat degree deviation signal 30 is transmitted to the third PID calculator 38, the refrigerant supercooling degree deviation signal 31 is transmitted to the fourth PID calculator 39, and the refrigerant superheat degree deviation signal 30 is transmitted to the fourth PI during cooling operation.
This is a refrigerant overheat / supercooling degree deviation signal switch for transmitting the refrigerant supercooling degree deviation signal 31 to the D calculator 39 to the third PID calculator 38.

The operation mode of the control device for the air conditioner using the heat pump having such a configuration will be described below. 1st to 4th PI
In the D computing units 36 to 39, the respective amounts obtained by multiplying the respective deviation signals 28 to 31 by the respective proportional coefficients, the respective amounts obtained by multiplying the respective integral values of the respective deviation signals 28 to 31 by the respective integration coefficients, and the respective deviation signals 28 To each operation signal 32 to 31
By setting 35, each deviation signal 28 to 31 is made zero, and the utilization part air temperature state signal 20 is used as the utilization part air temperature target signal 24,
Use side air discharge temperature state signal 21 to use side air discharge temperature target signal 25, refrigerant superheat degree signal 22 to refrigerant superheat degree target signal 26, refrigerant supercooling degree state signal 23 to refrigerant supercooling degree target signal 27. Each match.

Each control response performance is determined by the value 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. Of these operation signals 32 to 35 in advance, the use portion air temperature state signal 20, the use side air discharge temperature state signal 21, the refrigerant superheat degree state signal 22, and the refrigerant supercooling degree state signal 23 when changed stepwise The transfer function is obtained from each change waveform as a dead time, a time constant, and a gain, and an appropriate response is obtained by setting each coefficient based on these values.

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention However, in a control device for an air conditioner using such a heat pump, when the compression capacity operation signal 32 is changed, the refrigerant superheat degree state signal 22 and the use side air discharge temperature state signal
There is a problem of mutual interference such as being affected up to 21.Therefore, if the value of each coefficient obtained by the step response method of Ziegler-Nichols is left as it is, an unstable response such as a hunting phenomenon occurs. It has to be set to a much smaller value, resulting in a longer settling time.

Further, depending on the magnitude of each operation signal 32 to 35, the magnitude of the influence on the use portion air temperature state signal 20, the use side air discharge temperature state signal 21, the refrigerant superheat degree state signal 22, and the refrigerant supercooling degree state signal 23. There is a problem of non-linear characteristics with different responses,
Therefore, when the heat load condition of the utilization unit 8 or the temperature condition of the heat source air changes, the size of each operation signal 32 to 35 changes,
The transfer function is different from the one obtained by the step response in advance, and the unstable response such as the hunting phenomenon,
Even if it is stable, the settling time becomes unnecessarily long.

In an air conditioner using a heat pump, changes in the operation signals 32 to 35 are caused by changes in the state signals 20 to 23 due to the movement of the refrigerant in the pipes and the heat exchanger and the movement of the air in the utilization unit 8. It has a long dead time to appear and becomes unstable.

As described above, due to the problem of mutual interference, non-linear characteristics, and large dead time, an unstable response such as a hunting phenomenon occurs, the refrigerant superheat becomes zero or less, and the liquid refrigerant is sucked into the compressor 1. Problems such as breakage of the machine 1 occur.

Also, when trying to obtain a stable control response, each of the first to fourth
Each coefficient of the PID calculators 36 to 39 must be set to a sufficiently small value, and as a result, the settling time becomes long, and the air temperature of the user part does not easily reach the target, and there is a problem that comfort is impaired.

Means for Solving the Problems The present invention has been made to solve the above-mentioned problems, and is a use portion air temperature state signal, a use side air discharge temperature state signal, a refrigerant superheat degree state signal, and a refrigerant supercooling degree state. In addition to the status signal vector that has the signal as an element, the differential signal of the status signal vector is the state differential signal vector of the minute time before, and the compression capacity operation signal, the usage side ventilation capacity operation signal, and the heat source side ventilation capacity operation of the minute time ago. Signal and decompression capability An operation signal vector that has an operation signal as an element, a response target signal vector that has each response target signal as an element that gives a response target of each state signal, and a difference between the response target signal vector and the state signal vector Based on a certain error signal vector, its input is the operation signal vector before a minute time, and Input distribution coefficient whose input matrix coefficient is the matrix operation component Output signal vector of the matrix operator and each response whose input is the state signal vector and which controls the response of the response target signal vector Response whose target response control coefficient is the matrix operation component Target response control matrix Output signal vector of the calculator and the response target input distribution whose input is the target signal vector and whose input distribution coefficient whose magnitude controls the influence of the target signal vector on the response target signal vector is the matrix calculation component The output signal vector of the matrix calculator is used as an addition signal, and the minute time previous state differential signal vector and each error response governing coefficient whose input is an error signal vector and governs the response of the error signal vector as a matrix calculation component. Input the output signal vector of the error response governing matrix calculator to the vector addition and subtraction calculator as subtraction signals There it is an output signal vector a and input distribution matrix calculator matrix output signal vector operation signal vector of the inverse input distribution matrix calculator that the inverse matrix calculation component and matrix operations component of the vector acceleration calculator.

Further, according to the dead time until the change of the operation signal vector appears as the change of the state signal vector, each input distribution coefficient, which is the matrix calculation component of the input distribution matrix calculator,
This is set to be larger than each input distribution coefficient that controls the magnitude of the influence of the operation signal vector on the actual state signal vector.

Action In the present invention, by using the heat pump control device as described above, from the state differential signal vector and the operation signal vector before the minute time, each coefficient that governs the response of the state signal vector to the operation signal vector before the minute time. The product of each state signal is estimated as a quantity, the amount is canceled, and the operation signal vector is determined so that the response of the state signal vector matches the response target signal vector. Since all coefficients related to the response are estimated and canceled as the product with the state signal, mutual interference does not occur, and the control response does not deteriorate due to the characteristic change of the response due to the nonlinear characteristic, and a stable and desirable response can always be obtained. it can.

Further, 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 magnitude of the influence of the operation signal vector on the actual state signal vector, a large dead time is obtained. Even if there is, the gain surplus can be removed and the gain can be stabilized.

Embodiment A heat pump control device in an embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

FIG. 1 is a block diagram showing a control calculator of a heat pump controller in one embodiment in which the present invention is applied to the air conditioner using the heat pump shown in FIG.
Is a target signal vector (r _(t) ) that has a user part air temperature target signal 24, a user side air discharge temperature target signal 25, a refrigerant superheat degree target signal 26, and a refrigerant supercooling degree target signal 27, and 42 is a user part Air temperature status signal 20, user-side air discharge temperature status signal 2
1, refrigerant superheat degree state signal 22 and refrigerant supercooling degree state signal 23
Is a state signal vector (x _(t) ), 43 is a compression capacity operation signal 32, a use side air supply capacity operation signal 33, a heat source side air supply capacity operation signal 34, and a pressure reduction capacity operation signal 35. (U _(t) ), 44 is the target signal vector (r _(t) )
The response target signal vector (x _{m (t)} ) that gives the target of the response of the state signal vector (x _(t) ) 42 to 41, 45 is the response target signal vector (x _{m (t)} ) 44 and the state signal vector (x _(t) ) 4
Error signal vector (e _(t) ), which is the difference from 2, and 46 controls the magnitude of the influence of the target signal vector (r _(t) ) 41 on the response target signal vector (x _{m (t)} ) 44. Response target generation unit using input distribution coefficient as matrix operation component Response target input distribution matrix calculator (B _m ), 47 is each response control coefficient that controls the response of the response target signal vector (x _{m (t)} ) 44 Response target generator which is a matrix operation component Response target response control matrix operator (A _m ), 48 is a response target generator vector integrator (1 / s) which has an integrator of each signal as an element, and 49 is each signal Response target generator vector adder / subtractor with adder / subtractor as an element, 50 is a response target generator, response target input distribution matrix calculator (B _m ) 46,
Response target generator Response target Response governing matrix calculator (A _m ) 47,
Response target generator vector integrator (1 / s) 48 and response target generator vector adder / subtractor 49 including a response adder / subtractor 49, error signal calculator vector adder / subtractor 51 having each signal adder / subtractor An arithmetic unit, 52 is an error signal arithmetic unit including an error signal arithmetic unit vector addition / subtraction arithmetic unit 51, and 53 is a minute time previous state differential signal arithmetic unit vector delay having each delay device having a minute time L as a delay element. (E ^-Ls ), 54 is a minute time pre-state differential signal operation part vector differentiator (s) which has a differentiator of each signal as an element, and 55 is a minute time previous state differential signal operation part vector delay device (e ^-Ls). ) 53 and minute time previous state differential signal operation unit vector differentiator (s) 54, minute time previous state differential signal operation unit, 56 indicates state signal vector (x _(t) )
The minute time previous state differential signal vector (dx _(tL) /
dt), 57 is a micro time pre-operation signal calculation unit vector delay unit (e- ^Ls ) which has each delay device whose delay time is the differential time L as an element, and 58 is a micro time pre operation signal calculation unit vector delay unit (e ^-Ls ) 57, a minute time pre-operation signal calculator,
59 is the operation signal vector (u _(tL) ) which is the output signal of the operation signal operation unit 58 before the minute time inputting the operation signal vector (u _(t) ) 43, and 60 is the response target generation unit response target Input distribution matrix calculator (B _m ) 46 Operation signal calculator consisting of the same matrix calculation components as the matrix calculation components Response target input distribution matrix calculator (B _m ), 61 is the error signal vector (e _(t) ) 45 Operation signal operation part error response governing matrix calculator (K), in which each error response governing coefficient governing the response is a matrix calculation component, 63 is a matrix calculation of the response target generating part, response target response governing matrix calculator (A _m ) 47 Operation signal operation part composed of the same matrix operation element as the response Response target response governing matrix operator (A _m ), 63 is the influence of operation signal vector (u _(t) ) 43 on state signal vector (x _(t) ) 42 Input signal distribution of operation signal calculation unit with matrix distribution of each input distribution coefficient that controls size Matrix operation unit (B), 64 is an operation signal operation unit vector addition and subtraction operation unit having an addition and subtraction operation unit of each signal as an element, 65 is an operation signal operation unit input distribution matrix operation unit (B) 63 is an inverse matrix of matrix operation components Input signal inversion matrix operator (B ^-1 ), which is a matrix operation component, 66 is an operation signal operation unit response target input distribution matrix operator (B _m ) 60, operation signal operation unit error response governing matrix operation Unit (K) 61, operation signal operation unit response target response governing matrix operation unit (A _m ) 62, operation signal operation unit input distribution matrix operation unit (B) 63, operation signal operation unit vector addition / subtraction operation unit 64 and operation signal operation This is an operation signal calculation unit including a partial input distribution inverse matrix calculation unit (B ⁻¹ ) 65.

A target signal vector _{(r (t))} 41 to the input signal and the target response generator responsive target input distribution matrix calculator output signal _{(B m) 46 (B m} · r (t)) as a sum signal, and in response Response with the output signal of the target generator vector integrator (1 / s) 48 as the input signal Response of the target generator response target response governing matrix calculator (A _m ) 47 Output signal (A _m · x _{m (t)} ) Similarly, as addition signals, in addition to the response target generator vector adder / subtractor 49, the output signal of the response target generator vector adder / subtractor 49 (A _m x _{m (t)} + B
_The output signal of the response target generator vector integrator (1 / s) 48 whose input signal is _m・ r _(t) is the response target signal vector (x
_{m (t)} ) 44.

Response target signal vector (x _{m (t)} ) 44 is added signal and state signal vector (x _(t) ) 42 is added as subtraction signal. (E _(t) ) 45.

Minute time pre-state differential signal calculation section using state signal vector (x _(t) ) 42 as input signal Minute time previous state differential signal calculation section using output signal of vector delay device (e ^-Ls ) 53 as input signal The output signal of the vector differentiator (s) 54 is the minute time previous state differential signal vector (dx _(tL) / dt) 56, which may be obtained by difference in practical use.

The operation signal vector (u _(t) ) 43 is used as the input signal, and the output signal of the operation signal vector delay unit (e ^-Ls ) 57 for the minute time advance operation signal is the minute time operation signal vector (u _(tL) ) 59. .

The operation signal computing unit (B) 63 output signal (B · u _(tL) ) from the operation signal computing unit (B) 63, which receives the operation signal vector (u _(tL) ) 59 before the minute time, and the state signal vector (x _{( t)} ) 42
Input signal is the operation signal operation unit Response Target response governing matrix Calculator (A _m ) 62 output signal (A _m · x _(t) ) and target signal vector (r _(t) ) 41 are input signals Operation signal calculator Response target input distribution matrix calculator (B _m ) 60 output signal (B _m ·
r _(t) ) as an addition signal, and an operation signal calculation unit that uses the minute time previous state differential signal vector (dx _(tL) / dt) 56 and the error signal vector (e _(t) ) 45 as input signals. The output signal (-dx _(tL) / dt + B- of the operation signal calculation unit vector addition and subtraction calculator 64 to which the output signal (Ke _{( t)} ) of the error response governing matrix calculator (K) 61 is added as a subtraction signal, respectively. u _(tL) ＋ A _m・ x <sub>(t)
+ B m · r (t)</sub> -K · e (t)) , and further input signal and operation signal calculation unit input allocation inverse matrix calculator (B ^-1) 65 output signal _(B ^-1 · (-dx ( _tL) / dt + B ・ u _(tL) ＋ A _m・ x _(t) ＋ B _m ＋ r
_(t) -K · e _(t) )) becomes the operation signal vector (u _(t) ) 43.

The relation of the response of the state signal vector (x _(t) ) 42 to the operation signal vector (u _(t) ) 43 is represented by the following equation as a well-known state equation.

dx _(t) / dt = A _{(x, t)} x _(t) + B u _(t) (1) where t is time and A _{(x, t)} is the state signal vector (x _{(t )} )
42 is a response governing matrix having each response governing coefficient as a component, and each response governing coefficient depends on the state signal vector (x _(t) ) 42 and time t, and B is the state signal vector (x _(t) ) 42 is an input distribution matrix whose components are the respective input distribution coefficients that control the magnitude of the influence of the operation signal vector (u _(t) ) 42, and the operation signal calculation unit input distribution matrix calculator (B) 63
Is used as a matrix calculation component in.

Similarly, the relationship of the response of the response target signal vector (x _{m (t)} ) 44 to the target signal vector (r _(t) ) 41 is also represented by the following equation as a state equation.

dx _{m (t)} / dt ＝ A _m・ x _{m (t)} ＋ B _m・ r _(t) (2) where A _m controls the response of the response target signal vector (x _{m (t)} ) 44. A response target response governing matrix having each response governing coefficient as a component, which is used as a matrix computing component in the response target generating unit response target response governing matrix calculator (A _m ) 47. In addition, B _m is a response target input distribution matrix whose components are the respective input distribution coefficients that control the magnitude of the influence of the target signal vector (r _(t) ) 41 on the response target signal vector (x _{m (t)} ) 44. Response target generator Response target input distribution matrix calculator (B _m )
It is used as a matrix calculation component in 46.

The error signal vector (e _(t) ) 45 is represented by the following equation by the response target signal vector (x _{m (t)} ) 44 and the state signal vector (x _(t) ) 42.

e _(t) = x _{m (t)} −x _(t) (3) The response of the error signal vector (e _(t) ) 45 is represented by the following differential equation.

_{de (t) / dt = (} A m + K) · e (t) ··· (4) This in K component each error response dominated factor governing the response of the error signal vector _{(e (t))} 45 and The error response governing matrix is used as a matrix computing component in the operation signal computing section error response governing matrix calculator (K) 61.
(4) be given an operation signal vector (u _(t)) 43 that satisfies the equation, response of the error signal vector (e _(t)) 45 is dominated by (A _m + K), a stable (A _m + K) The state signal vector (x _(t) ) 42, which is the purpose of control, can be matched with the target signal vector (r _(t) ) 41 by setting the matrix showing the desired response.

Differentiating both sides of the equation (3), de _(t) / dt = dx _{m (t)} / dt −dx _(t) / dt (5) By transforming the equation (5), dx _(t) / dt = dx _{m (t)} / dt −de _(t) / dt (6) Substituting equations (2), (3) and (4) into equation (6), dx _(t) / dt = A _m · x _{m (t)} + B _m · r _(t) − (A _m + K) · (x _{m (t)} − x _(t) ) (7) By expanding the equation (7), become _{dx (t) / dt = a} m · x (t) + B m · r (t) -K · e (t) ··· (8). In addition, if the equation (1) is modified, u _(t) = B ^-1 · (dx _(t) / dt −A _{(x, t)} · x _(t) ) (9) Equation (9) Substituting the equation in 8), u _(t) = B ^-1 · (-A _{(x, t)} · x _(t) + A _m · x _(t) + B _m · r _{(t) −} K · e _{(t )} ) It becomes (10). That is, if the operation signal vector (u _(t) ) 43 is given by equation (10), equation (4) will be satisfied,
Since each response governing coefficient of the response governing matrix A _{(x, t)} is an unknown quantity that depends on the state signal vector (x _(t) ) 42 and the time t, it is necessary to estimate it.

Therefore, the current amount of (A _{(x, t)} · x _(t) ) is approximated by the amount of (A _{(x, tL)} · x _(tL) ) before the minute time L.

A _{(x, t)}・ x _(t) ＝ A _{(x, tL)}・ x _(tL)・ ・ ・ (11) When the formula (1) is transformed, A _{(x, tL)}・ x _(tL) ＝ dx _(tL) / dt −
B ・ u _(tL)・ ・ ・ (12) Substituting Eqs. ₍ 11) and (12) into Eq. (10), u _(t) = B ^-1・ (-dx _(tL)・ dt + B ・ u _(tL) + A _m x _(t) + B _m r _(t) -K e _(t) ) (13), and the operation signal vector (u
_{If (t)} ) 43 is given, equation (4) will be satisfied.

That is, the state signal vector (x _(t) ) 42, which is the object of control, is converted into the target signal vector (r _(t) ) by the operation signal vector (u _(t) ) 43 determined in the heat pump controller of this embodiment. Can match 41.

However, in the air conditioner using the heat pump, the operation signal vector (u _(t) ) 43 is caused by the movement of the refrigerant in the pipes and the heat exchanger and the movement of the air in the utilization section 8.
There is a dead time until a change in the state signal appears as a change in the state signal vector (x _(t) ) 42. Generally, when the dead time is large, the gain margin becomes large when a large value of the control gain B ^-1 that gives an influence to the operation signal vector (u _(t) ) 43 on the state signal vector (x _(t) ) 42 is used. It is known to become smaller and eventually become unstable.

Therefore, according to the dead time, each input distribution coefficient, which is a matrix calculation component of the operation signal calculation unit input distribution matrix calculator (B) 63, is converted into the operation signal vector (u) with respect to the actual state signal vector (x _(t) ) 42. _(t) ) 43 is set to be larger than each input distribution coefficient that governs the magnitude of the effect, the equation (13) cancels mutual interference components, etc.
It is possible to reduce each input distribution coefficient, which is a matrix operation component of ^-1 , and the gain at the phase crossover frequency of the open loop transfer function becomes small even if the phase delay due to the dead time is large, and there is gain surplus, which is stable. You can get a response.

Such a heat pump control device is used not only when the heat medium is air but also when heating and cooling water and the like, and a circulation machine such as a pump may be used instead of the blower in FIG.

EFFECTS OF THE INVENTION As described above, according to the heat pump controller of the present invention, all the coefficients relating to the response of each state signal to each operation signal are estimated and canceled as the product amount with the state signal, so that mutual interference occurs. Does not occur and the control response is not deteriorated due to the characteristic change of the response due to the non-linear characteristic, and each input distribution coefficient, which is the matrix operation component of the input distribution matrix calculator, is By making it larger than each input distribution coefficient that controls the size, it is possible to stabilize even when there is a large dead time.

As a result, a stable and desirable response is always obtained, the refrigerant superheat becomes zero or less, liquid refrigerant is sucked into the compressor and the compressor is damaged, and the air temperature in the use part does not reach the target easily It is possible to solve the problems such as damage to.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a control arithmetic unit of a heat pump control device according to 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 an air conditioner using a conventional heat pump. FIG. 3 is a block configuration diagram of the control device of FIG. DESCRIPTION OF SYMBOLS 1 ... Compressor, 3 ... Heat source side heat exchanger, 4 ... Utilization side heat exchanger, 6 ... Decompression device, 8 ... Utilization part, 9 ... Heat source side blower, 10
… Blower on the user side, 11… Air temperature condition detector for the user part, 12…
Refrigerant superheat state detector, 13 ... Use side air discharge temperature state detector, 14 ... Refrigerant supercool degree state detector, 15 ... Compression capacity operator, 16 ... Decompression capacity operator, 17 ... Utilization side air capacity operator ,
18… Heat source side air blowing capacity controller, 41… Target signal vector (r
_(t) ), 42 ... State signal vector (x _(t) ), 43 ... Manipulation signal vector (u _(t) ), 44 ... Response target signal vector (x _{m (t)} ), 45 ... Error signal vector (e _(t) ), 50 ... Response target generation section, 52 ... Error signal calculation section, 55 ... Minute time pre-state differential signal calculation section, 56 ... Minute time pre-state differential signal vector (dx _(tL) / dt), 58 ... Minute time pre-operation signal calculator, 59 ...
Minute time before operation signal vector (u _(tL) , 60 ... Operation signal operation unit response target input distribution matrix operation unit ( _Bm ), 61 ... Operation signal operation unit error response governing matrix operation unit (K), 62 ... Operation signal Operation unit response Target response governing matrix operation unit (A _m ), 63 ... Operation signal operation unit input distribution matrix operation unit (B), 64 ... Operation signal operation unit vector addition / reduction operation unit, 65 ... Operation signal operation unit input distribution inverse matrix Calculator (B ^-1 ), 66 ... Operation signal calculator.

Claims (2)

[Claims] 1. A closed circuit in which a compressor, a heat source side heat exchanger, a use side heat exchanger, and a decompression device are sequentially connected in an annular shape, and a use side circulator for circulating a use medium to the use side heat exchanger. And a heat source side circulator that circulates a heat source medium to the heat source side heat exchanger, in which a refrigerant is enclosed, wherein a temperature state detector for the medium to be used, the refrigerant overheat in the suction part of the compressor, Degree condition detector, any one or all of a temperature condition detector for discharging a medium to be used to the utilization part of the utilization side heat exchanger, and a condition detector for supercooling degree of the refrigerant at the inlet of the pressure reducing device, and the compression Capacity operating device for operating the compression capacity of the machine, depressurizing capacity operating device for operating the depressurizing capacity of the decompressor, utilization side circulating capacity operating device for operating the circulation capacity of the utilization side circulating machine, and the heat source side circulating machine Cycle of And any or all of the heat-source-side circulation capability operating device for operating the capacity, at least the respective detector status signals to a respective state signal component detected from the vector X _(t) and the short time before the state signal vector X _(tL) differential value, and the target signal vector r _(t) that produces each target signal for each state signal is input, each of which dynamically compensates the mutual interference that each operating unit gives to each state. Operation signal vector u whose elements are the operation signals of
_(t) is output, and the control operation unit outputs the state signal vector X for the target signal vector r _(t) .
Response target signal vector X that gives the target for each time of _{(t)
m (t)} , an error signal vector e _(t) which is a difference between the response target signal vector _{Xm (t)} and the state signal vector X _(t), and the state signal vector X _{( tL)} minute time before state differential signal vector dx _(tL) / dt, which is the differential signal, minute time before operation signal vector u _{(tL) which} is the operation signal vector before the minute time, and the state signal vector X an input distribution matrix B governing the magnitude of the influence of the operation signal vector for _(t), the response target signal vector X _m each response target matrix a _m that govern the response of the _(t), and B _m, the error As each error response matrix k that governs the response of the signal vector, the operation signal vector u _(t) = B ^-1 · {-dX _(tL) / dt + B · u _(tL)
Control device for heat pump, which outputs + Am · x _(t) + Bm · r _(t) −k · e _(t) }. 2. An input distribution coefficient, which is a matrix operation component of the input distribution matrix B, is increased according to a dead time which is a 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, wherein the heat pump control device is configured as described above.