WO2016121107A1 - 空調管理システム - Google Patents
空調管理システム Download PDFInfo
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- WO2016121107A1 WO2016121107A1 PCT/JP2015/052698 JP2015052698W WO2016121107A1 WO 2016121107 A1 WO2016121107 A1 WO 2016121107A1 JP 2015052698 W JP2015052698 W JP 2015052698W WO 2016121107 A1 WO2016121107 A1 WO 2016121107A1
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- air conditioning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/89—Arrangement or mounting of control or safety devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
Definitions
- This invention relates to an air conditioning management system for performing air conditioning management in a factory.
- Patent Document 1 an energy demand optimization system that optimizes the amount of energy demand in a factory where products are produced has been proposed (see, for example, Patent Document 1).
- the correlation between past outside air information and production volume and energy consumption is obtained, and the energy consumption corresponding to the outside air information and production volume on the day is obtained from the correlation, and the production plan of the product is determined based on this energy consumption. Correct it.
- Patent Document 1 is for correcting a production plan, and is not for controlling the operation of an air conditioning facility provided in a factory. That is, Patent Document 1 does not disclose that the amount of heat generated in a factory is predicted and an operation plan for each air conditioning facility is created in consideration of energy efficiency.
- the present invention has been made in view of the above, and predicts the amount of heat generated in a factory where air conditioning equipment is installed according to the production plan, creates an operation plan for each air conditioning equipment in consideration of energy efficiency, and based on this The purpose is to obtain an air conditioning management system for air conditioning management in factories.
- an air conditioning management system has equipment including operating mechanical equipment, lighting equipment, and air conditioning equipment, and a factory in which an operator enters and leaves, and the inside of the factory is a target temperature.
- the air conditioning management device uses the amount of heat generated in the factory calculated using production plan information, and weather data
- a heat load predicting unit that predicts a heat load including the calculated amount of intrusion heat entering the factory every unit time, and an operation that creates an operation plan of the air conditioning equipment based on the heat load per unit time
- a control command unit that controls the operation of the air conditioning equipment according to the operation plan.
- the operation plan unit is configured to control a temperature and a temperature set in the factory with respect to the thermal load.
- the energy consumption of the entire air conditioning management system is minimized with respect to the sum of the energy consumption when each of the air conditioning equipment is rated-operated using the quadratic programming method.
- the operation plan is made so that
- the amount of heat generated in the factory where the air conditioning equipment is installed is predicted according to the production plan, the operation plan of each air conditioning equipment is created in consideration of energy efficiency, and the air conditioning management in the factory is performed based on this. It has the effect of being able to.
- Block diagram schematically showing the configuration of related technology The block diagram which shows an example of the typical structure of the air-conditioning management system by Embodiment 1
- the figure which shows an example of the output characteristic curve of the medium of the heat-source apparatus by Embodiment 1 The flowchart which shows an example of the procedure of the air-conditioning management process by Embodiment 1.
- the figure which shows an example of the operating condition in case the machine by Embodiment 1 is a reflow furnace.
- a figure showing an example of production quantity-heat generation correspondence information The figure which shows typically an example of a structure of the air-conditioning management system by Embodiment 5.
- FIG. 1 is a block diagram schematically showing the configuration of the related technology
- (a) is a block diagram schematically showing an example of the configuration of the air conditioning system control device according to the first related technology
- the air conditioning system control apparatus 700 includes an air conditioner operation data acquisition unit 701 that acquires air conditioner operation data from the outside, a weather data acquisition unit 702 that acquires weather data, and a heat A parameter learning unit 703 that has a general-purpose building model 703a based on the conduction equation and obtains physical parameters of the building model 703a by learning; a thermal load prediction unit 704 that predicts a thermal load based on the physical parameters and the building model 703a; And a schedule creation unit 705 that determines an operation schedule of each air conditioner based on the predicted heat load, and an operation schedule output unit 706 that transmits the operation schedule to each air conditioner.
- an air conditioner operation data acquisition unit 701 that acquires air conditioner operation data from the outside
- a weather data acquisition unit 702 that acquires weather data
- a heat A parameter learning unit 703 that has a general-purpose building model 703a based on the conduction equation and obtains physical parameters of the building model 703a by learning
- a thermal load prediction unit 704 that predicts
- the air conditioner may be a large heat source machine such as a building multi-air conditioner, a packaged air conditioner, a room air conditioner, or an absorption chiller composed of an outdoor unit and an indoor unit.
- This air conditioning system controller realizes a building model that predicts the air conditioning load according to the physical equation. Further, the air conditioning load predicted by the building model is used as an input variable to determine the operating state of the air conditioning system that minimizes the total required power of the air conditioners constituting the air conditioning system. And each air conditioner is controlled according to the determined target value, air-conditioning of several air-conditioning object space is performed efficiently, and energy saving is implement
- the secondary programming problem calculation apparatus 800 obtains initial values of variables that are Lagrange multiplier groups of control variables and constraint equation groups, and stores them in the variable storage means 801.
- a mismatch amount calculation unit 803 that calculates a mismatch amount that is an optimality condition divergence amount of the quadratic programming problem
- a correction amount calculation unit 804 that calculates a variable correction direction and a correction amount so that the mismatch amount decreases
- the correction amount storage means 805 for storing the correction direction and the correction amount of the variable calculated by the correction amount calculation means 804, and the variable storage means 801 corresponding to the control variable or the slack variable of the control variable whose correction amount is the first threshold value or less are fixed.
- Fixed variable setting means 806 for setting the flag, and updating the numerical value of the variable storage means 801 with the correction direction and the correction amount for the variable having no fixed flag That the variable correcting means 807, the repeating unit 810 to output the value of the stored control variables in the variable storage unit 801 and convergence determination, and a.
- the air conditioning system is configured by combining air conditioning equipment with various efficiency characteristics.
- the heat exchange capacity of each air conditioning facility is a multivariable system that changes under the influence of use conditions such as the outside air temperature and humidity, or the temperature and flow rate of the heat medium circulating in the heat exchanger.
- the secondary planning problem calculation apparatus of the second related technology is effective as a means for obtaining an optimal solution that minimizes the energy consumption of the entire air conditioning system in consideration of the use conditions of these air conditioning facilities.
- the first related technology does not support control of an air conditioning system in a factory. Therefore, an embodiment in which the first related technology can be applied to control of an air conditioning system in a factory using the second related technology will be described below.
- FIG. FIG. 2 is a block diagram illustrating an example of a schematic configuration of the air conditioning management system according to the first embodiment.
- the air conditioning management system includes a factory 10 that manufactures products and has air conditioning equipment, and an air conditioning management apparatus 20 that manages the air conditioning equipment in the factory 10.
- the factory 10 is a facility that manufactures products while operating mechanical equipment 11 that performs processing or assembly according to a production plan.
- the factory 10 is a clean room equipped with a device for manufacturing a semiconductor device, a machine tool such as a lathe or machining center, a factory that processes materials using a device such as a laser machining device or an electric discharge machining device, or a mechanical controller using a programmable controller. Examples include factories that assemble products while controlling.
- a clean room 10 ⁇ / b> A and an assembly room 10 ⁇ / b> B having an exhibition room and an office are shown as the factory 10.
- the factory 10 includes mechanical equipment 11 that performs processing or assembly, lighting equipment 12 in the factory 10, and air conditioning equipment that controls the indoor environment such as temperature and humidity in the factory 10 to be within a predetermined range.
- the air conditioner includes an air conditioner 13 that removes the amount of heat generated in the factory 10 in which the mechanical equipment 11 is arranged and adjusts the factory 10 so as to have a set temperature and a set humidity, and a set temperature and a set value in the factory 10.
- an external air conditioner 14 for introducing outside air into the factory 10 so as to be in humidity.
- the external air conditioner 14 includes heat source devices 141a and 141b, a pump 142, and a heat exchanger 143.
- FIG. 3 is a diagram illustrating an example of the configuration of the air-conditioning management apparatus according to Embodiment 1 together with the flow of processing.
- the air conditioning management device 20 includes a weather data acquisition unit 21, an air conditioner characteristic data acquisition unit 22, a production plan information acquisition unit 23, a data storage unit 24, a thermal load prediction unit 25, an operation planning unit 26, and a control. And a command unit 27.
- the meteorological data acquisition unit 21 acquires meteorological data for each unit time of the day when air conditioning management is performed in the area where the factory is installed, via the network.
- weather data the amount of solar radiation every 30 minutes, outside temperature humidity, etc. can be mentioned.
- the weather data is obtained from a weather data distribution company.
- the air conditioner characteristic data acquisition unit 22 is characteristic information of the air conditioner used in the factory 10 to be controlled.
- the air conditioner characteristic data is information including the relationship between the power consumption of each air conditioner and the amount of heat supplied.
- the air conditioner characteristic data includes the operating frequency, evaporation temperature, condensation temperature, supply heat amount and power consumption of each outdoor unit. Including the relationship.
- the production plan information acquisition unit 23 acquires production plan information in the factory 10.
- the production plan information includes the number of machine facilities 11 to be operated in the factory 10, the time and conditions for operation, the number of lighting facilities 12 to be lit in the factory 10, the lighting time, and the number of workers 15 entering the factory 10. , Including entry time.
- the air conditioning zone is a range in which the temperature and humidity can be adjusted by the air conditioning equipment.
- the data storage unit 24 stores data acquired via the weather data acquisition unit 21 and the air conditioner characteristic data acquisition unit 22.
- the thermal load predicting unit 25 uses air conditioner characteristic data, meteorological data, and production plan information as input data and an operation model for a heating element in the factory 10 and a building heat model.
- the amount of heat generated in each air conditioning zone and the amount of heat flowing into each air conditioning zone are calculated.
- the type or number of the machine equipment 11 to be moved varies depending on the time, so that the amount of heat generated by the machine also changes.
- the amount of solar radiation, the outside air temperature, and the outside air humidity differ depending on the time, the amount of heat flowing into the factory 10 also varies depending on this. Therefore, it is desirable to perform the calculation every unit time.
- the unit time is 30 minutes, 1 hour, or the like.
- the heat load predicting unit 25 obtains the air conditioning removal heat amount of each air conditioning zone obtained by summing the calculated heat amount flowing into each air conditioning zone and the heat amount generated in each air conditioning zone per unit time.
- the heat load prediction unit 25 includes a heat generation amount prediction unit 251, an intrusion heat prediction unit 252, and a removal heat amount prediction unit 253.
- the heat generation amount prediction unit 251 predicts the heat generation amount in each air conditioning zone per unit time based on the production plan information.
- the intrusion heat prediction unit 252 predicts the intrusion heat that enters the air conditioning zones per unit time.
- the removal heat quantity prediction unit 253 predicts the removal heat quantity in each air conditioning zone per unit time based on the set temperature and humidity of the air conditioner.
- the heat generation amount prediction unit 251, the intrusion heat prediction unit 252 and the removal heat amount prediction unit 253 divide the entire factory 10 into one air conditioning zone. As a prediction, heat generation amount per unit time, intrusion heat and removal heat amount are predicted.
- the heat generation amount prediction unit 251 calculates a heat generation amount using an operation model for a device that exists in the factory 10 and generates heat.
- Illuminating equipment 12, mechanical equipment 11, worker 15 and the like can be exemplified as those that generate heat in factory 10.
- the lighting equipment 12 is referred to as the lighting 12
- the mechanical equipment 11 is referred to as the machine 11.
- the operating state of the machine 11, the lighting state of the lighting 12, or the arrangement state of the worker 15 is defined in time series for each unit time. Therefore, the calorific value per unit time can be predicted in cooperation with the production plan information.
- FIG. 4 is a diagram illustrating an outline of a heat generation model of illumination according to the first embodiment.
- the heat generation model of the illumination 12 is a function having the production plan information about the illumination 12 as input, the rated power of the illumination as a predetermined constant, and the illumination heat generation amount as output.
- the production plan information for the illumination 12 is an instruction to turn on or off the illumination 12 for each unit time defined in the production plan information.
- This illumination heat generation model can be expressed by a function of the following equation (1). However, the production plan information when the illumination 12 is ON is “1”, and the production plan information when the illumination 12 is OFF is “0”.
- Lighting calorific value production plan information (time, ON or OFF) x number of lights x lighting rated power (1)
- a lathe a laser processing machine
- a film forming apparatus a film forming apparatus
- an etching apparatus a reflow furnace
- a belt conveyor a machine 11 used in the factory 10.
- the reflow furnace is composed of an electric motor part for conveyance, an electric heater part, and a furnace blower part, considering the components that generate heat. Therefore, each of these component parts is modeled, and a combination of these models is the amount of heat generated in the reflow furnace.
- FIG. 5 is a diagram illustrating an outline of a heat generation model of the electric motor unit for conveyance according to the first embodiment.
- the heat generation model of the transfer motor unit is input with the production plan information for the transfer motor unit, and the rated power, load factor, and motor efficiency of the transfer motor unit are set as predetermined constants. It is a function which makes the calorific value of the part an output.
- the production plan information for the transfer motor unit is the transfer speed of the transfer motor unit of the reflow furnace per unit time defined in the production plan information.
- the heat generation model of the conveying motor unit can be expressed by a function of the following equation (2).
- Conveyor motor heating value production plan information (time, speed) x motor rated power x load factor x (1-motor efficiency) (2)
- FIG. 6 is a diagram showing an outline of a heat generation model of the electric heater unit according to the first embodiment.
- the heat generation model of the electric heater unit receives the production plan information for the electric heater unit, sets the rated power, load factor, and heater efficiency of the electric heater unit to predetermined constants, and the amount of heat generated by the electric heater unit. Is a function that outputs.
- the production plan information for the electric heater unit is the temperature of the electric heater unit of the reflow furnace per unit time defined in the production plan information.
- This heat generation model of the electric heater part can be expressed by a function of the following equation (3).
- Electric heater calorific value production plan information (time, temperature) x electric heater rated power x load factor x (1-electric heater efficiency) (3)
- FIG. 7 is a diagram showing an outline of a heat generation model of the furnace blower unit according to the first embodiment.
- the heat generation model of the furnace blower section takes the production plan information about the furnace blower section as input, the air volume, total pressure, coefficient, and fan efficiency as predetermined constants, and the heat generation amount of the furnace blower section This is the output function.
- the production plan information for the furnace blower section is the air volume of the furnace blower section of the reflow furnace for each unit time defined in the production plan information.
- the heat generation model of the furnace blower unit can be expressed by a function of the following equation (4).
- Furnace blower heat generation production plan information (time, air volume) ⁇ (air air volume ⁇ total pressure) / (9.8 ⁇ 6120 ⁇ fan efficiency) (4)
- FIG. 8 is a diagram showing an outline of the heat generation model of the reflow furnace according to the first embodiment.
- the heat generation model of the reflow furnace has a structure in which the heat generation model of the transfer motor section shown in FIGS. 5 to 7, the heat generation model of the electric heater section, and the heat generation model of the furnace blower section are added together.
- the production plan information is used as a common input for the heat generation model of the transfer motor section, the heat generation model of the electric heater section, and the heat generation model of the furnace blower section.
- the outputs of the heat generation model of the transfer motor section, the heat generation model of the electric heater section, and the heat generation model of the furnace blower section are added, and the sum is the reflow furnace heat generation amount that is the output of the reflow furnace model.
- FIG. 9 is a diagram showing an outline of a worker heat generation model according to the first embodiment.
- the heat generation model of the worker 15 is a function having the production plan information about the worker 15 as input, the human body heat generation amount as a predetermined constant, and the heat generation amount of the worker 15 as output.
- the production plan information for the worker 15 is the number of workers 15 per unit time defined in the production plan information.
- the calorific value model of the worker 15 can be expressed by a function of the following equation (5).
- Worker calorific value production plan information (time, number of people) x human body calorific value (5)
- the heat generation model of the worker 15 is only how many people are in the factory 10 based on the production plan information, but more detailed worker 15 is used by using the position information of the worker in the factory 10.
- the amount of generated heat may be calculated. For example, when the worker 15 moves between a plurality of air-conditioning zones by patterning position information such as the work position and action range of the worker 15, the amount of heat generated by the worker 15 in each air-conditioning zone can be reduced. It can be estimated more accurately.
- FIG. 10 is a diagram schematically illustrating an example of the arrangement information of lighting, machines, and workers when the factory according to the first embodiment is partitioned into a plurality of air-conditioning zones.
- three air conditioners 14A to 14C are arranged in the factory 10, and an area in which air conditioning can be controlled by each of the air conditioners 14A to 14C is an air conditioning zone A to an air conditioning zone C.
- illumination, machines, and workers are arranged as shown in the figure.
- the factory 10 is divided into a plurality of air conditioning zones A to C, the heating heat generation amount, the mechanical heat generation amount, and the worker heat generation amount are obtained for each air conditioning zone C from the air conditioning zone A. .
- FIG. 11 is a diagram showing an example of heat generation model correspondence information for each air-conditioning zone according to the first embodiment.
- the lighting model of the lighting 12 included in the air conditioning zone, the machine model of the machine 11, the worker model and the number of workers 15 are defined for each air conditioning zone. Yes.
- the heat generation model correspondence information for each air conditioning zone in FIG. 11 is created based on the lighting, machine, and worker arrangement information in FIG. And the total calorific value calculated
- the heat generation amount prediction unit 251 is configured to be able to predict the heat generation amount for each air conditioning zone based on the factory-specific production plan in the heat load prediction unit of the first related technology.
- the intrusion heat prediction unit 252 calculates an air-conditioning zone intrusion heat amount that is an amount of heat entering the air-conditioning zone of the factory building per unit time using the building heat model and weather data.
- the thermal model of a building is a function for calculating the amount of heat entering from a building wall, roof, glass, and the like using weather data such as outside air temperature and solar radiation.
- the building heat model includes the heat transfer rate and heat capacity from the outside air temperature, the amount of solar radiation, the amount of heat generated by the worker 15, the machine 11 and the lighting 12, and the measured value of the heat treatment by the air conditioner 13 for the set room temperature.
- a function is estimated that estimates the heat characteristics of the building and uses this heat transfer coefficient and heat capacity to estimate the amount of heat that enters the building from the outside.
- the heat removal amount prediction unit 253 sets the heat generation amount calculated by the heat generation amount prediction unit 251, the intrusion heat calculated by the intrusion heat prediction unit 252, and each air conditioning zone in the factory 10.
- the amount of heat removed per unit time in each air-conditioning zone is calculated using the temperature and humidity.
- the amount of heat removed from the air conditioning zone is referred to as the amount of heat removed from the air conditioning zone.
- the set temperature and humidity and the amount of heat to be removed are output to the operation planning unit 26.
- FIG. 12 is a diagram showing an example of a list of predicted values of the heat generation amount and the air conditioning removal heat amount per unit time according to the first embodiment.
- predicted values of the heat generation amount and the air conditioning removal heat amount per unit time are calculated for the air conditioning zone C from the plurality of air conditioning zones A partitioned as shown in FIG.
- the time indicates a time zone to be predicted.
- the length of this time zone is a unit time, which is 1 hour in this example.
- the lighting heat generation amount, machine heat generation amount and worker heat generation amount predicted by the heat generation amount prediction unit 251 described above, and the intrusion predicted by the intrusion heat prediction unit 252 for each unit time The amount of heat and the value of the air conditioning removal heat amount predicted by the removal heat amount prediction unit 253 are shown.
- the machine-generated heat amounts of all the machines existing in the air-conditioning zone are collectively displayed.
- the machine-generated heat amounts can be displayed for each machine 11. desirable.
- the heat load prediction unit 25 displays the generated heat amount, the intrusion heat amount, and the air conditioning removal heat amount calculated using each operation model in a table format, but may be displayed in a graph on a display unit (not shown). .
- FIG. 13 is a graph showing the calorific value of each component and the predicted value of the air conditioning removal calorie per unit time according to the first embodiment.
- the amount of heat generated by the machine is divided into three types of machines (1) to (3) and displayed.
- the horizontal axis represents time
- the vertical axis represents the amount of heat generated or the amount of heat removed.
- a graph of predicted values of the heat generation amount and the air conditioning removal heat amount is created for each air conditioning zone C from the air conditioning zone A.
- a graph G1 is a diagram showing a temporal change in the amount of heat generated by the illumination
- a graph G2 to a graph G4 are diagrams showing a time change in the mechanical calorific value of each of the machines (1) to (3)
- a graph G5 is a graph It is a figure which shows the time change of a worker's calorie
- the graph G6 is a figure which shows the time change of an intrusion heat amount
- the graph G7 is a figure which shows the time change of an air-conditioning removal heat amount.
- the amount of heat entering the building increases from morning until around 13:00 and decreases from there until evening. This is due to the amount of solar radiation from the sun and the outside air temperature.
- the machines (1) and (3) are turned on before 9 o'clock in order to make them usable from 9 o'clock.
- (2) is a machine facility for processing the machine (1) and (3) and may be turned on at 9 o'clock.
- the power-on start time varies depending on the mechanical equipment.
- the worker 15 since the worker 15 has a lunch break from 12:00 to 13:00, the mechanical equipment is also in a dormant state, and the amount of generated heat is temporarily reduced.
- the work starts again from 13:00, and it takes time until the machine is restarted when all the power of the mechanical equipment is turned off, only the portions that may be put into a dormant state are in the dormant state.
- the heating heat generation amount and the worker heat generation amount are mainly between 9:00 to 12:00 and 13:00 to 20:00 when the worker 15 exists in the factory 10. Has occurred. Further, since 12:00 to 13:00 is a lunch break for the worker 15, the worker 15 does not exist in the factory 10 during this period, so the amount of generated heat becomes zero. Moreover, since the illumination 12 at this time is also almost turned off, the amount of generated heat is a value close to zero.
- a graph G7 in FIG. 13 is obtained by adding all the generated heat amounts of the graph G1 to the graph G6 in FIG. 13, and indicates the total generated heat amount.
- the total amount of generated heat is the amount of heat that must be removed by the air conditioning equipment, and is the amount of heat removed from the air conditioning.
- the amount of heat removed from the air conditioning is also referred to as a demand for air conditioning heat load because it also gives a demand for heat load on the air conditioning equipment.
- the operation planning unit 26 makes an operation plan for removing the air conditioning removal heat amount predicted by the heat load prediction unit 25 using the air conditioner 13 and the external air conditioner 14 installed in the factory. An operation plan is made for each air conditioning zone.
- FIG. 14 is a diagram schematically illustrating an example of the configuration of the air conditioning equipment and the external air conditioner in the factory according to the first embodiment.
- the air conditioning facility includes an air conditioner 13, a heat source device 141, a pump 142, and an external air conditioner 14.
- the air conditioner 13 sucks air in the factory 10 and adjusts the temperature and humidity of the sucked air so as to remove the air-conditioning removal heat amount, and then returns the air to the factory 10 again.
- An example of the air conditioner 13 is a packaged air conditioner.
- the air conditioner 13 is an air conditioning facility that removes the amount of heat generated in the factory 10, that is, the amount of heat removed from the air conditioning.
- the heat source unit 141 is a heat source for heating or cooling the air outside the factory 10, and heats or cools a medium such as water and circulates it between the heat exchanger 143.
- a cooling heat source 141a and a heating heat source 141b are installed as the heat source 141. This is because the air dehumidified by the heating heat source 141b is heated to a predetermined temperature after the humidity of the air outside the factory 10 is dehumidified by the cooling heat source 141a.
- the pump 142 is used to flow the medium between the heat source device 141 and the external conditioner 14.
- the external air conditioner 14 includes a heat exchanger 143 that cools or heats air outside the factory 10 to a predetermined temperature with a medium sent from the heat source apparatus 141, and air that has been set to a predetermined temperature inside the factory 10. And a fan 144 for feeding to the fan.
- the heat exchanger 143 also has a function of setting the air outside the factory 10 to a predetermined humidity.
- the external air conditioner 14 is an air conditioning facility that supplies the outside air to the factory 10 by using the heat source apparatus 141 to change the outside air to the set temperature and the set humidity in the factory 10.
- a heat source model that models the heat source unit 141, an external conditioner model that models the external conditioner 14, and an air conditioner that models the air conditioner 13 The operation plan of the air conditioner 13, the heat source device for cooling 141a, the heat source device for heating 141b, and the external air conditioner 14 so as to achieve the optimum energy saving operation for the entire air conditioning system using the second related technology. create.
- the operation planning unit 26 corresponds to the schedule creation unit of the first related technology and corresponds to the secondary planning problem calculation apparatus of the second related technology. That is, the operation plan unit 26 creates an operation plan for the heat source device 141, the external air conditioner 14, and the air conditioner 13 using the secondary planning method. At this time, an operation plan for the heat source device 141, the external air conditioner 14, and the air conditioner 13 is created so as to achieve an optimum energy saving operation in the entire air conditioning system.
- the operation plan shows the operation parameters for operating the air conditioning equipment in each air conditioning zone per unit time.
- FIG. 15 is a diagram illustrating an example of operation plan output items of the air conditioner, the heat source unit, and the external air conditioner according to the first embodiment.
- the air conditioner model outputs operation or stop, temperature setting, and blowing capacity setting as operation plan output items.
- the air blowing capacity setting is the air volume, and the air volume varies depending on the compressor frequency f.
- the cooling heat source machine model outputs operation or stop and cold water temperature setting as operation plan output items.
- the heating heat source unit model outputs operation or stop and hot water temperature setting as operation plan output items.
- the external air conditioner model outputs operation or stop, supply air temperature setting, and supply air humidity setting as operation plan output items.
- the water supply temperature setting of the cold water and hot water of the heat source device 141 is optimized in accordance with the predicted amount of heat removed from the air conditioning, the supply air temperature of the external air conditioner, and the humidity condition will be described.
- heating elements such as the machine 11, the lighting 12, and the worker 15 exist in the factory 10.
- it is required to send fresh outside air into the factory 10. Therefore, significant energy saving can be realized by effectively utilizing the temperature and humidity of the outside air.
- an optimum operation plan for energy saving of the external air conditioner 14 and the heat source device 141 serving as a base is first calculated. This is to determine the output temperatures of the cooling heat source 141a and the heating heat source 141b so that the temperature and humidity in the factory 10 or each air-conditioning zone become set values and power consumption is minimized.
- FIG. 16 is a diagram showing an example of the output characteristic curve of the medium of the heat source apparatus according to the first embodiment, where (a) shows a cold water output characteristic curve and (b) shows a hot water output characteristic curve.
- the horizontal axis represents the output temperature of the medium
- the vertical axis represents the coefficient of performance COP representing the efficiency of the cooling heat source unit model and the heating heat source unit model, respectively.
- the relationship between the cooling heat source machine model and the output temperature of the cold water is expressed as shown in FIG. 16A
- the relationship between the coefficient of performance COP representing the efficiency of the heating heat source machine model and the output temperature of the hot water Is expressed as shown in FIG.
- the coefficient of performance COP of the heat source device 141 is expressed by the following equation (6), where R [W] is the output of the heat source device 141 and ER [W] is the input energy. Then, the output R [W] of the heat source device 141 can be converted as in the following equation (7) from the equation (6).
- COP R / ER (6)
- R COP ⁇ ER (7)
- the coefficient of performance COP of the heat source unit 141 is expressed by the following equation (8), where the outside air temperature is Ta [K], a is a coefficient, and c is a constant.
- COP (Ta) a ⁇ Ta + c (8)
- the output R (j, t) [W] of the heat source machine j considering the time t and the outside air temperature Ta [K] is expressed as the following equation (9).
- j is a natural number.
- R (j, t) COP (Ta) ⁇ ER (j, t) (9)
- the output R [W] of the heat source device 141 is expressed by the following equation (10) depending on the temperature and flow rate of the circulating water.
- CP is the specific heat of water, 4.218 J / (Kg ⁇ K)
- ⁇ is the density [Kg / m 3 ]
- Tin is the heat source return temperature [K]
- Tout is the heat source machine.
- Rf is the heat source machine water supply flow rate [m 3 / s].
- R CP ⁇ ⁇ ⁇ (Tin-Tout) ⁇ Rf (10)
- R (j, t) CP ⁇ ⁇ ⁇ (Tin (j, t) ⁇ Tout (j, t)) ⁇ Rf (j, t) (11)
- a1 to a9 are coefficients of the characteristic formula of the heat source device, and can be calculated by, for example, an air conditioning facility simulation tool (LCEM tool) provided by the Ministry of Land, Infrastructure, Transport and Tourism.
- LCEM tool air conditioning facility simulation tool
- ER (j, t) a1 ⁇ Ta + a2 ⁇ Tout (j, t) + a3 ⁇ Tin (j, t) + a4 ⁇ Rf (j, t) + a5 ⁇ Ta ⁇ Rf (j, t) + a6 ⁇ Tout (j, t) ⁇ Rf (j, t) + a7 ⁇ Tin (j, t) ⁇ Rf (j, t) + a8 ⁇ Rf (j, t) 2 + a9 (13)
- the pump power consumption Pp [W] of the heat source water is expressed by the following equation (14).
- a10 to a11 are coefficients specific to the pump.
- Pp (j, t) a10 ⁇ Rf (j, t) + a11 (14)
- the constraint equation for calculation by the quadratic programming method is the output R (j) [W], the water supply temperature Tout [K], and the water supply flow rate Rf [m 3 / s] in the heat source machine j.
- the output R (j) [W], the water supply temperature Tout [K] and the water supply flow rate Rf [m 3 / s] in the heat source machine j are the upper and lower limits as shown in the following equations (18) to (20), respectively. These ranges are constraint equations.
- the power cost f (x) is obtained by using the quadratic programming method and the equation (17) as an objective function using the equation (15) as the constraint equation, the equations (18) to (20) as the constraint equation.
- the output temperatures of the cooling heat source unit 141a and the heating heat source unit 141b are determined as operating parameters so as to be minimized.
- minimum means that the air conditioner 13 that is actually operated with respect to the amount of energy consumed when the air conditioner 13, the heat source device 141, and the external air conditioner 14 perform the rated value operation, that is, the total amount of electric power, This means minimizing the amount of energy consumed by the heat source device 141 and the external air conditioner 14.
- the control command unit 27 controls the operation of the air conditioning equipment including the air conditioner 13, the heat source device 141, and the external air conditioner 14 provided in the factory 10 based on the operation parameters of the air conditioning equipment calculated by the operation planning unit 26.
- the air conditioning removal heat amount shown in FIGS. 12 and 13 can be removed, and the temperature in the factory 10 can be kept at the set temperature.
- FIG. 17 is a flowchart illustrating an example of a procedure of air conditioning management processing according to the first embodiment.
- the air conditioner characteristic data acquisition unit 22 reads the air conditioner characteristic data and stores it in the data storage unit 24 (step S11).
- the weather data acquisition part 21 acquires the weather data of the day which performs air-conditioning management via a network, and memorize
- the production plan information acquisition unit 23 acquires the production plan information on the day when air conditioning management is performed (step S13).
- the thermal load prediction unit 25 calculates the amount of heat generated in each air conditioning zone in the factory 10 at a certain time for each unit time (step S14). As described above, the heat generation amount corresponding to each air conditioning zone is used to calculate the heat generation amount of the air conditioning zone per unit time. Further, the thermal load predicting unit 25 calculates intrusion heat into each air conditioning zone in the factory 10 at a certain time for each unit time (step S15). This is calculated using the building thermal model and weather data as described above. Furthermore, the heat load predicting unit 25 calculates the air-conditioning removal heat amount in each air-conditioning zone in the factory 10 for each unit time using the calculated heat generation amount, intrusion heat, and the temperature and humidity set in the factory 10. (Step S16).
- the operation planning unit 26 calculates the operation parameters of the air conditioning equipment in each air conditioning zone using the secondary planning method (step S17). For example, the temperature of the medium flowing into the heat source unit 141 and the temperature of the medium flowing out of the heat source unit 141 that can remove the amount of heat removed from the air conditioning at each time and can minimize the power consumption in the air conditioning facility. Obtain the operating parameters of the air conditioning equipment.
- control command unit 27 controls the air conditioning equipment of the factory 10 using the calculated operation parameters of the air conditioning equipment (step S18).
- the air conditioning management process ends.
- FIG. 18 is a diagram illustrating an example of an operation situation when the machine according to the first embodiment is a reflow furnace, (a) is a cross-sectional view schematically showing the state of the reflow furnace, and (b) is a machine. It is a figure which shows an example of the temperature in a furnace when not considering a characteristic, and the driving
- the reflow furnace 200 includes a belt conveyor 201 that conveys products in a predetermined direction, a heating unit 202 that heats products 210 on the belt conveyor 201, and a heat insulating material 203 that is provided so as to cover the belt conveyor 201. Have. By supplying electric power to the heating unit 202, the region surrounded by the heat insulating material 203 is heated. Then, the solder placed on the product 210 is reflowed.
- the thermal load prediction unit 25 uses the thermal model of the building of the factory 10 and the thermal model of the machine 11, the lighting 12 and the worker 15 arranged in the factory 10 that generates heat.
- the weather data, production plan information, and air conditioner characteristic data were input, and the air conditioning removal heat quantity, which is the heat quantity per unit time to be removed using the air conditioning equipment in the factory 10, was calculated over a period of one day.
- the air conditioning removal heat quantity which is the heat quantity per unit time to be removed using the air conditioning equipment in the factory 10
- the air conditioning removal heat quantity which is the heat quantity per unit time to be removed using the air conditioning equipment in the factory 10
- the operation planning unit 26 inputs the heat source unit 141 in the entire air conditioning system in a state where the amount of air conditioning removal heat per unit time predicted by the thermal load prediction unit 25 is equal to the output of the heat source unit 141 in the entire air conditioning system.
- the heat source unit for cooling 141a and the heat source unit for heating 141b are used by the quadratic programming method so that the power cost obtained by multiplying the sum of the energy and the power consumption of the heat source water pump in the entire air conditioning system by the unit price of electric power is minimized.
- the operating parameters of the air conditioning equipment including the output temperature were calculated.
- the control command unit 27 controls the air conditioning equipment based on the operation parameters of the air conditioning equipment. As a result, the temperature in the factory 10 can be precisely maintained at the target temperature.
- the amount of heat generated in advance is predicted and controlled so as to be removed, so the temperature in the factory 10 at each time is set to the set temperature with high accuracy. It becomes possible to set.
- the energy efficiency is reduced at light loads.
- Embodiment 1 the energy efficiency can be reduced even at light loads. Absent.
- Embodiment 2 As described in the first embodiment, since the daily weather information and the production plan information are used as input data, the amount of heat removed from the air conditioning at each hour of the day is calculated using the factory heat model. Temperature and humidity control can be performed with less variation than the method. Conventionally, air conditioning control in a building such as a factory has been performed by feedback control having a delay of 15 minutes or more as described above, so temperature control is difficult, and the set temperature in the factory 10 is 23 ° C. ⁇ 2 ° C. The set temperature was set in such a way as to give a large error range. In the second embodiment, a method for changing the set temperature in the factory 10 according to the outside air temperature will be described.
- FIG. 19 is a block diagram schematically showing a functional configuration of the air conditioning management device according to the second embodiment.
- the air conditioning management device 20 further includes an outside air processing amount prediction unit 254 in the heat load prediction unit 25.
- the outside air processing amount prediction unit 254 determines the amount of outside air to be introduced into the factory 10 per unit time based on the number of workers 15 existing in the factory 10 and the exhaust amount of exhaust fans that are forcibly operated. Predict.
- the exhaust fan that is forcibly operated is provided in the machine 11 that is operated at a high temperature.
- the worker 15 existing in the factory 10 and the exhaust amount by the exhaust fan that is forcibly operated are information that can be acquired from the production plan information.
- the operation planning unit 26 minimizes the power consumption of the air conditioning system in which the external air conditioner 14 and the heat source unit 141 are combined with the outside air processing amount calculated by the heat load prediction unit 25 by the secondary planning method. Solve with conditions. As a result, the operation planning unit 26 calculates the supply air temperature and supply air humidity set values of the external air conditioner 14 within the indoor environmental condition range as operation parameters of the air conditioning equipment.
- the control command unit 27 sets the supply air temperature and supply air humidity obtained by the operation planning unit 26 in the external air conditioner 14.
- symbol is attached
- the processing procedure of the air conditioning management apparatus according to the second embodiment is the same as that described in the first embodiment, and thus the description thereof is omitted.
- the heat exchange amount is obtained by the heat exchanger characteristic model QH.
- the chilled water heat exchanger 143 of the external air conditioner 14 connects the cold water supplied from the cooling heat source device 141 a and exchanges heat with the outside air taken in by the fan 144 of the external air conditioner 14.
- the hot water heat exchanger 143 of the external air conditioner 14 connects the hot water supplied from the heating heat source device 141b, and exchanges heat with the outside air taken in by the fan 144 of the external air conditioner 14.
- the amount of heat QH (j, t) of the heat exchanger characteristic model at the outside air enthalpy amount ei of the heat exchanger j at time t is expressed by the following equation (22).
- the outside air enthalpy amount ei is expressed by the following equation (23).
- Tain is the air temperature [K] at the heat exchanger inlet
- Taout is the air temperature [K] at the heat exchanger outlet
- W is the water flow rate [m 3 / s]
- w is the air flow rate [K].
- cp is the specific heat of air, which is 1.006 J / (Kg ⁇ K).
- the heat exchange rate HXR of the heat exchanger is expressed by the following equation (25).
- Denv is the air density [kg / m 3 ] of the outside air
- Dsup is the density of the supply air [kg / m 3 ]
- Eenv is the specific enthalpy [KJ / (kg ⁇ K)] of the outside air
- Esup is the specific enthalpy of supply air [KJ / (kg ⁇ K)].
- the power consumption amount Fp (t) [W] at the time t of the fan 144 is expressed by the following equation (26).
- a12 and a13 are coefficients of power consumption characteristics of the fan 144.
- Fp (t) a12 ⁇ w (j, t) + a13 (26)
- the heat source unit return temperature Tin [K] As control variables for calculation by the quadratic programming method, the heat source unit return temperature Tin [K], the heat source unit water supply temperature Tout [K] included in the equation of QH (j, t) represented by the equation (22), The air flow rate w [m 3 / s] of the fan 144 and the power consumption Fp [W] of the fan 144 are obtained.
- heat quantity QH [W] which is an output of the heat exchanger characteristic model, heat source water supply temperature Tout [K], water flow rate W [m 3 / s], and air
- the flow rate becomes w [m 3 / s].
- the heat quantity QH [W], the heat source water supply temperature Tout [K], the water flow rate W [m 3 / s] and the air flow rate w [m 3 / s] in the heat exchanger characteristic model are expressed by the following formula (30): As shown in 33), there are upper and lower limits, and these ranges are constraint equations.
- the operation planning unit 26 solves the power consumption of the heat source device 141 and the external air conditioner 14 with the power consumption minimization condition by the second-order programming method with respect to the predicted outside air processing amount of the heat load demand.
- the set values of the supply temperature and humidity of the external air conditioner 14 within the range are obtained.
- equation (27) is a constraint equation
- equations (30) to (33) are constraint conditions
- quadratic programming is used
- equation (29) is used as an objective function to calculate power cost f (x ) Is determined as operating parameters such that the supply air temperature and humidity of the external air conditioner 14 are minimized.
- the temperature and humidity can be controlled with little variation by the operation parameters thus obtained.
- the energy consumption of the heat source device 141 and the external air conditioner 14 can be minimized in the range of the set temperature 21 ° C. to 25 ° C. depending on the outside air temperature and in the range of the set humidity 40% to 60% depending on the outside air humidity. .
- the outside air processing amount per unit time is predicted using the number of workers 15 in the factory 10 and the exhaust fan exhaust amount, and the predicted heat load demand is equal to the heat exchanger heat amount.
- the air supply temperature and the air supply humidity of the external air conditioner 14 are obtained using the quadratic programming method so that the sum of the heat quantity of the heat exchanger and the power consumption of the fan is minimized.
- the external air conditioner 14 is operated using the obtained supply air temperature and supply air humidity.
- the temperature and humidity can be controlled with little variation.
- the outside air is introduced into the factory 10 the difference between the temperature of the air introduced into the factory 10 and the temperature inside the factory 10 before the introduction is reduced, so that the power consumed by the air conditioning management system It has the effect that can be suppressed.
- Embodiment 3 the amount of generated heat is calculated using an operation model of mechanical equipment.
- the amount of heat generated by mechanical equipment accounts for a large proportion of the air conditioning heat load, and the fluctuation range is also large. Therefore, in the third embodiment, a method capable of predicting the amount of heat generated by mechanical equipment with higher accuracy will be described.
- FIG. 20 is a diagram schematically showing an example of the relationship between the number of units produced per unit time and the internal heat generation amount in the machine equipment in the factory according to the third embodiment.
- internal calorific values A, B, and C when the number of productions per unit time are a, b, and c are calculated in advance, and a curve L1 indicating the relationship of the internal calorific value with respect to the production number is calculated from these data. It was created and is shown as a solid line in the figure. Note that a curve L2 indicated by a dotted line in the figure indicates the internal heat generation amount with respect to the actual number of production per unit time. Curves L1 and L2 are production amount-heat generation amount correspondence information.
- the calorific value is shown as a straight line that monotonously increases from 0 to A, in the range of a to b is a constant value A, and in the range of b to c Is a constant value B, and is a constant value C in the range after c.
- the curve L1 approximates the actual curve L2.
- the heat generation amount prediction unit 251 calculates the internal heat generation amount of the mechanical equipment 11 using information as shown in FIG. 20 from the number of production per hour obtained from the production plan information regarding the generated heat of the mechanical equipment 11. In the above description, the number of production per unit time is used, but it may be the operating rate of the machine. Further, in FIG. 20, the curve L1 is created by measuring three points, but by increasing the number of points to be measured, the degree of deviation of the curve L1 from the actual curve L2 is reduced, so that more precise It is possible to predict the heat generation amount of the mechanical equipment 11.
- a correlation between the number of units produced per unit time or the operation rate of the machine and the calorific value of the machine equipment 11 is obtained in advance, and from this relationship, the number of units produced per hour obtained from the production plan information or The calorific value corresponding to the machine operation rate was obtained. As a result, the amount of heat generated by the mechanical equipment 11 can be estimated more precisely.
- Embodiment 4 FIG.
- an air conditioning management system capable of generating a correlation between the number of units produced per unit time or the operation rate of a machine and the amount of heat generated by machine equipment will be described.
- FIG. 21 is a diagram schematically showing an example of the configuration of the air conditioning management system according to the fourth embodiment.
- the air conditioning management system uses the configuration of the first embodiment to produce the production amount indicating the correspondence between the production amount per unit time and the calorific value of the mechanical equipment 11 -the production quantity for acquiring the calorific value correspondence information from each mechanical equipment 11-
- a calorific value correspondence information acquisition unit 255 is further provided.
- the production amount-heat generation amount correspondence information acquisition unit 255 stores the acquired production amount-heat generation amount correspondence information in the data storage unit 24 in association with the corresponding operation model of the mechanical equipment 11.
- symbol is attached
- FIG. 22 is a diagram illustrating an example of the configuration of the mechanical equipment according to the fourth embodiment.
- the machine equipment 11 includes a machine 111 to be controlled, a control device 112 that controls the machine 111, a display 113 that displays a control state of the control device 112, and the machine equipment 11.
- a power monitor 114 that is a power consumption measuring device that monitors the power consumption in the network is connected via a communication cable 115.
- the power monitor 114 is connected to an air conditioning management system (not shown) via a communication cable.
- FIG. 23 is a diagram showing an example of the production amount-heat generation amount correspondence information.
- the information shown in FIG. 23 acquired by the power monitor is acquired by the production amount-heat generation amount correspondence information acquisition unit 255 of the air conditioning management system. Since the power consumption of each mechanical equipment 11 is equal to the heat generation amount, the heat generation amount prediction unit 251 of the air conditioning management device 20 acquires a finer heat generation amount than in the case of the third embodiment using this relationship. Can do.
- the power monitor 114 is provided in the machine equipment 11 in the factory 10 and the relationship between the number of units produced per unit time or the operation rate and the power consumption is accumulated as production quantity-heat generation correspondence information. And this was acquired with the air-conditioning management apparatus 20, and it was made to use when calculating
- Embodiment 5 FIG. In the fifth embodiment, a case will be described in which the operation state of the air conditioning management system is recorded periodically and compared with the normal operation state to determine whether there is an abnormality in the air conditioning management system.
- FIG. 24 is a diagram schematically illustrating an example of a configuration of an air conditioning management system according to the fifth embodiment.
- the air conditioning management system further includes an operation state acquisition unit 256, an operation state storage unit 257, and a preventive maintenance unit 258 in the configuration of the first embodiment.
- the operation state acquisition unit 256 records operation state values including operation data of facility operation information corresponding to the production plan, air conditioning basic unit corresponding to the production amount, and estimated information obtained from each operation model at certain time intervals.
- Examples of the facility operation information include a heat source device 141, an air conditioning facility, and a mechanical facility 11.
- the operation data can include power consumption, the number of activations per unit time, equipment process values, and the like. As the estimation information, device operation efficiency, generated heat amount and the like can be mentioned.
- the operation state storage unit 257 stores the operation state value acquired by the operation state acquisition unit 256.
- the preventive maintenance unit 258 compares the operation state value serving as a reference during normal operation with the acquired operation state value, and determines whether there is an abnormality. Specifically, the preventive maintenance unit 258 notifies the user of a warning message when the deviation amount of the operation state value to be determined from the reference operation state value is outside a preset threshold value. Perform processing to do. The preventive maintenance process does not need to be performed every time, and may be performed periodically such as once a day or once a week. Moreover, it is desirable that the operation data by the operation state acquisition unit 256 is shorter than the prediction period of the air conditioning heat load by the heat load prediction unit 25.
- the power consumption of the mechanical equipment 11 tends to increase as the mechanical equipment 11 continues to be used. For this reason, when the amount of deviation exceeds a preset value, it indicates that the mechanical equipment 11 is near the end of its life, so a notification is given to the user. Then, the user performs processing such as replacement of parts of the mechanical equipment 11 based on the notification.
- symbol is attached
- the operation state value in the air conditioning management system is recorded, and it is determined whether there is an abnormality in comparison with the reference operation state value every predetermined period.
- the determination result can be used for preventive maintenance of equipment failure and deterioration accompanying secular change.
- the air conditioning management system according to the present invention is useful for air conditioning management in a factory that produces products.
- Air conditioning management device 10 factory, 10A clean room, 10B assembly room, 11 mechanical equipment, 12 lighting equipment, 13 air conditioner, 14 external air conditioner, 14A, 14B, 14C air conditioner, 15 workers, 20 air conditioning management device, 21 weather data acquisition unit, 22 Air conditioner characteristic data acquisition unit, 23 Production plan information acquisition unit, 24 Data storage unit, 25 Thermal load prediction unit, 26 Operation planning unit, 27 Control command unit, 111 Machine, 112 Control device, 113 Display, 114 Power monitor , 115 communication cable, 141 heat source machine, 141a cooling heat source machine, 141b heating heat source machine, 142 pump, 143 heat exchanger, 144 fan, 200 reflow furnace, 201 belt conveyor, 202 heating unit, 203 heat insulating material, 210 products 251 Heat generation amount prediction part 252 Intrusion heat Measurement unit, 253 Removal heat amount prediction unit, 254 Outside air processing amount prediction unit, 255 Production amount-heat generation amount correspondence information acquisition unit, 256 Operation state acquisition unit, 257 Operation state storage unit, 258 Preventive maintenance unit
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PCT/JP2015/052698 WO2016121107A1 (ja) | 2015-01-30 | 2015-01-30 | 空調管理システム |
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JP2018173221A (ja) * | 2017-03-31 | 2018-11-08 | ダイキン工業株式会社 | 空調システム |
JPWO2019008723A1 (ja) * | 2017-07-06 | 2020-04-09 | パナソニックIpマネジメント株式会社 | 制御システム及び制御方法 |
WO2019008723A1 (ja) * | 2017-07-06 | 2019-01-10 | パナソニックIpマネジメント株式会社 | 制御システム及び制御方法 |
CN107797581A (zh) * | 2017-09-04 | 2018-03-13 | 任升莲 | 一种暖通大数据节能系统 |
JP7133389B2 (ja) | 2018-08-16 | 2022-09-08 | 大成建設株式会社 | 装置発熱量算出方法 |
JP2020027907A (ja) * | 2018-08-16 | 2020-02-20 | 大成建設株式会社 | 装置発熱量算出方法 |
WO2021001954A1 (ja) * | 2019-07-03 | 2021-01-07 | 三菱電機株式会社 | 空気調和システム |
WO2022059191A1 (ja) * | 2020-09-18 | 2022-03-24 | 日本電信電話株式会社 | 予測方法、予測装置、及び予測プログラム |
CN113459130A (zh) * | 2021-06-03 | 2021-10-01 | 上海楷新机器人自动化设备有限公司 | 一种工业机器人自动加工系统及其运用 |
CN113459130B (zh) * | 2021-06-03 | 2022-12-30 | 上海楷新机器人自动化设备有限公司 | 一种工业机器人自动加工系统及其运用 |
WO2023095582A1 (ja) * | 2021-11-25 | 2023-06-01 | 国立大学法人京都大学 | コントローラ、制御方法、および制御プログラム |
CN114963683A (zh) * | 2022-06-01 | 2022-08-30 | 深圳市汉盛制冷科技有限公司 | 一种精确控温制冷系统 |
CN114963683B (zh) * | 2022-06-01 | 2023-09-15 | 深圳市汉盛制冷科技有限公司 | 一种精确控温制冷系统 |
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JPWO2016121107A1 (ja) | 2017-04-27 |
CN107110545A (zh) | 2017-08-29 |
CN107110545B (zh) | 2018-07-24 |
TW201627614A (zh) | 2016-08-01 |
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