WO2023040354A1 - 用于离心机控温的方法及装置、离心机、存储介质 - Google Patents

用于离心机控温的方法及装置、离心机、存储介质 Download PDF

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WO2023040354A1
WO2023040354A1 PCT/CN2022/096160 CN2022096160W WO2023040354A1 WO 2023040354 A1 WO2023040354 A1 WO 2023040354A1 CN 2022096160 W CN2022096160 W CN 2022096160W WO 2023040354 A1 WO2023040354 A1 WO 2023040354A1
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Prior art keywords
temperature
centrifuge
target input
parameters
difference
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PCT/CN2022/096160
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English (en)
French (fr)
Inventor
段泽鹏
鞠焕文
王潘飞
陈欢
胡伟
于东琛
殷梦龙
Original Assignee
青岛海尔生物医疗科技有限公司
青岛海尔生物医疗股份有限公司
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Priority to DE112022001466.0T priority Critical patent/DE112022001466T5/de
Publication of WO2023040354A1 publication Critical patent/WO2023040354A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means
    • G05D23/1919—Control of temperature characterised by the use of electric means characterised by the type of controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04B—CENTRIFUGES
    • B04B13/00—Control arrangements specially designed for centrifuges; Programme control of centrifuges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04B—CENTRIFUGES
    • B04B15/00—Other accessories for centrifuges
    • B04B15/02—Other accessories for centrifuges for cooling, heating, or heat insulating

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  • the present application relates to the technical field of centrifuge equipment, for example, to a method and device for temperature control of a centrifuge, a centrifuge, and a storage medium.
  • the centrifuge uses the maximum power to operate the refrigeration system to cool the centrifugal cavity, and the cooling method to quickly reach the target temperature is too rough to achieve precise cooling.
  • the prior art uses a PID (Proportion, Integration, Differentiation) refrigeration control algorithm for refrigeration.
  • PID Proportion, Integration, Differentiation
  • the temperature is generally controlled by PID closed-loop, and a set of PID parameters is used to perform PID control of the entire temperature range, which achieves precise refrigeration to a certain extent.
  • Embodiments of the present disclosure provide a method and device for temperature control of a centrifuge, a centrifuge, and a storage medium, so as to improve the accuracy of temperature regulation of the centrifuge.
  • the method includes:
  • the device includes:
  • a processor and a memory storing program instructions the processor is configured to execute the above method for temperature control of a centrifuge when executing the program instructions.
  • the centrifuge includes:
  • the above-mentioned device for temperature control of a centrifuge for temperature control of a centrifuge.
  • the storage medium stores program instructions, and when the program instructions are run, the above method for temperature control of the centrifuge is executed.
  • the centrifuge temperature control method and device, centrifuge, and storage medium provided by the embodiments of the present disclosure can achieve the following technical effects:
  • FIG. 1 is a schematic diagram of a method for temperature control of a centrifuge provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of another method for temperature control of a centrifuge provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of another method for temperature control of a centrifuge provided by an embodiment of the present disclosure
  • FIG. 4 is a schematic diagram of another method for temperature control of a centrifuge provided by an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of another method for temperature control of a centrifuge provided by an embodiment of the present disclosure
  • Fig. 6 is a schematic diagram of a device for temperature control of a centrifuge provided by an embodiment of the present disclosure.
  • A/B means: A or B.
  • a and/or B means: A or B, or, A and B, these three relationships.
  • correspondence may refer to an association relationship or a binding relationship, and the correspondence between A and B means that there is an association relationship or a binding relationship between A and B.
  • a centrifuge includes a housing, a centrifuge chamber, a rotor, a freezer, and a PID controller.
  • the centrifugal cavity is arranged in the casing.
  • the rotor is arranged in the centrifugal chamber.
  • the refrigeration unit includes a compressor, a condenser, an expansion valve and an evaporator to adjust the temperature of the centrifuge cavity.
  • the PID controller can control the freezing device to adjust the temperature of the centrifuge cavity.
  • an embodiment of the present disclosure provides a method for temperature control of a centrifuge, including:
  • the centrifuge obtains the current temperature of the centrifuge cavity.
  • the centrifuge determines a target input parameter for temperature adjustment according to the set temperature and the set speed of the rotor.
  • the centrifuge inputs the target input parameters, the current temperature and the set temperature into the PID controller for temperature adjustment.
  • the centrifuge can obtain the current temperature of the centrifuge cavity.
  • the difference between the current temperature and the set temperature is less than or equal to the difference threshold, at this time, the current The difference between the temperature and the set temperature is too small, and the centrifuge uses a PID controller to precisely adjust and control the temperature of the centrifuge chamber.
  • the centrifuge adopts a PID controller for refrigeration, which is easily affected by the heat generated by the friction between the high-speed rotating rotor and the air, which interferes with the normal PID control and leads to the actual temperature curve.
  • the centrifuge determines the target input parameters according to the set temperature and the set speed of the rotor, and the centrifuge inputs the target input parameters, current temperature and set temperature into the PID controller for temperature adjustment.
  • the rotational speed of the rotor is included in the control algorithm, and the target input parameters are input into the PID controller for temperature adjustment, so as to avoid the influence of the heat generated by the friction between the high-speed rotating rotor and the air during the centrifugal refrigeration process, and improve the temperature adjustment of the centrifuge. accuracy.
  • the centrifuge determines the target input parameters according to the set temperature and the set speed of the rotor, including:
  • the centrifuge obtains the current temperature of the centrifuge cavity.
  • the centrifuge determines the temperature range where the set temperature is located.
  • the centrifuge determines PID parameters corresponding to the temperature intervals according to the corresponding relationship.
  • the centrifuge determines target input parameters according to the PID parameters and the set rotational speed.
  • the centrifuge inputs the target input parameters, the current temperature and the set temperature into the PID controller for temperature adjustment.
  • PID parameters include proportional parameters, integral parameters and differential parameters.
  • the centrifuge determines the temperature range where the set temperature is located, and determines the PID parameters corresponding to the temperature range according to the corresponding relationship. According to the temperature range where the set temperature is located, the corresponding PID parameters are determined, which can realize the precise adjustment from the current temperature to the set temperature.
  • the centrifuge adopts a PID controller for refrigeration, which is easily affected by the heat generated by the friction between the high-speed rotating rotor and the air, which interferes with the normal PID control and leads to the actual temperature curve. It is quite different from the ideal temperature control curve. Therefore, the centrifuge determines the target input parameters according to the PID parameters and the set speed.
  • PID parameters include proportional parameters, integral parameters and differential parameters. That is, the influence of the proportional term, integral term and differential term in the PID control algorithm on the temperature regulation process of the refrigeration unit controlled by the PID controller is considered. This scheme not only considers the influence of the temperature range where the set temperature is located on the temperature regulation, but also considers the influence of the rotor speed on the temperature regulation, and also considers the influence of the proportional term, integral term and differential term in the PID control algorithm on the temperature regulation. The impact greatly improves the accuracy of the temperature regulation of the centrifuge.
  • the centrifuge determines the target input parameters according to the PID parameters and the set speed, including: the centrifuge determines the correction coefficient according to the set speed; the centrifuge determines the target input parameters according to the correction coefficient, the proportional parameter and the integral parameter.
  • the centrifuge determines the correction coefficient according to the set speed, and determines the target input parameters of the PID controller through the correction coefficient, proportional parameters and integral parameters.
  • This scheme incorporates the rotational speed of the rotor into the control algorithm, and considers the influence of the proportional term, integral term and differential term in the PID control algorithm on the temperature adjustment process of the PID controller to control the refrigeration device. Avoid the influence of the heat generated by the friction between the high-speed rotating rotor and the air during the centrifugal refrigeration process, and improve the accuracy of the temperature adjustment of the centrifuge.
  • the influence of the rotating speed of the rotor on the refrigeration of the centrifuge is fully considered. For example, when the set speed is equal to 15000rpm, the K value is 1, that is, the PID parameters of the actual test condition (15000rpm) are used; Small. High-speed rotation generates more heat than low-speed rotation, which has a greater impact on refrigeration, and the P value and I value are also larger than the same period last year.
  • the compressor can quickly cool at a high speed, quickly offset the influence of heat dissipation, and quickly approach the set temperature, and the second half is adjusted by the I value. Compressor output speed can also be increased very quickly, continuing to offset the effects of heat dissipation. Then as time increases, gradually reach the set temperature.
  • an embodiment of the present disclosure provides a method for temperature control of a centrifuge, including:
  • the centrifuge adjusts the operating frequency of the compressor to the first set frequency according to the difference between the initial temperature and the set temperature, and performs temperature adjustment.
  • the centrifuge obtains the current temperature of the centrifuge cavity.
  • the centrifuge determines a target input parameter for temperature adjustment according to the set temperature and the set speed of the rotor.
  • the centrifuge inputs the target input parameters, the current temperature and the set temperature into the PID controller for temperature adjustment.
  • the centrifuge can obtain the current temperature of the centrifuge cavity.
  • the difference between the current temperature and the set temperature is less than or equal to the difference threshold, at this time, the current The difference between the temperature and the set temperature is too small, and the centrifuge uses a PID controller to precisely adjust and control the temperature of the centrifuge chamber.
  • the centrifuge adopts a PID controller for refrigeration, which is easily affected by the heat generated by the friction between the high-speed rotating rotor and the air, which interferes with the normal PID control and leads to the actual temperature curve.
  • the centrifuge determines the target input parameters according to the set temperature and the set speed of the rotor, and the centrifuge inputs the target input parameters, current temperature and set temperature into the PID controller for temperature adjustment.
  • the rotational speed of the rotor is included in the control algorithm, and the target input parameters are input into the PID controller for temperature adjustment, so as to avoid the influence of the heat generated by the friction between the high-speed rotating rotor and the air during the centrifugal refrigeration process, and improve the temperature adjustment of the centrifuge. accuracy.
  • the centrifuge adjusts the operating frequency of the compressor to the first set frequency according to the difference between the initial temperature and the set temperature for temperature regulation. Can the temperature of the centrifuge chamber quickly approach the set temperature, and then pass the PID? ? The controller performs precise temperature regulation, which improves the efficiency of the temperature regulation of the centrifuge.
  • the centrifuge adjusts the operating frequency of the compressor to the first set frequency to perform temperature adjustment, including: the centrifuge determines the initial temperature according to the preset first corresponding relationship The operating frequency of the compressor corresponding to the difference of the set temperature; the centrifuge adjusts the operating frequency of the compressor to the first set frequency according to the operating frequency of the compressor.
  • the centrifuge adjusts the operating frequency of the compressor to the first set frequency corresponding to the difference between the initial temperature and the set temperature according to the difference between the initial temperature and the set temperature. Temperature adjustment. Can the temperature of the centrifuge chamber quickly approach the set temperature, and then pass the PID? ? The controller performs precise temperature regulation, which improves the efficiency of the temperature regulation of the centrifuge.
  • an embodiment of the present disclosure provides a method for temperature control of a centrifuge, including:
  • the centrifuge obtains the current temperature of the centrifuge cavity.
  • the centrifuge adjusts the operating frequency of the compressor to the second set frequency according to the difference between the current temperature and the set temperature to perform temperature adjustment.
  • the centrifuge determines a target input parameter for temperature adjustment according to the set temperature and the set speed of the rotor.
  • the centrifuge inputs the target input parameters, the current temperature and the set temperature into the PID controller for temperature adjustment.
  • the centrifuge can obtain the current temperature of the centrifuge cavity.
  • the difference between the current temperature and the set temperature is less than or equal to the difference threshold, at this time, the current The difference between the temperature and the set temperature is too small, and the centrifuge uses a PID controller to precisely adjust and control the temperature of the centrifuge chamber.
  • the centrifuge adopts a PID controller for refrigeration, which is easily affected by the heat generated by the friction between the high-speed rotating rotor and the air, which interferes with the normal PID control and leads to the actual temperature curve.
  • the centrifuge determines the target input parameters according to the set temperature and the set speed of the rotor, and the centrifuge inputs the target input parameters, current temperature and set temperature into the PID controller for temperature adjustment.
  • the rotational speed of the rotor is included in the control algorithm, and the target input parameters are input into the PID controller for temperature adjustment, so as to avoid the influence of the heat generated by the friction between the high-speed rotating rotor and the air during the centrifugal refrigeration process, and improve the temperature adjustment of the centrifuge. accuracy.
  • the centrifuge adjusts the operating frequency of the compressor to the first 2. Set the frequency to adjust the temperature. Can the temperature of the centrifuge chamber quickly approach the set temperature, and then pass the PID? ? The controller performs precise temperature regulation, which improves the efficiency of the temperature regulation of the centrifuge.
  • the centrifuge adjusts the operating frequency of the compressor to the second set frequency to perform temperature adjustment, including: the centrifuge determines the current temperature according to the preset second corresponding relationship. The operating frequency of the compressor corresponding to the difference of the set temperature; the centrifuge adjusts the operating frequency of the compressor to the second set frequency according to the operating frequency of the compressor.
  • the centrifuge adjusts the operating frequency of the compressor to the second set frequency corresponding to the difference between the current temperature and the set temperature according to the difference between the current temperature and the set temperature, and performs Temperature adjustment. Can the temperature of the centrifuge chamber quickly approach the set temperature, and then pass the PID? ? The controller performs precise temperature regulation, which improves the efficiency of the temperature regulation of the centrifuge.
  • an embodiment of the present disclosure provides a method for temperature control of a centrifuge, including:
  • the centrifuge adjusts the operating frequency of the compressor to the first set frequency according to the difference between the initial temperature and the set temperature, and performs temperature adjustment.
  • the centrifuge obtains the current temperature of the centrifuge cavity.
  • the centrifuge adjusts the operating frequency of the compressor to the second set frequency according to the difference between the current temperature and the set temperature to perform temperature adjustment.
  • the centrifuge determines a target input parameter for temperature adjustment according to the set temperature and the set speed of the rotor.
  • the centrifuge inputs the target input parameters, the current temperature and the set temperature into the PID controller for temperature adjustment.
  • the centrifuge can obtain the current temperature of the centrifuge cavity.
  • the difference between the current temperature and the set temperature is less than or equal to the difference threshold, at this time, the current The difference between the temperature and the set temperature is too small, and the centrifuge uses a PID controller to precisely adjust and control the temperature of the centrifuge chamber.
  • the centrifuge adopts a PID controller for refrigeration, which is easily affected by the heat generated by the friction between the high-speed rotating rotor and the air, which interferes with the normal PID control and leads to the actual temperature curve.
  • the centrifuge determines the target input parameters according to the set temperature and the set speed of the rotor, and the centrifuge inputs the target input parameters, current temperature and set temperature into the PID controller for temperature adjustment.
  • the rotational speed of the rotor is included in the control algorithm, and the target input parameters are input into the PID controller for temperature adjustment, so as to avoid the influence of the heat generated by the friction between the high-speed rotating rotor and the air during the centrifugal refrigeration process, and improve the temperature adjustment of the centrifuge. accuracy.
  • the centrifuge before acquiring the current temperature of the centrifuge cavity, the centrifuge adjusts the operating frequency of the compressor to the first set frequency according to the difference between the initial temperature and the set temperature for temperature regulation. After obtaining the current temperature of the centrifuge cavity, if the difference between the current temperature and the set temperature is greater than the difference threshold, the centrifuge adjusts the operating frequency of the compressor to the second setting according to the difference between the current temperature and the set temperature. Adjust the temperature at a fixed frequency. Can the temperature of the centrifuge chamber quickly approach the set temperature, and then pass the PID? ? The controller performs precise temperature regulation, which improves the efficiency of the temperature regulation of the centrifuge.
  • an embodiment of the present disclosure provides a device for temperature control of a centrifuge, including a processor (processor) 100 and a memory (memory) 101 .
  • the device may also include a communication interface (Communication Interface) 102 and a bus 103.
  • Communication interface 102 may be used for information transfer.
  • the processor 100 can call the logic instructions in the memory 101 to execute the method for controlling the temperature of the centrifuge in the above embodiment.
  • the above logic instructions in the memory 101 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.
  • the memory 101 can be used to store software programs and computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure.
  • the processor 100 executes the program instructions/modules stored in the memory 101 to execute functional applications and data processing, that is, to implement the method for temperature control of the centrifuge in the above-mentioned embodiments.
  • the memory 101 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal device, and the like.
  • the memory 101 may include a high-speed random access memory, and may also include a non-volatile memory.
  • An embodiment of the present disclosure provides a centrifuge, including the above-mentioned device for temperature control of the centrifuge.
  • An embodiment of the present disclosure provides a storage medium storing computer-executable instructions, and the computer-executable instructions are configured to execute the above method for temperature control of a centrifuge.
  • the above-mentioned storage medium may be a transient storage medium or a non-transitory storage medium.
  • the technical solutions of the embodiments of the present disclosure can be embodied in the form of software products, which are stored in a storage medium and include one or more instructions to make a computer device (which can be a personal computer, a server, or a network equipment, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure.
  • the aforementioned storage medium can be a non-transitory storage medium, including: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc.
  • the term “and/or” as used in this application is meant to include any and all possible combinations of one or more of the associated listed ones.
  • the term “comprise” and its variants “comprises” and/or comprising (comprising) etc. refer to stated features, integers, steps, operations, elements, and/or The presence of a component does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groupings of these.
  • an element defined by the statement “comprising a " does not exclude the presence of additional identical elements in the process, method or apparatus comprising said element.
  • the disclosed methods and products can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units may only be a logical function division.
  • multiple units or components may be combined Or it can be integrated into another system, or some features can be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • each functional unit in the embodiments of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures.
  • two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • the operations or steps corresponding to different blocks may also occur in a different order than that disclosed in the description, and sometimes there is no specific agreement between different operations or steps.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by dedicated hardware implemented in combination with computer instructions.

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Abstract

一种用于离心机控温的方法、装置、离心机及存储介质。控温的方法包括：获取离心腔的当前温度（S01）；在当前温度与设定温度的差值小于或者等于差值阈值的情况下，根据设定温度和转子的设定转速，确定目标输入参数（S02）；将目标输入参数、当前温度和设定温度输入比例-积分-微分PID控制器进行温度调节（S03）。避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升离心机温度调节的准确性。

Description

用于离心机控温的方法及装置、离心机、存储介质
本申请基于申请号为202111089392.X、申请日为2021年9月16日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及离心设备技术领域，例如涉及一种用于离心机控温的方法及装置、离心机、存储介质。
背景技术
目前离心机通过最大功率运行制冷系统对离心腔进行制冷，以迅速达到目标温度的制冷方式过于粗糙，无法实现精确制冷。
现有技术采用PID(Proportion，Integration，Differentiation比例-积分-微分)制冷控制算法进行制冷。在离心制冷过程中，温度一般采用PID闭环控制，使用一组PID参数来进行整个温度段的PID控制，一定程度上实现了精确制冷。
在实现本公开实施例的过程中，发现相关技术中至少存在如下问题：
在实际制冷过程中，由于转子摩擦空气会产生热量，导致采用PID制冷控制算法进行制冷的离心机容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大，从而影响离心机温度调节的准确性。
发明内容
为了对披露的实施例的一些方面有基本的理解，下面给出了简单的概括。所述概括不是泛泛评述，也不是要确定关键/重要组成元素或描绘这些实施例的保护范围，而是作为后面的详细说明的序言。
本公开实施例提供了一种离心机控温的方法及装置、离心机、存储介质，以提升离心机温度调节的准确性。
在一些实施例中，所述方法包括：
获取离心腔的当前温度；
在当前温度与设定温度的差值小于或者等于差值阈值的情况下，根据设定温度和转子 的设定转速，确定温度调节的目标输入参数；
将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
在一些实施例中，所述装置包括：
处理器和存储有程序指令的存储器，处理器被配置为在执行程序指令时，执行上述的用于离心机控温的方法。
在一些实施例中，所述离心机包括：
上述的用于离心机控温的装置。
在一些实施例中，所述存储介质存储有程序指令，程序指令在运行时，执行上述的用于离心机控温的方法。
本公开实施例提供的用于离心机控温方法及装置、离心机、存储介质，可以实现以下技术效果：
获取离心腔的当前温度，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，根据设定温度和转子的设定转速，确定目标输入参数，并输入PID控制器进行温度调节，避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升离心机温度调节的准确性。
以上的总体描述和下文中的描述仅是示例性和解释性的，不用于限制本申请。
附图说明
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明和附图并不构成对实施例的限定，附图中具有相同参考数字标号的元件示为类似的元件，附图不构成比例限制，并且其中：
图1是本公开实施例提供的一个用于离心机控温的方法的示意图；
图2是本公开实施例提供的另一个用于离心机控温的方法的示意图；
图3是本公开实施例提供的另一个用于离心机控温的方法的示意图；
图4是本公开实施例提供的另一个用于离心机控温的方法的示意图；
图5是本公开实施例提供的另一个用于离心机控温的方法的示意图；
图6是本公开实施例提供的一个用于离心机控温的装置的示意图。
具体实施方式
为了能够更加详尽地了解本公开实施例的特点与技术内容，下面结合附图对本公开实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本公开实施例。在 以下的技术描述中，为方便解释起见，通过多个细节以提供对所披露实施例的充分理解。然而，在没有这些细节的情况下，一个或多个实施例仍然可以实施。在其它情况下，为简化附图，熟知的结构和装置可以简化展示。
本公开实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开实施例的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含。
除非另有说明，术语“多个”表示两个或两个以上。
本公开实施例中，字符“/”表示前后对象是一种“或”的关系。例如，A/B表示：A或B。
术语“和/或”是一种描述对象的关联关系，表示可以存在三种关系。例如，A和/或B，表示：A或B，或，A和B这三种关系。
术语“对应”可以指的是一种关联关系或绑定关系，A与B相对应指的是A与B之间是一种关联关系或绑定关系。
当前，离心机包括外壳、离心腔、转子、冷冻装置和PID控制器。离心腔设置于外壳内。转子设置于离心腔内。冷冻装置包括压缩机、冷凝器、膨胀阀和蒸发器，用于调节离心腔的温度。PID控制器能够控制冷冻装置调节离心腔的温度。
基于上述结构，结合图1所示，本公开实施例提供一种用于离心机控温的方法，包括：
S01，离心机获取离心腔的当前温度。
S02，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，离心机根据设定温度和转子的设定转速，确定温度调节的目标输入参数。
S03，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
采用本公开实施例提供的用于离心机控温的方法，离心机能够获取离心腔的当前温度，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，此时，当前温度与设定温度的差值过小，离心机采用PID控制器对离心腔进行精确的温度调节控制。在实际制冷过程中，由于转子摩擦空气会产生热量，导致离心机采用PID控制器进行制冷容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大。因此，离心机根据设定温度和转子的设定转速，确定目标输入参数，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。本实施例将转子的转速纳入控制算法，将目标输入参数输入PID控制器进行温度调节，避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升了离心机 进行温度调节的准确性。
结合图2所示，离心机根据设定温度和转子的设定转速，确定目标输入参数，包括：
S01，离心机获取离心腔的当前温度。
S21，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，离心机确定设定温度所处的温度区间。
S22，离心机根据对应关系，确定与温度区间对应的PID参数。
S23，离心机根据PID参数和设定转速，确定目标输入参数。
S03，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
其中，PID参数包括比例参数、积分参数和微分参数。
这样，离心机确定设定温度所处的温度区间，并根据对应关系，确定与温度区间对应的PID参数。根据设定温度所处的温度区间确定对应的PID参数，可以实现当前温度到设定温度的精确调节。在实际制冷过程中，由于转子摩擦空气会产生热量，导致离心机采用PID控制器进行制冷容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大。因此，离心机根据PID参数和设定转速，确定目标输入参数。其中，PID参数包括比例参数、积分参数和微分参数。即考虑了PID控制算法中的比例项、积分项以及微分项对PID控制器控制冷冻装置进行温度调节过程的影响。本方案既考虑了设定温度所处的温度区间对温度调节的影响，又考虑了转子转速对温度调节的影响，还考虑了PID控制算法中的比例项、积分项以及微分项对温度调节的影响，极大地提升了离心机进行温度调节的精确度。
可选地，离心机根据PID参数和设定转速，确定目标输入参数，包括：离心机根据设定转速，确定修正系数；离心机根据修正系数、比例参数和积分参数，确定目标输入参数。
这样，离心机根据设定转速，确定修正系数，并通过修正系数、比例参数和积分参数，确定PID控制器的目标输入参数。本方案将转子的转速纳入控制算法，并考虑了PID控制算法中的比例项、积分项以及微分项对PID控制器控制冷冻装置进行温度调节过程的影响。避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升了离心机进行温度调节的准确性。
可选地，离心机根据设定转速，确定修正系数，包括：离心机计算K＝(S/Smax) 2；其中，K为修正系数，Smax为转子的最大转速，S为设定转速。
这样，离心机计算K＝(S/Smax) 2，设定转速S越大，修正系数K值越大，充分考虑了高速旋转的转子与空气发生摩擦所产生的热量对PID控制器的影响，提升了离心机进行温度调节的准确性。
可选地，离心机根据修正系数、比例参数和积分参数，确定目标输入参数，包括：离心机计算P＝K×P0，I＝K×I0；其中，目标输入参数包括比例输入参数和积分输入参数，P为比例输入参数，I为积分输入参数，K为修正系数；P0为比例参数，I0为积分参数。
这样，离心机计算P＝K×P0，I＝K×I0，得到目标输入参数。充分考虑了转子的转速对离心机制冷的影响。例如，当设定转速等于15000rpm时，K值为1，即使用实际测试条件(15000rpm)的PID参数；当设定转速小于15000rpm时，K值小于1，且设定转速越小，K值越小。高转速比低转速发热量大，对制冷影响大，P值和I值同比也要大。以使离心机进入PID控制器调节后，温度调节的前半段通过P值调节，压缩机能很快以高速制冷，快速抵消散热量的影响，快速靠近设定温度，后半段通过I值调节，压缩机输出转速也能很快增加，继续抵消散热量的影响。然后随着时间的增加，逐渐达到设定温度。
结合图3所示，本公开实施例提供一种用于离心机控温的方法，包括：
S31，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至第一设定频率，进行温度调节。
S01，离心机获取离心腔的当前温度。
S02，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，离心机根据设定温度和转子的设定转速，确定温度调节的目标输入参数。
S03，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
采用本公开实施例提供的用于离心机控温的方法，离心机能够获取离心腔的当前温度，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，此时，当前温度与设定温度的差值过小，离心机采用PID控制器对离心腔进行精确的温度调节控制。在实际制冷过程中，由于转子摩擦空气会产生热量，导致离心机采用PID控制器进行制冷容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大。因此，离心机根据设定温度和转子的设定转速，确定目标输入参数，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。本实施例将转子的转速纳入控制算法，将目标输入参数输入PID控制器进行温度调节，避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升了离心机进行温度调节的准确性。另外，在获取离心腔的当前温度前，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至第一设定频率进行温度调节。能够使离心腔的温度快速接近设定温度，再通过PID？？控制器进行精确的温度调节，提高了离心机进行温度调节的效率。
可选地，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至第一设定频率进行温度调节，包括：离心机根据预设的第一对应关系，确定与初始温度与设定温度的差值对应的压缩机运行频率；离心机按照压缩机运行频率，将压缩机的运行频率调节至第一设定频率。
这样，在获取离心腔的当前温度前，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至与初始温度与设定温度的差值对应的第一设定频率，进行温度调节。能够使离心腔的温度快速接近设定温度，再通过PID？？控制器进行精确的温度调节，提高了离心机进行温度调节的效率。
结合图4所示，本公开实施例提供一种用于离心机控温的方法，包括：
S01，离心机获取离心腔的当前温度。
S41，在当前温度与设定温度的差值大于差值阈值的情况下，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至第二设定频率，进行温度调节。
S02，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，离心机根据设定温度和转子的设定转速，确定温度调节的目标输入参数。
S03，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
采用本公开实施例提供的用于离心机控温的方法，离心机能够获取离心腔的当前温度，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，此时，当前温度与设定温度的差值过小，离心机采用PID控制器对离心腔进行精确的温度调节控制。在实际制冷过程中，由于转子摩擦空气会产生热量，导致离心机采用PID控制器进行制冷容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大。因此，离心机根据设定温度和转子的设定转速，确定目标输入参数，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。本实施例将转子的转速纳入控制算法，将目标输入参数输入PID控制器进行温度调节，避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升了离心机进行温度调节的准确性。另外，在获取离心腔的当前温度后，在当前温度与设定温度的差值大于差值阈值的情况下，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至第二设定频率进行温度调节。能够使离心腔的温度快速接近设定温度，再通过PID？？控制器进行精确的温度调节，提高了离心机进行温度调节的效率。
可选地，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至第二设定频率进行温度调节，包括：离心机根据预设的第二对应关系，确定与当前温度与设定温度的差值对应的压缩机运行频率；离心机按照压缩机运行频率，将压缩机的运行频率调节至 第二设定频率。
这样，在获取离心腔的当前温度后，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至与当前温度与设定温度的差值对应的第二设定频率，进行温度调节。能够使离心腔的温度快速接近设定温度，再通过PID？？控制器进行精确的温度调节，提高了离心机进行温度调节的效率。
结合图5所示，本公开实施例提供一种用于离心机控温的方法，包括：
S31，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至第一设定频率，进行温度调节。
S01，离心机获取离心腔的当前温度。
S41，在当前温度与设定温度的差值大于差值阈值的情况下，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至第二设定频率，进行温度调节。
S02，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，离心机根据设定温度和转子的设定转速，确定温度调节的目标输入参数。
S03，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。
采用本公开实施例提供的用于离心机控温的方法，离心机能够获取离心腔的当前温度，在当前温度与设定温度的差值小于或者等于差值阈值的情况下，此时，当前温度与设定温度的差值过小，离心机采用PID控制器对离心腔进行精确的温度调节控制。在实际制冷过程中，由于转子摩擦空气会产生热量，导致离心机采用PID控制器进行制冷容易受到高速旋转的转子与空气发生摩擦所产生的热量的影响，干扰正常的PID控制，导致实际温度曲线与理想控温曲线差异性较大。因此，离心机根据设定温度和转子的设定转速，确定目标输入参数，离心机将目标输入参数、当前温度和设定温度输入PID控制器进行温度调节。本实施例将转子的转速纳入控制算法，将目标输入参数输入PID控制器进行温度调节，避免离心制冷过程中高速旋转的转子与空气发生摩擦所产生的热量的影响，提升了离心机进行温度调节的准确性。另外，在获取离心腔的当前温度前，离心机根据初始温度与设定温度的差值，调节压缩机的运行频率至第一设定频率进行温度调节。在获取离心腔的当前温度后，在当前温度与设定温度的差值大于差值阈值的情况下，离心机根据当前温度与设定温度的差值，调节压缩机的运行频率至第二设定频率进行温度调节。能够使离心腔的温度快速接近设定温度，再通过PID？？控制器进行精确的温度调节，提高了离心机进行温度调节的效率。
结合图6所示，本公开实施例提供一种用于离心机控温的装置，包括处理器(processor)100和存储器(memory)101。可选地，该装置还可以包括通信接口(Communication Interface) 102和总线103。其中，处理器100、通信接口102、存储器101可以通过总线103完成相互间的通信。通信接口102可以用于信息传输。处理器100可以调用存储器101中的逻辑指令，以执行上述实施例的用于离心机控温的方法。
此外，上述的存储器101中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。
存储器101作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令/模块。处理器100通过运行存储在存储器101中的程序指令/模块，从而执行功能应用以及数据处理，即实现上述实施例中用于离心机控温的方法。
存储器101可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端设备的使用所创建的数据等。此外，存储器101可以包括高速随机存取存储器，还可以包括非易失性存储器。
本公开实施例提供了一种离心机，包含上述的用于离心机控温的装置。
本公开实施例提供了一种存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行上述用于离心机控温的方法。
上述的存储介质可以是暂态存储介质，也可以是非暂态存储介质。
本公开实施例的技术方案可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括一个或多个指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开实施例所述方法的全部或部分步骤。而前述的存储介质可以是非暂态存储介质，包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等多种可以存储程序代码的介质，也可以是暂态存储介质。
以上描述和附图充分地示出了本公开的实施例，以使本领域的技术人员能够实践它们。其他实施例可以包括结构的、逻辑的、电气的、过程的以及其他的改变。实施例仅代表可能的变化。除非明确要求，否则单独的部件和功能是可选的，并且操作的顺序可以变化。一些实施例的部分和特征可以被包括在或替换其他实施例的部分和特征。而且，本申请中使用的用词仅用于描述实施例并且不用于限制权利要求。如在实施例以及权利要求的描述中使用的，除非上下文清楚地表明，否则单数形式的“一个”(a)、“一个”(an)和“所述”(the)旨在同样包括复数形式。类似地，如在本申请中所使用的术语“和/或”是指包含一个或一个以上相关联的列出的任何以及所有可能的组合。另外，当用于本申请中时，术语“包括”(comprise)及其变型“包括”(comprises)和/或包括(comprising)等指陈述的特 征、整体、步骤、操作、元素，和/或组件的存在，但不排除一个或一个以上其它特征、整体、步骤、操作、元素、组件和/或这些的分组的存在或添加。在没有更多限制的情况下，由语句“包括一个…”限定的要素，并不排除在包括所述要素的过程、方法或者设备中还存在另外的相同要素。本文中，每个实施例重点说明的可以是与其他实施例的不同之处，各个实施例之间相同相似部分可以互相参见。对于实施例公开的方法、产品等而言，如果其与实施例公开的方法部分相对应，那么相关之处可以参见方法部分的描述。
本领域技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，可以取决于技术方案的特定应用和设计约束条件。所述技术人员可以对每个特定的应用来使用不同方法以实现所描述的功能，但是这种实现不应认为超出本公开实施例的范围。所述技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本文所披露的实施例中，所揭露的方法、产品(包括但不限于装置、设备等)，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，可以仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例。另外，在本公开实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
附图中的流程图和框图显示了根据本公开实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。在附图中的流程图和框图所对应的描述中，不同的方框所对应的操作或步骤也可以以不同于描述中所披露的顺序发 生，有时不同的操作或步骤之间不存在特定的顺序。例如，两个连续的操作或步骤实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。

Claims (10)

  1. 一种用于离心机控温的方法，其特征在于，包括：
    获取离心腔的当前温度；
    在所述当前温度与设定温度的差值小于或者等于差值阈值的情况下，根据所述设定温度和转子的设定转速，确定温度调节的目标输入参数；
    将所述目标输入参数、所述当前温度和所述设定温度输入比例-积分-微分PID控制器进行温度调节。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述设定温度和转子的设定转速，确定目标输入参数，包括：
    确定所述设定温度所处的温度区间；
    根据对应关系，确定与所述温度区间对应的PID参数；
    根据所述PID参数和所述设定转速，确定所述目标输入参数；
    其中，所述PID参数包括比例参数、积分参数和微分参数。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述PID参数和所述设定转速，确定所述目标输入参数，包括：
    根据所述设定转速，确定修正系数；
    根据所述修正系数、所述比例参数和所述积分参数，确定所述目标输入参数。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述设定转速，确定修正系数，包括：
    计算K＝(S/Smax) 2；
    其中，K为所述修正系数，Smax为转子的最大转速，S为所述设定转速。
  5. 根据权利要求3所述的方法，其特征在于，所述根据所述修正系数、所述比例参数和所述积分参数，确定所述目标输入参数，包括：
    计算P＝K×P0，I＝K×I0；
    其中，所述目标输入参数包括比例输入参数和积分输入参数，P为所述比例输入参数，I为所述积分输入参数，K为所述修正系数；P0为所述比例参数，I0为所述积分参数。
  6. 根据权利要求1至5任一项所述的方法，其特征在于，所述获取离心腔的当前温度前，还包括：
    根据初始温度与所述设定温度的差值，调节压缩机的运行频率至第一设定频率，进行温度调节。
  7. 根据权利要求1至5任一项所述的方法，其特征在于，所述获取离心腔的当前温度后，还包括：
    在所述当前温度与所述设定温度的差值大于所述差值阈值的情况下，根据所述当前温度与所述设定温度的差值，调节压缩机的运行频率至第二设定频率，进行温度调节。
  8. 一种用于离心机控温的装置，包括处理器和存储有程序指令的存储器，其特征在于，所述处理器被配置为在执行所述程序指令时，执行如权利要求1至7任一项所述的用于离心机控温的方法。
  9. 一种离心机，其特征在于，包括如权利要求8所述的用于离心机控温的装置。
  10. 一种存储介质，存储有程序指令，其特征在于，所述程序指令在运行时，执行如权利要求1至7任一项所述的用于离心机控温的方法。
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