CN-121995993-A - Thermostat PID control method, device, equipment and medium

CN121995993ACN 121995993 ACN121995993 ACN 121995993ACN-121995993-A

Abstract

The invention relates to the technical field of automatic control and constant temperature measurement test, and provides a method, a device, equipment and a medium for controlling a PID (proportion integration differentiation) of a thermostat, wherein the method comprises the steps of obtaining the temperature of the current acquisition time of the thermostat and the temperature of a first number of historical acquisition time; determining temperature deviation information according to the current acquisition time temperature and the first number of historical acquisition time temperatures, determining gain information at the current acquisition time according to the temperature deviation information, and determining the control quantity of heating power of a heater in the thermostat according to the gain information and the temperature deviation information. The invention realizes the rapid convergence and high-precision steady-state maintenance of the thermostat through the variable gain strategy on the premise of ensuring the stability of the system.

Inventors

GAO BO
ZHANG HAIYANG
SONG YAONAN
LIU SIQI
KONG XIANGJIE

Assignees

中国科学院理化技术研究所

Dates

Publication Date: 20260508
Application Date: 20260213

Claims (10)

1. A method of PID control of a thermostat, comprising: acquiring the current acquisition time temperature of the thermostat and the first number of historical acquisition time temperatures; Determining temperature deviation information according to the current acquisition time temperature and the first number of historical acquisition time temperatures; According to the temperature deviation information, determining gain information at the current acquisition time; and determining the control amount of the heating power of the heater inside the thermostat according to the gain information and the temperature deviation information.
2. The method according to claim 1, wherein determining temperature deviation information based on the current acquisition time temperature and a first number of historical acquisition time temperatures comprises: Determining the temperature deviation at each acquisition time according to the current acquisition time temperature, the first number of historical acquisition time temperatures and the set target temperature; determining a temperature deviation change rate and a temperature deviation change acceleration according to the temperature deviation at each acquisition time; And taking the temperature deviation, the temperature deviation change rate and the temperature deviation change acceleration at each acquisition time as temperature deviation information.
3. The method according to claim 2, wherein determining gain information at a current acquisition time based on the temperature deviation information comprises: And determining the proportional gain, the integral gain and the differential gain at the current acquisition time according to the temperature deviation change rate and the temperature deviation change acceleration.
4. A method of PID control of a thermostat according to claim 3, characterized in that determining the proportional gain, the integral gain and the differential gain at the current acquisition time from the temperature deviation change rate and the temperature deviation change acceleration comprises: deriving a preferred formula according to preset parameters, and determining proportional gain, integral gain and differential gain at the current acquisition time according to the temperature deviation change rate and the temperature deviation change acceleration; the parameter derivation preference formula comprises: Wherein, the As a base parameter; Is a weighted adjustment coefficient; For the normalized feature mapping function, In order to provide a rate of change of the temperature deviation, Acceleration is varied for temperature deviation.
5. A method according to claim 3 or 4, characterized in that the current acquisition instant temperature, and the first number of historical acquisition instant temperatures, respectively, are 、、 Wherein The current sampling time is the current sampling time; according to the current acquisition time temperature, the first number of historical acquisition time temperatures and the set target temperature Determining temperature deviation at three acquisition moments ; ; Determining a temperature deviation change rate and a temperature deviation change acceleration according to the temperature deviation at three acquisition moments; ; ; In order to provide a rate of change of the temperature deviation, Acceleration is varied for temperature deviation.
6. The method according to claim 1, wherein the determining the current control amount of the heating power of the heater inside the thermostat based on the gain information and the temperature deviation information includes: Determining the current output increment of the heating power of the heater in the thermostat according to the gain information, the temperature deviation at the current acquisition time, the temperature deviation change rate and the temperature deviation change acceleration; And determining the current control quantity of the heating power of the heater inside the thermostat according to the current output increment of the heating power of the heater inside the thermostat and the control quantity of the heating power of the heater inside the thermostat at the previous acquisition moment.
7. The method of PID control of a thermostat of claim 1, further comprising if the current control exceeds a maximum power of the heater, the current control is the maximum power of the heater and stopping calculating gain information for a next acquisition time.
8. A thermostat PID control device, comprising: the acquisition module is used for acquiring the current acquisition time temperature of the thermostat and the first number of historical acquisition time temperatures; the calculation module is used for determining temperature deviation information according to the current acquisition time temperature and the first number of historical acquisition time temperatures; the gain module is used for determining gain information at the current acquisition time according to the temperature deviation information; and the adjusting module is used for determining the control quantity of the heating power of the heater in the thermostat according to the gain information and the temperature deviation information.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the thermostat PID control method as claimed in any one of claims 1-7 when executing the program.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the thermostat PID control method as claimed in any one of claims 1-7.

Description

Thermostat PID control method, device, equipment and medium Technical Field The invention relates to the technical field of automatic control and constant temperature metering test, in particular to a PID control method, a PID control device, PID control equipment and a PID control medium for a constant temperature. Background The thermostat is a device capable of providing a constant temperature environment, and is widely applied in the fields of scientific research, industry and the like. Such as cryostats, and the like. In low temperature measurement and very low temperature physical experiments, it is important to realize high-precision constant temperature control. However, high precision temperature control in low temperature environments presents a significant challenge: 1. The nonlinearity is strong, and the thermal load of the cryostat and the specific heat capacity of materials (such as oxygen-free copper and stainless steel) show a sharp nonlinear relation along with the temperature change. For example, the specific heat capacity of a material generally follows debye at very low temperatures The law drops sharply, resulting in a system with time constants and gains that differ significantly in different temperature regions. 2. Conventional PID limitations conventional PID controllers typically employ fixed parameters (gain). In the temperature changing process of the wide temperature area, one set of parameters can well perform in the high temperature area, and system oscillation can be caused by overlarge gain in the low temperature area, otherwise, response delay can be caused. 3. The complexity of the existing scheme is that the existing control (such as fuzzy PID and neural network PID) can solve part of problems, but the existing control has large calculation amount, the rule base depends on expert experience, and the existing control is difficult to quickly respond to sudden thermal disturbance in an embedded instrument with limited resources or an upper computer loop with extremely high real-time requirement. Disclosure of Invention Aiming at the problems existing in the prior art, the invention provides a method, a device, equipment and a medium for PID control of a thermostat. The invention provides a PID control method of a thermostat, comprising the following steps: acquiring the current acquisition time temperature of the thermostat and the first number of historical acquisition time temperatures; Determining temperature deviation information according to the current acquisition time temperature and the first number of historical acquisition time temperatures; According to the temperature deviation information, determining gain information at the current acquisition time; and determining the control amount of the heating power of the heater inside the thermostat according to the gain information and the temperature deviation information. According to the PID control method of the thermostat, the determining temperature deviation information according to the current acquisition time temperature and the first number of historical acquisition time temperatures comprises the following steps: Determining the temperature deviation at each acquisition time according to the current acquisition time temperature, the first number of historical acquisition time temperatures and the set target temperature; determining a temperature deviation change rate and a temperature deviation change acceleration according to the temperature deviation at each acquisition time; And taking the temperature deviation, the temperature deviation change rate and the temperature deviation change acceleration at each acquisition time as temperature deviation information. According to the PID control method of the thermostat, the gain information at the current acquisition time is determined according to the temperature deviation information, and the method comprises the following steps: And determining the proportional gain, the integral gain and the differential gain at the current acquisition time according to the temperature deviation change rate and the temperature deviation change acceleration. According to the PID control method of the thermostat, the proportional gain, the integral gain and the differential gain at the current acquisition time are determined according to the temperature deviation change rate and the temperature deviation change acceleration, and the PID control method comprises the following steps: deriving a preferred formula according to preset parameters, and determining proportional gain, integral gain and differential gain at the current acquisition time according to the temperature deviation change rate and the temperature deviation change acceleration; the parameter derivation preference formula comprises: Wherein, the As a base parameter; Is a weighted adjustment coefficient; For the normalized feature mapping function, In order to provide a rate of change of the temperature deviation