Control method and device of cleaning equipment, equipment, medium and program product

Abstract

The invention provides a control method and device for cleaning equipment, the equipment, a medium and a program product, and can be applied to the technical field of liquid cooling servers. The method comprises the steps of determining a pressure difference value between a reference pressure value and a real-time pressure value of fluid at an outlet of a target pump in the cleaning equipment; a preset pressure control parameter is used for processing the pressure difference value based on a lag relation, a rotating speed adjusting signal is determined, and the lag relation indicates the lag degree between the rotating speed change moment of the target pump and the change moment of the collected fluid pressure value; the target pump is controlled to operate based on the rotating speed indicated by the rotating speed adjusting signal to adjust the output flow of the target pump, so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameter is obtained by performing simulation calculation on a hysteresis relation based on an inertia time constant and pressure wave propagation delay time of the fluid at the outlet of the target pump.

Description

Technical Field

[0001] The present application relates to the technical field of liquid-cooled servers, and in particular to a control method, device, equipment, medium, and program product for a cleaning device. Background Art

[0002] Liquid cooling equipment typically exchanges heat between a coolant and the target device. For example, a liquid-cooled server uses a continuous flow of coolant to exchange heat with the server's heat-generating components to dissipate heat. Newly installed liquid-cooled servers often contain gas and impurities in their cooling lines. To prevent cavitation and microbial contamination, these lines must be cleaned.

[0003] Generally, a proportional-integral-differential controller is used to flush the liquid cooling pipeline with constant-pressure circulating water. However, during the operation of the cleaning equipment, the pipeline resistance will cause a delay in the propagation of the pressure wave, thereby affecting the pressure change of the water pump output fluid; controlling the target pump output flow based on pressure feedback ignores the actual operating characteristics of the water pump affected by the delay in pressure wave propagation, and performs flow control based on an ideal state. The control accuracy and response speed need to be improved. Summary of the Invention

[0004] In view of the above problems, the present application provides a control method, apparatus, equipment, medium and program product for cleaning equipment to improve the control accuracy and response speed of the cleaning equipment.

[0005] According to the first aspect of the present application, a control method for a cleaning device is provided, the method comprising: determining a pressure difference between a reference pressure value and a real-time pressure value of a fluid at an outlet of a target pump in the cleaning device; processing the pressure difference based on a hysteresis relationship using a preset pressure control parameter to determine a speed adjustment signal, the hysteresis relationship indicating the degree of hysteresis between the moment when the target pump speed changes and the moment when the fluid pressure value is collected to change; controlling the target pump to operate at a speed indicated by the speed adjustment signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameter is obtained by simulating and calculating the hysteresis relationship based on the inertia time constant and the pressure wave propagation delay time of the fluid at the outlet of the target pump; the target pump is connected to a fluid passage of the cleaning device, the inertia time constant is obtained by the response time from the fluid flowing out from the starting point of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the starting point of the fluid passage to the end point of the fluid passage.

[0006] According to a second aspect of the present application, there is provided a control device for a cleaning device, the device comprising: a pressure difference determination module for determining a pressure difference between a reference pressure value and a real-time pressure value of a fluid at an outlet of a target pump in the cleaning device; a speed regulation signal determination module for processing the pressure difference based on a hysteresis relationship using preset pressure control parameters to determine a speed regulation signal, the hysteresis relationship indicating the degree of hysteresis between the moment when the target pump speed changes and the moment when the fluid pressure value is collected to change; a flow regulation module for controlling the target pump to operate at a speed indicated by the speed regulation signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameter is obtained by simulating and calculating the hysteresis relationship based on an inertia time constant and a pressure wave propagation delay time of the fluid at the outlet of the target pump; the target pump is connected to a fluid passage of the cleaning device, the inertia time constant is obtained by the response time from the fluid flowing out of the fluid passage starting point until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the fluid passage starting point to the fluid passage end point.

[0007] The third aspect of the present application provides an electronic device, comprising: one or more processors; a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0008] The fourth aspect of the present application further provides a computer-readable storage medium having a computer program or instructions stored thereon, which implements the steps of the above method when the computer program or instructions are executed by a processor.

[0009] The fifth aspect of the present application further provides a computer program product, comprising a computer program or instructions, which implement the steps of the above method when executed by a processor.

[0010] According to the control method, device, equipment, medium and program product of the cleaning equipment provided in this application, the pressure difference between the reference pressure value and the real-time pressure value of the fluid at the outlet of the target pump in the cleaning equipment is determined, and the pressure difference is processed based on the hysteresis relationship using preset pressure control parameters to determine the speed adjustment signal. In the process of controlling the output flow of the target pump based on pressure feedback, the pressure wave propagation delay caused by the pipeline during the fluid transportation process is taken into account, thereby improving the response speed and control accuracy of the target pump output flow adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above contents and other objects, features and advantages of the present application will become more apparent through the following description of the embodiments of the present application with reference to the accompanying drawings, in which:

[0012] Figure 1Schematically illustrates an application scenario diagram of a control method, apparatus, device, medium, and program product for a cleaning device according to an embodiment of the present application;

[0013] Figure 2 The working principle diagram of the cleaning device according to the embodiment of the present application is schematically shown;

[0014] Figure 3 A flow chart schematically illustrates a method for controlling a cleaning device according to an embodiment of the present application;

[0015] Figure 4 Schematically shows a flow chart for calculating pressure control parameters according to an embodiment of the present application;

[0016] Figure 5 Schematically shows a detailed flow chart of calculating pressure control parameters according to an embodiment of the present application;

[0017] Figure 6 Schematically shows another detailed flow chart for calculating pressure control parameters according to an embodiment of the present application;

[0018] Figure 7 A flow chart schematically illustrates flow control in a fluid path according to an embodiment of the present application;

[0019] Figure 8 Schematically shows a control principle diagram of multiple fluid paths according to an embodiment of the present application;

[0020] Figure 9 Schematically shows a flow chart of feedforward compensation according to an embodiment of the present application;

[0021] Figure 10 Schematically shows a control principle diagram of a cleaning device according to an embodiment of the present application;

[0022] Figure 11 Schematically shows a block diagram of a hysteresis relationship of a cleaning device according to an embodiment of the present application;

[0023] Figure 12 A diagram schematically illustrates an application example of a control method for a cleaning device according to an embodiment of the present application;

[0024] Figure 13 A structural block diagram of a control device for a cleaning device according to an embodiment of the present application is schematically shown;

[0025] Figure 14 A block diagram of an electronic device suitable for implementing a control method for a cleaning device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present application. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present application. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present application.

[0027] The terms used herein are only for describing specific embodiments and are not intended to limit this application. The terms "comprises," "comprising," and the like as used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0028] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0029] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0030] In order to remove gases and impurities from newly produced liquid-cooled servers, the pipes in the liquid-cooled servers are often flushed through a constant pressure liquid supply based on proportional-integral-derivative (PID) control, and the output flow is adjusted with the help of pressure feedback.

[0031] Pressure control is usually performed based only on the difference between the set value and the actual pressure value, without considering the delay in pressure wave propagation caused by pipeline resistance during the actual cleaning process and the dynamic changes of related components during the cleaning process, such as pumps and electric proportional valves. As a result, the control accuracy and response speed need to be improved.

[0032] An embodiment of the present application provides a control method for cleaning equipment, which simulates and calculates the lag relationship based on the inertia time constant and pressure wave propagation delay time that can quantitatively characterize the effect of pipeline resistance on the delay of fluid pressure wave propagation, and obtains pressure control parameters, so that when performing pressure control, it can fully consider the impact of the pipeline on the delivery of cleaning liquid during the actual cleaning process, thereby improving the control accuracy and response speed of the output flow control of the cleaning equipment.

[0033] Figure 1 The following schematically shows an application scenario diagram of a control method for a cleaning device according to an embodiment of the present application.

[0034] like Figure 1 As shown, an application scenario 100 of the control method for cleaning equipment according to an embodiment of the present application includes a processor 101 and a cleaning device. The processor 101 can be a hardware device such as an industrial computer or a server. The cleaning device represents various devices and components used to clean the liquid cooling pipeline 216 in a liquid-cooled server. The cleaning device can include flow control devices such as a water pump 210 and a proportional valve 218, and fluid conveying equipment such as pipelines and a water tank 204. The processor 101 can transmit control signals to the cleaning device, and the cleaning device can provide real-time operating status feedback to the processor 101, such as the real-time flow rate and pressure of the cleaning fluid output in the pipeline.

[0035] Figure 2 The working principle diagram of the cleaning device according to an embodiment of the present application is schematically shown.

[0036] Exemplarily, the cleaning equipment includes a water tank 204 for storing cleaning liquid, a water pump 210 connected to the water tank 204, the water tank 204 is equipped with an exhaust valve 214, a liquid level sensor 203 for monitoring the high, medium and low liquid levels of the cleaning liquid, an online monitor 205 for monitoring the conductivity and pH value of the cleaning liquid, a turbidity monitor 219 for monitoring the turbidity of the cleaning liquid, a heater 206 for heating the cleaning liquid, and a temperature sensor 212 for monitoring the temperature of the cleaning liquid, so as to timely alarm when the above indicators are abnormal; the water tank 204 is replenished with water through a water replenishment pipeline equipped with a one-way valve 211 and a diaphragm pump 207.

[0037] The water pump 210 is used to provide cleaning fluid with stable pressure and is the source of pressure and flow control. It is connected to the fluid passage through a one-way valve 211, and the one-way valve 211 prevents the backflow of cleaning fluid caused by pressure loss such as pipeline rupture; a flow sensor 217 for measuring the flow at the outlet of the water pump 210, a temperature sensor 212 for measuring the temperature at the outlet of the water pump 210, an automatic exhaust valve 202 and a pressure sensor 213 for measuring the pressure at the outlet of the water pump 210 are also arranged between the water pump 210 and the fluid passage; an electric ball valve 215 for controlling the on-off of the fluid passage, a pressure sensor 213 for measuring the pressure of the cleaning fluid in the fluid passage, a flow sensor 217 for measuring the flow of cleaning fluid in the fluid passage and a proportional valve 218 for controlling the flow of cleaning fluid in the fluid passage are arranged in sequence along the flow direction of the cleaning fluid.

[0038] There can be multiple fluid pathways, which are used to simultaneously clean the liquid cooling pipes 216 of multiple liquid-cooled servers. The liquid cooling pipes 216 are connected to the fluid pathways through quick-release self-sealing joints 220. The cleaning liquid is output from the water tank 204 to the water pump 210, and is transported to each fluid pathway through the water pump 210; the output ends of the multiple fluid pathways are connected to the filter device 201 through the main pipeline, and the filter device 201 is connected to the water pump 210 through a pipeline equipped with a manual ball valve 208 and a filter 209; a pressure sensor 213 for monitoring the main road pressure is provided on the main pipeline to issue an alarm when the main road pressure is abnormal.

[0039] It should be understood that Figure 1 The number of processors 101 and cleaning devices is only for illustration purposes and any number of processors 101 and cleaning devices may be provided as required.

[0040] The following will be based on Figure 1 The scene described and Figure 2 The principle described by Figures 3 to 12 The control method of the cleaning equipment of the disclosed embodiment is described in detail.

[0041] Figure 3 The flowchart of the control method of the cleaning equipment according to the embodiment of the present application is schematically shown.

[0042] like Figure 3 As shown, the control method of the cleaning device of this embodiment includes operations S310 to S330.

[0043] In operation S310, a reference pressure value is determined. The pressure difference between the real-time pressure value P of the fluid at the outlet of the target pump in the cleaning equipment .

[0044] In operation S320, the pressure difference is processed based on the hysteresis relationship using the preset pressure control parameters. , determine the speed adjustment signal.

[0045] In operation S330, the target pump is controlled to operate based on the speed indicated by the speed adjustment signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value. .

[0046] According to an embodiment of the present application, the target pump refers to the water pump 210 in the cleaning device; the reference pressure value The target pressure value that the target pump outputs the cleaning fluid and is expected to reach and maintain is used as the benchmark for controlling the output flow of the target pump based on pressure, so that the actual pressure tracks the reference value; the pressure difference Reflects the real-time pressure value P and the reference pressure value The deviation between.

[0047] For example, if the real-time pressure value P of the cleaning fluid output by the target pump is less than the reference pressure value , then the pressure difference If it is positive, it means that the target pump speed needs to be increased to increase the flow rate of the output cleaning fluid, so as to increase the pressure value of the output cleaning fluid and make the pressure difference Gradually becomes 0; on the contrary, if the real-time pressure value P of the cleaning fluid output by the target pump is greater than the reference pressure value , then the pressure difference If it is negative, it means that the speed of the target pump needs to be reduced to reduce the flow rate of the cleaning fluid output by the target pump so that the pressure difference Gradually to 0, maintaining constant pressure state.

[0048] For example, if the reference pressure value is 0.5MPa and the real-time pressure value is 0.3Mpa, the pressure difference is To achieve a pressure of 0.2 MPa, the target pump speed needs to be increased.

[0049] According to an embodiment of the present application, the pressure control parameter represents an adjustable coefficient of a preset pressure control algorithm, which is used to process the pressure difference based on the hysteresis relationship learned by simulation calculation; the hysteresis relationship is used to indicate the degree of lag from the moment when the target pump speed changes to the moment when the fluid pressure value is collected to change, reflecting the delay caused by the pipeline to the propagation of the output cleaning fluid pressure wave.

[0050] Exemplarily, the pressure control parameters include a proportional parameter, an integral parameter, and a differential parameter in a proportional-integral-differential control algorithm, which is also a PID controller.

[0051] For example, during the cleaning process of the liquid cooling pipe 216 in the liquid cooling server, the pressure difference of the input is calculated by the PID controller using the proportional parameter, the integral parameter and the differential parameter. The three independent operations of the proportional link, the integral link and the differential link are performed respectively, and the operation results are superimposed to obtain the speed adjustment signal of the target pump in the current feedback cycle.

[0052] According to an embodiment of the present application, the pressure control parameter is obtained by simulating and calculating the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time.

[0053] In this embodiment, the target pump is connected to the fluid passage of the cleaning equipment. The inertia time constant quantifies the speed of flow change after the fluid is driven, and is obtained by the response time from the fluid flowing out from the starting point of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate; the pressure wave propagation delay time indicates the transmission time of pressure change information, which is obtained by the time required for the fluid pressure wave to propagate from the starting point of the fluid passage to the end point of the fluid passage.

[0054] Exemplarily, the inertia time constant is calculated using the difference between the moment when the cleaning fluid fills the fluid passage and reaches the rated flow rate and the target pump start moment, and the pressure wave propagation delay time is calculated using the length of the fluid passage and the speed of sound in the cleaning fluid.

[0055] For example, the inertia time constant Expressed as:

[0056] ;

[0057] Where, Indicates the moment when the cleaning liquid fills the fluid passage and reaches the rated flow rate, determined by data collected by the flow sensor 217 disposed at the end of the fluid passage; Indicates the start-up time of the target pump. At this time, the cleaning fluid flows out from the starting point of the fluid path.

[0058] Pressure wave propagation delay time Expressed as:

[0059] ;

[0060] Where, represents the length of the fluid path, C represents the speed of sound in the cleaning fluid, and during the cleaning of the liquid cooling pipe 216, it is measured that C is the speed of sound in water, specifically 1400 m / s.

[0061] In order to make the target pump control based on pressure feedback conform to the actual characteristics of the target pump output flow, in this embodiment, the inertia time constant representing the propagation characteristics of the pressure wave in the pipeline and the pressure wave propagation delay time are introduced into the simulation optimization of the lag relationship, reflecting the dynamic changes of the output cleaning fluid in the pipeline caused by the pipeline resistance, so that the final pressure control parameters fit the actual cleaning equipment control scenario.

[0062] Figure 4 The flowchart of calculating the pressure control parameters according to an embodiment of the present application is schematically shown.

[0063] In some embodiments, simulating and calculating the hysteresis relationship based on the inertia time constant of the fluid at the target pump outlet and the pressure wave propagation delay time to obtain the pressure control coefficient includes operations S410 to S440.

[0064] In operation S410 , a transition rate from the moment when the fluid pressure value actually changes to the moment when the fluid pressure is in a steady state is calculated according to the inertia time constant to obtain an inertia delay parameter.

[0065] In operation S420 , the time difference from the moment the target pump speed changes to the moment the pressure wave is transmitted to the pressure sensor 213 is calculated according to the pressure wave propagation delay time to obtain an acquisition delay parameter.

[0066] In operation S430 , a fluid inertia parameter is obtained according to the inertia delay parameter, the acquisition delay parameter, and the pressure static gain.

[0067] In operation S440 , the hysteresis relationship is characterized by the fluid inertia parameter to obtain a pressure control parameter.

[0068] According to an embodiment of the present application, the inertia delay parameter is used to indicate the speed of change of the flow of the fluid in the fluid passage, and reflects the transition rate of the fluid pressure from the initial change to the steady state.

[0069] In this embodiment, in order to describe the slow transition process after the pressure starts to change, the inertia delay parameter is expressed by using the first-order inertia term of the pressure wave transformation based on the inertia time constant.

[0070] Exemplary, inertial delay parameter Expressed as:

[0071] ;

[0072] Where, represents a complex frequency-domain variable.

[0073] According to an embodiment of the present application, the pressure wave propagation delay time indicates the time required for the pressure wave of the cleaning fluid to propagate from the starting point of the fluid path to the end point of the fluid path. The moment of pressure wave propagation of the cleaning fluid can be equivalent to the moment when the target pump speed changes. The moment when the cleaning fluid propagates to the end point of the fluid path can be equivalent to the moment when the pressure wave is transmitted to the pressure sensor 213 deployed at the end point of the fluid path. The continuous change process between the two is described with the help of the natural exponential function to obtain the acquisition delay parameter.

[0074] Exemplarily, the acquisition delay parameter is expressed as:

[0075] .

[0076] According to an embodiment of the present application, a pressure static gain is obtained based on the ratio of the pressure change to the flow change in the fluid path under steady state, and the pressure static gain is used to quantify the degree of influence of the flow change on the pressure change.

[0077] According to an embodiment of the present application, the dynamic characteristics of the cleaning fluid propagating in the fluid pathway are quantified with the help of inertia delay parameters, acquisition delay parameters and pressure static gain, and the fluid inertia parameters are obtained to characterize the hysteresis relationship of the cleaning fluid propagating in the fluid pathway to serve the parameter optimization of the proportional integral differential control algorithm.

[0078] For example, the fluid inertia parameter Expressed as:

[0079] ;

[0080] Where, Indicates the static gain of pressure.

[0081] In summary, the method described in this embodiment quantifies the inertial delay and acquisition delay caused by the existence of pipelines when the cleaning fluid propagates in the fluid pathway, forms fluid inertia parameters that characterize the hysteresis relationship and performs simulation calculations on this, providing a comprehensive data basis for the simulation calculation of pressure control parameters, so that the pressure control parameters can fully learn the actual operating characteristics during the cleaning fluid output process, thereby improving the response speed and accuracy of the control.

[0082] Figure 5 The detailed flow chart of calculating the pressure control parameters according to an embodiment of the present application is schematically shown.

[0083] The cleaning fluid is output from the target pump to the fluid passage. In the process of pressure control parameters, in order to facilitate optimization calculation, the hysteresis relationship in the propagation process of the cleaning fluid can be regarded as part of the operating characteristics of the target pump. At the same time, the target pump includes a motor and an impeller. The target pump provides a driving force for outputting the cleaning fluid through the motor and outputs the cleaning fluid through the impeller. In order to fully reflect the operating characteristics of the target pump, the structural characteristics and dynamic characteristics of the target pump are considered, and the hysteresis relationship is fully characterized.

[0084] According to an embodiment of the present application, operation S440 specifically includes operations S510 to S530.

[0085] In operation S510 , a motor oscillation parameter indicating an oscillation degree of the motor is determined based on a winding inductance and a rotor inertia of the motor.

[0086] In operation S520 , an impeller hysteresis parameter is determined based on the moment of inertia and the damping coefficient of the impeller, where the impeller hysteresis parameter represents a time difference between a time when the motor speed changes and a time when the flow rate of the impeller output fluid changes.

[0087] In operation S530 , a hysteresis relationship is characterized by the motor oscillation parameter, the impeller hysteresis parameter, and the fluid inertia parameter to obtain a pressure control parameter.

[0088] According to an embodiment of the present application, the motor oscillation parameters are used to indicate the oscillation characteristics between the motor winding inductance and the rotor inertia. The motor oscillation parameters are determined using the motor static gain, damping ratio and system natural frequency. The motor static gain can be determined by the ratio between the output signal and the input signal when the motor reaches a steady state. The system natural frequency represents the natural vibration frequency of the motor determined by its own inertia and elasticity in the undamped state. The damping ratio represents the ratio of the motor damping strength to the critical damping.

[0089] For example, the motor oscillation parameter Expressed as:

[0090] ;

[0091] Where, represents the static gain of the motor, represents the natural frequency of the system, Represents the damping ratio.

[0092] In practical applications, the static gain of the motor is related to parameters such as the motor torque constant and winding inductance, and can be obtained by consulting the component manual. The damping ratio can range from 0.1 to 0.7. The amplitude-frequency curve of the motor can be obtained through a frequency sweep experiment. The natural frequency of the system can be calculated from the resonant peak position of the amplitude-frequency curve, and the damping ratio can be calculated from the resonant peak width of the amplitude-frequency curve.

[0093] According to an embodiment of the present application, the impeller lag parameter represents the time difference between the moment when the motor speed changes and the moment when the flow value of the impeller output fluid changes, that is, the response lag degree of the output flow relative to the input speed.

[0094] In this embodiment, the dynamic response characteristics of the impeller are regarded as a first-order inertia link, and the response of the impeller angular velocity under the influence of impeller inertia and damping is considered to obtain the impeller lag parameter. The impeller inertia will hinder the change of the impeller angular acceleration, and the impeller damping will hinder the change of the impeller angular velocity.

[0095] For example, the impeller lag parameter Expressed as:

[0096] ;

[0097] Where, represents the moment of inertia, represents the damping coefficient.

[0098] According to the embodiment of the present application, considering that the working logic of the target pump is a series linear system, the target pump hysteresis parameters are characterized by motor oscillation parameters, impeller hysteresis parameters and fluid inertia parameters to reflect the series energy changes between electrical energy, kinetic energy and pressure energy in the target pump.

[0099] Exemplarily, the target pump hysteresis parameter is expressed as:

[0100] .

[0101] The pressure control is performed by the PID controller in the pressure regulation loop, and the pressure control transfer function is Expressed as:

[0102] ;

[0103] Where, represents the scale parameter, represents the integral parameter, represents the differential parameter.

[0104] The hysteresis relationship of the pressure adjustment loop considering the hysteresis relationship of the target pump is expressed as:

[0105] ;

[0106] In this operation, the hysteresis relationship of the pressure adjustment loop is constructed and simulated and optimized based only on the most critical components of the pressure closed-loop control (the target pump and the PID controller). This improves the efficiency of simulation optimization while fully studying the actual operating characteristics of the target pump during operation.

[0107] Figure 6 Another detailed flow chart for calculating pressure control parameters according to an embodiment of the present application is schematically shown.

[0108] The target pump also includes a frequency converter, which is used to achieve precise pressure control. In order to eliminate the impact of the deviation between the theoretical design and actual practice of the frequency converter on the optimization of pressure control parameters, in some embodiments, the inertia parameter of the frequency converter is introduced into the determination of the hysteresis relationship. Operation S440 specifically includes operations S610~S620.

[0109] In operation S610 , an inverter inertia parameter is determined based on a frequency conversion parameter between a frequency and a voltage of the inverter.

[0110] In operation S620 , a hysteresis relationship is characterized by the motor oscillation parameter, the impeller hysteresis parameter, the inverter inertia parameter, and the fluid inertia parameter to obtain a pressure control parameter.

[0111] According to an embodiment of the present application, the inertia parameter of the inverter represents the time difference between the moment when the motor speed changes and the moment when the inverter frequency is output. The inertia parameter of the inverter is determined by the frequency static gain and the frequency conversion time constant. The frequency static gain is determined by the ratio of the DC bus voltage to the maximum output frequency, and the frequency conversion time constant is determined by the switching frequency of the rectifier switching element.

[0112] For example, the inverter works in voltage / frequency control mode and is a first-order inertia link. The inertia parameter of the inverter is expressed as:

[0113] ;

[0114] Where, represents the frequency static gain, represents the frequency conversion time constant, where the frequency conversion time constant is expressed as:

[0115] ;

[0116] Where, Indicates bandwidth, which is 1 / 20 of the switching frequency of the rectifier switching element.

[0117] For example, if the frequency of the DC bus used to power the inverter is 380V / 50Hz, then =1.2; if the switching frequency of the rectifier switch element is 10KHz, the bandwidth 1 / 20 of it, 0.38ms.

[0118] In actual cleaning equipment control, the target pump and the pressure sensor 213 are both set in the pressure adjustment loop. In order to comprehensively consider all components that have an impact on the pressure adjustment loop and make the control of the proportional integral differential control algorithm closer to the overall dynamic response characteristics of the pressure adjustment loop, in some embodiments, the pressure control parameters are also obtained using operation S601.

[0119] In operation S601 , a hysteresis parameter and a target pump hysteresis parameter are collected through the pressure value of the pressure sensor 213 to characterize the hysteresis relationship of the pressure adjustment loop and obtain a pressure control parameter.

[0120] In this embodiment, the target pump hysteresis parameter is obtained according to the product of the motor oscillation parameter, the impeller hysteresis parameter, the inverter inertia parameter and the fluid inertia parameter. The specific calculation process has been described in operations S610 to S620 and will not be repeated here.

[0121] Exemplarily, the target pump hysteresis parameter is expressed as:

[0122] .

[0123] According to an embodiment of the present application, the pressure value acquisition hysteresis parameter is calculated by using a pressure acquisition time constant and a pressure acquisition static gain, which are used to reflect the response speed of the sensor.

[0124] The pressure value acquisition hysteresis parameter is expressed as:

[0125] ;

[0126] Where, Indicates the static gain of pressure acquisition, reflecting the change in output signal corresponding to pressure change; It represents the pressure acquisition time constant, reflecting the response speed of the sensor, which is generally 10ms.

[0127] The hysteresis relationship of the pressure adjustment loop is Expressed as:

[0128] .

[0129] According to the embodiment of the present application, the hysteresis relationship of the pressure adjustment loop During simulation calculations, the non-variable parameters for each parameter index are first determined by consulting component manuals or conducting experiments. Then, the hysteresis relationship of the pressure adjustment loop is simulated and optimized using a parameter identification and optimization algorithm. Parameter optimization is then performed through on-site commissioning. The simulation calculation methods described in this embodiment are the same as those used here.

[0130] For example, the parameter identification and optimization algorithm may be a PID parameter tuner in the Matrix Lab software.

[0131] Figure 7 The flowchart of flow control in a fluid path according to an embodiment of the present application is schematically shown.

[0132] Taking into account the dynamic impact of flow changes on pressure and the fact that the flow response to control is faster than the pressure response, in some embodiments, the flow delivered in each fluid path is controlled based on flow feedback, and the correlation characteristics between pressure changes and flow changes are considered and analyzed to improve the response speed and stability of the control; specifically including operations S710 to S730.

[0133] In operation S710, a flow difference between a first reference flow value and a real-time flow value Q of an output flow of the proportional valve 218 in the cleaning device is determined. .

[0134] In operation S720, the flow difference is processed using the preset flow control parameters. , and obtain the opening adjustment signal.

[0135] In operation S730 , the proportional valve 218 of the cleaning apparatus is controlled to operate based on the opening indicated by the opening adjustment signal to adjust the output flow of the proportional valve 218 so that the adjusted flow value approaches the first reference flow value.

[0136] According to the embodiment of the present application, the first reference flow value represents the target flow value expected to be achieved and maintained in the flow adjustment loop. In order to ensure the response speed of the flow control, before the pressure adjustment loop is stable, the first reference flow value is an artificially set target value. After the pressure adjustment loop is stable, the first reference flow value is the ratio of the real-time flow value of the adjusted target pump output flow to the number of flow adjustment loops; the flow difference Indicates the degree of deviation between the real-time flow value Q and the first reference flow value.

[0137] For example, if the real-time flow value Q is less than the first reference flow value, the flow difference If it is positive, it indicates that the opening of the proportional valve 218 needs to be increased to increase the output flow rate; otherwise, if the real-time flow rate value Q is greater than the first reference flow rate value, the flow difference If it is negative, it means that the opening of proportional valve 218 needs to be reduced to reduce the output flow so that the flow difference Gradually becomes 0 and maintains a constant current state.

[0138] For example, when cleaning the liquid cooling pipe 216 of the liquid cooling server, the reference flow value is 3L / min. When the real-time flow value Q is 2L / min, the flow difference is If the flow rate is greater than 0, the opening of the proportional valve 218 needs to be increased; when the real-time flow rate value Q is 4L / min, the flow rate difference If it is less than 0, the opening of the proportional valve 218 needs to be reduced.

[0139] According to an embodiment of the present application, the flow control parameters include the proportional parameter and the integral parameter in the proportional-integral control algorithm. The proportional-integral control algorithm is a proportional-integral controller (PI controller). The PI controller can quickly respond to dynamic flow changes.

[0140] According to an embodiment of the present application, the hysteresis relationship of the flow adjustment loop is obtained based on the opening hysteresis parameter of the proportional valve 218 set in the flow adjustment loop and the flow value collection hysteresis parameter of the flow sensor 217, and the hysteresis relationship is simulated and calculated to obtain the flow control parameter.

[0141] The opening hysteresis parameter indicates the response time for proportional valve 218 to reach a steady-state output after the opening adjustment signal is input. The flow value acquisition hysteresis parameter indicates the response speed of flow sensor 217 when the flow rate changes. Specifically, the flow value acquisition hysteresis parameter is calculated based on the signal processing delay time, the flow acquisition static gain, and the flow acquisition inertia time constant. The opening hysteresis parameter is determined by the electromagnet time constant and the flow gain. The hysteresis relationship of the flow control loop is determined based on the quantitative mapping relationship between the input and output of the flow control loop.

[0142] For example, the flow value acquisition hysteresis parameter Expressed as:

[0143] ;

[0144] Where, Indicates the static gain of flow collection. Indicates the flow acquisition inertia time constant, Indicates the delay time of signal processing;

[0145] The opening hysteresis parameter is expressed as:

[0146] ;

[0147] Where, represents the flow gain, represents the electromagnet time constant;

[0148] Proportional-Integral Transfer Function Expressed as:

[0149] ;

[0150] The hysteresis relationship of the flow adjustment loop is expressed as:

[0151] .

[0152] Based on this, the hysteresis relationship of the flow adjustment loop is constructed through all components involved in the flow path, and the dynamic response characteristics of each component in the flow adjustment loop and the dynamic changes in the feedback process are truly displayed in the form of functions, thereby improving the authenticity, reliability and stability of flow control.

[0153] According to an embodiment of the present application, the flow difference is input into the PI controller, and an opening adjustment signal is obtained through calculations in the proportional link and the differential link.

[0154] In order to fully learn the correlation characteristics between pressure and flow, and consider the mutual influence between pressure feedback and flow feedback, in some embodiments, the hysteresis relationship of the pressure adjustment loop is characterized based on the hysteresis relationship of the fluid adjustment loop, the target pump hysteresis parameter and the pressure acquisition value hysteresis parameter to obtain the pressure control parameter.

[0155] For example, the hysteresis relationship of the pressure regulation loop is expressed as:

[0156] .

[0157] Figure 8 The control principle diagram of multiple fluid paths according to an embodiment of the present application is schematically shown.

[0158] When the liquid cooling pipes 216 of multiple liquid cooling servers need to be cleaned, multiple flow adjustment loops need to be configured to meet the cleaning needs of multiple liquid cooling servers at the same time; in some embodiments, the fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters; any one of the multiple sets of flow control parameters is pre-collected based on the total opening hysteresis parameters after superposition of the multiple flow adjustment loops and the total flow value after superposition to obtain the hysteresis parameters.

[0159] If the models and quantities of components such as the proportional valve 218 in the flow adjustment loop are the same, the corresponding hysteresis relationships are also the same; according to the embodiment of the present application, for multiple flow adjustment loops, the overall hysteresis relationship is the superposition of the corresponding hysteresis relationships of each flow adjustment loop. When performing simulation calculations, the superimposed hysteresis relationships can be simulated and calculated to obtain flow control parameters to improve the efficiency of simulation calculations.

[0160] In some embodiments, the fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters. The multiple sets of flow control parameters are pre-obtained based on the opening hysteresis parameters of the proportional valve 218 of the corresponding flow adjustment loop and the flow value collection hysteresis parameters of the flow sensor 217. The multiple sets of flow control parameters are the same or different.

[0161] For the newly added flow adjustment loop, the models of the proportional valve 218 and the flow sensor 217 used therein may be different from those of the existing flow path, resulting in the corresponding hysteresis relationship being different from that of the existing loop; according to the embodiment of the present application, for each flow adjustment loop, the hysteresis parameters are collected in advance based on the opening hysteresis parameters of the proportional valve 218 of the corresponding flow adjustment loop and the flow value of the flow sensor 217 to obtain the corresponding hysteresis relationship, and the hysteresis relationship of each flow adjustment loop is simulated and calculated separately to obtain the flow control parameters, so as to avoid interference between different flow adjustment loops and improve the simulation accuracy.

[0162] For example, if the flow sensor 217 is a differential pressure flow meter, its corresponding flow acquisition lag parameter uses static sensitivity as the numerator and the product of the time constant and the complex frequency plus 1 as the denominator, which is different from the existing flow sensor acquisition lag relationship, resulting in different lag relationships between flow adjustment loops.

[0163] Here, the proportional-integral control algorithm is a proportional-integral controller, which performs proportional and integral operations on the flow difference to obtain an opening adjustment signal.

[0164] Figure 9 A flow chart of feedforward compensation according to an embodiment of the present application is schematically shown. Figure 10 The control principle diagram of the cleaning device according to the embodiment of the present application is schematically shown, which reflects the dynamic feedback relationship between the various components of the cleaning device during the cleaning process. Figure 11 A hysteresis relationship block diagram of a cleaning device according to an embodiment of the present application is schematically shown, and the hysteresis relationship block diagram is obtained based on the above hysteresis relationship.

[0165] In order to reduce the lag effect of pipeline propagation delay, sensor measurement and other links, in some embodiments, feedforward compensation is performed on the control of the target pump; specifically, operations S910 to S930 are included.

[0166] In operation S910, based on the feedforward compensation parameter and the second reference flow value of the fluid , and obtain the speed compensation parameters.

[0167] In operation S920 , the rotation speed indicated by the rotation speed adjustment signal is compensated based on the rotation speed compensation parameter.

[0168] In operation S930 , the target pump is controlled to operate based on the compensated rotation speed.

[0169] According to an embodiment of the present application, based on the feedforward compensation parameter and the second reference flow value of the output cleaning fluid , obtaining the speed compensation parameter includes: based on the second reference flow value The basic speed parameter is determined based on the mapping relationship between the feedforward compensation parameter and the preset flow speed; the speed compensation parameter is determined based on the product of the feedforward compensation parameter and the basic speed parameter, so as to pre-apply the predicted flow increase to the control of the target pump, offset the delay of the pipeline system to the pressure wave propagation, improve the response speed, and enable the cleaning equipment to better respond to flow step changes.

[0170] Exemplarily, the target pump of the cleaning device is controlled to operate based on the speed compensation parameter and the speed indicated by the superposition of the speed adjustment signal to adjust the output flow of the target pump.

[0171] In this embodiment, the first reference flow value Indicates the flow rate value that the target pump output flow rate is expected to reach, which is set manually.

[0172] Considering that the output flow of the target pump is linearly related to its speed, and the speed is linearly related to the frequency of the inverter, in this embodiment, the feedforward compensation parameter is the proportional parameter in the proportional control algorithm, and the proportional control algorithm is a proportional controller. The second reference flow value The input is processed by the proportional controller to obtain the speed compensation parameters; the simplicity and speed of proportional control are used to enhance the correction ability of feedforward compensation for measurable disturbances or reference inputs.

[0173] In order to reflect the dynamic changes of the pressure adjustment loop taking into account feedforward compensation and the correlation with the flow changes of the flow adjustment loop, and to improve the control accuracy and response speed; in some embodiments, the hysteresis relationship of the pressure adjustment loop is characterized based on the target pump hysteresis parameter, the pressure acquisition hysteresis parameter, the hysteresis relationship of the flow adjustment loop and the proportional control transfer function to obtain the pressure control parameter.

[0174] For example, the proportional control transfer function Expressed as:

[0175] ;

[0176] The hysteresis relationship of the pressure adjustment loop is expressed as:

[0177] .

[0178] Figure 12 The following diagram schematically shows an application example of the control method for cleaning equipment according to an embodiment of the present application.

[0179] like Figure 12 As shown, the processor 101 includes an industrial computer and a programmable logic controller (PLC controller), and the cleaning equipment includes a target pump, a proportional valve 218, a pressure sensor 213 and a flow sensor 217. The industrial computer executes the control method of the above-mentioned cleaning equipment and transmits instructions such as speed adjustment signals and opening adjustment signals to the PLC controller through a network cable. The PLC controller converts the speed adjustment signal into a frequency through the speed conversion relationship given by the ProfiNet network protocol and transmits it to the frequency converter of the target pump to control the target pump; the PLC controller converts the opening adjustment signal into a 4-20MA current signal and transmits it to the proportional valve 218 for opening control; the pressure sensor 213 and the flow sensor 217 transmit the collected signals to the PLC controller in the form of 4-20MA electrical signals, which are converted into digital signals by the PLC controller and transmitted to the industrial computer.

[0180] Based on the above-mentioned control method of the cleaning equipment, the present application also provides a control device for the cleaning equipment. Figure 13 The device is described in detail.

[0181] Figure 13 The structural block diagram of the control device of the cleaning equipment according to the embodiment of the present application is schematically shown.

[0182] like Figure 13 As shown, the control device 1300 of the cleaning equipment in this embodiment includes a pressure difference determination module 1310 , a rotation speed control module 1320 and a flow regulation module 1330 .

[0183] The pressure difference determination module 1310 is used to determine the reference pressure value The pressure difference between the real-time pressure value P of the fluid at the outlet of the target pump in the cleaning equipment In one embodiment, the pressure difference determination module 1310 may be configured to execute the operation S313 described above, which will not be described in detail herein.

[0184] The speed control module 1320 is used to process the pressure difference based on the preset pressure control parameters through the proportional integral differential control algorithm. In one embodiment, the speed control module 1320 may be configured to execute the operation S320 described above, which will not be described in detail herein.

[0185] The flow regulating module 1330 is used to control the target pump to operate at a speed indicated by the speed regulating signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value. In one embodiment, the flow regulating module 1330 may be configured to perform the operation S330 described above, which will not be described in detail herein.

[0186] According to embodiments of the present application, any multiple modules among the pressure difference determination module 1310, the speed control module 1320, and the flow regulation module 1330 may be combined into a single module, or any one of these modules may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in a single module. According to embodiments of the present application, at least one of the pressure difference determination module 1310, the speed control module 1320, and the flow regulation module 1330 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or may be implemented in hardware or firmware through any other reasonable means of circuit integration or packaging, or may be implemented in any one of the three implementation methods of software, hardware, and firmware, or any appropriate combination of any of these. Alternatively, at least one of the pressure difference determination module 1310 , the rotation speed control module 1320 , and the flow regulation module 1330 may be at least partially implemented as a computer program module, and when the computer program module is executed, the corresponding function may be executed.

[0187] Figure 14 A block diagram of an electronic device suitable for implementing a control method for a cleaning device according to an embodiment of the present application is schematically shown.

[0188] like Figure 14 As shown, an electronic device 1400 according to an embodiment of the present application includes a processor 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1402 or a program loaded from a storage unit 1408 into a random access memory (RAM) 1403. The processor 101 may include, for example, a general-purpose microprocessor 101 (e.g., a CPU), an instruction set processor 101, and / or a special-purpose microprocessor 101 (e.g., an application-specific integrated circuit (ASIC)). The processor 101 may also include onboard memory for caching purposes. The processor 101 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present application.

[0189] In RAM1403, various programs and data required for the operation of electronic device 1400 are stored. Processor 101, ROM1402 and RAM1403 are connected to each other via bus 1404. Processor 101 performs various operations of the method flow according to the embodiment of the present application by executing the programs in ROM1402 and / or RAM1403. It should be noted that the program can also be stored in one or more memories other than ROM1402 and RAM1403. Processor 101 can also perform various operations of the method flow according to the embodiment of the present application by executing the programs stored in the one or more memories.

[0190] According to an embodiment of the present application, electronic device 1400 may further include an input / output (I / O) interface 1405, which is also connected to bus 1404. Electronic device 1400 may also include one or more of the following components connected to I / O interface 1405: an input unit 1406 including a keyboard, mouse, etc.; an output unit 1407 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage unit 1408 including a hard disk; and a communication unit 1409 including a network interface card such as a LAN card or modem. Communication unit 1409 performs communication processing via a network such as the Internet. A drive 1411 is also connected to I / O interface 1405 as needed. Removable media 1411, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 1411 as needed, so that computer programs read from the removable media can be installed into storage unit 1408 as needed.

[0191] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the method according to the embodiments of this application is implemented.

[0192] According to an embodiment of the present application, a computer-readable storage medium may be a non-volatile computer-readable storage medium, and may include, for example, but not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present application, a computer-readable storage medium may include the ROM 1402 and / or RAM 1403 described above and / or one or more memories other than ROM 1402 and RAM 1403.

[0193] The embodiments of the present application also include a computer program product, which includes a computer program containing program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the method provided in the embodiments of the present application.

[0194] The computer program executes the above functions defined in the system / device of the embodiment of the present application when the computer program is executed by the processor 101. According to the embodiment of the present application, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0195] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 1409, and / or installed from removable media 1411. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0196] In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 1409, and / or installed from the removable medium 1411. When the computer program is executed by the processor 101, the above-mentioned functions defined in the system of the embodiment of the present application are performed. According to the embodiment of the present application, the systems, devices, means, modules, units, etc. described above can be implemented by computer program modules.

[0197] According to an embodiment of the present application, the program code for executing the computer program provided by the embodiment of the present application can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0198] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0199] Those skilled in the art will appreciate that the features described in the various embodiments of this application may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in this application. In particular, the features described in the various embodiments of this application may be combined and / or coupled in various ways without departing from the spirit and teachings of this application. All such combinations and / or couplings fall within the scope of this application.

[0200] The embodiments of the present application have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present application. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. Without departing from the scope of the present application, those skilled in the art may make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present application.

Claims

1. A control method for a cleaning device, characterized in that: The method comprises: determining a pressure difference between a reference pressure value and a real-time pressure value of a fluid at an outlet of a target pump in the cleaning device; Processing the pressure difference based on a hysteresis relationship using preset pressure control parameters to determine a speed adjustment signal, wherein the hysteresis relationship indicates a degree of hysteresis between the time when the target pump speed changes and the time when the collected fluid pressure value changes; controlling the target pump to operate at a speed indicated by the speed adjustment signal to adjust an output flow of the target pump so that an adjusted pressure value approaches the reference pressure value; The pressure control parameter is obtained by simulating the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time; The target pump is connected to the fluid passage of the cleaning equipment, the inertia time constant is obtained by the response time from the fluid flowing out from the starting point of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the starting point of the fluid passage to the end point of the fluid passage.

2. The method according to claim 1, characterized in that The pressure control parameters are obtained in the following manner: calculating a transition rate from the moment when the fluid pressure value actually changes to the moment when the fluid pressure is stable according to the inertia time constant to obtain an inertia delay parameter, wherein the inertia delay parameter indicates a change speed of the fluid flowing in the fluid passage; Calculating the time difference from the moment the target pump speed changes to the moment the pressure wave is transmitted to the pressure sensor based on the pressure wave propagation delay time to obtain an acquisition delay parameter; Obtaining a fluid inertia parameter according to the inertia delay parameter, the acquisition delay parameter, and a pressure static gain; The hysteresis relationship is characterized by the fluid inertia parameter to obtain the pressure control parameter, wherein the pressure static gain represents the ratio of the pressure change to the flow change in the fluid passage in a steady state.

3. The method according to claim 2, characterized in that The target pump includes a motor and an impeller; characterizing the hysteresis relationship based on the fluid inertia parameter to obtain the pressure control parameter includes: determining a motor oscillation parameter indicating a degree of oscillation of the motor based on a winding inductance and a rotor inertia of the motor; Determining an impeller hysteresis parameter based on the moment of inertia and the damping coefficient of the impeller, wherein the impeller hysteresis parameter represents the time difference between the moment when the motor speed changes and the moment when the flow value of the impeller output fluid changes; The hysteresis relationship is characterized by the motor oscillation parameter, the impeller hysteresis parameter and the fluid inertia parameter to obtain the pressure control parameter.

4. The method according to claim 3, characterized in that The target pump further includes a frequency converter; characterizing the hysteresis relationship based on the fluid inertia parameter to obtain the pressure control parameter includes: Determining an inertia parameter of the frequency converter based on a frequency conversion parameter between the frequency and voltage of the frequency converter, wherein the inertia parameter of the frequency converter represents a time difference between a moment when the motor speed changes and a moment when the frequency converter outputs frequency; The hysteresis relationship is characterized by the motor oscillation parameter, the impeller hysteresis parameter, the inverter inertia parameter and the fluid inertia parameter to obtain the pressure control parameter.

5. The method according to claim 4, characterized in that The cleaning device further includes a pressure sensor; the pressure control parameter is also obtained by: Acquiring a hysteresis parameter and a target pump hysteresis parameter through the pressure value of the pressure sensor to characterize the hysteresis relationship of the pressure adjustment loop and obtain the pressure control parameter; The target pump and the pressure sensor are arranged in the pressure adjustment loop, and the target pump hysteresis parameter is obtained according to the motor oscillation parameter, the impeller hysteresis parameter, the inverter inertia parameter and the fluid inertia parameter.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: determining a flow difference between a first reference flow value and a real-time flow value of an output flow of a proportional valve in the cleaning device; The flow difference is processed using a preset flow control parameter to obtain an opening adjustment signal, wherein the flow control parameter is obtained based on an opening hysteresis parameter of a proportional valve provided in a flow adjustment loop and a flow value acquisition hysteresis parameter of a flow sensor; The proportional valve of the cleaning device is controlled to operate based on the opening indicated by the opening adjustment signal to adjust the output flow of the proportional valve, so that the adjusted flow value is close to the reference flow value.

7. The method according to claim 6, characterized in that The fluid flows through a plurality of flow adjustment loops, and the plurality of flow adjustment loops correspond to a plurality of sets of flow control parameters; The multiple groups of flow control parameters are respectively obtained in advance based on the opening hysteresis parameter of the proportional valve of the corresponding flow adjustment loop and the flow value acquisition hysteresis parameter of the flow sensor, and the multiple groups of flow control parameters are the same or different.

8. The method according to claim 6, characterized in that The fluid flows through a plurality of flow adjustment loops, and the plurality of flow adjustment loops correspond to a plurality of sets of flow control parameters; Any one of the plurality of flow control parameters is obtained in advance based on the total opening hysteresis parameter after superposition of a plurality of flow adjustment loops and the total flow value acquisition hysteresis parameter after superposition.

9. The method according to claim 6, characterized in that The pressure control parameters include a proportional parameter, an integral parameter and a differential parameter in a proportional-differential-integral control algorithm, and the flow control parameters include a proportional parameter and an integral parameter in a proportional-integral control algorithm.

10. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Obtaining a rotation speed compensation parameter based on a feedforward compensation parameter and a second reference flow value of the fluid; compensating the speed indicated by the speed adjustment signal based on the speed compensation parameter; The target pump is controlled to operate based on the compensated rotational speed.

11. The method according to claim 10, characterized in that The obtaining of the rotational speed compensation parameter based on the feedforward compensation parameter and the second reference flow value of the fluid includes: Determining a basic speed parameter based on a mapping relationship between the second reference flow value and a preset flow speed; The rotational speed compensation parameter is determined based on a product of the feedforward compensation parameter and the basic rotational speed parameter.

12. A control device for cleaning equipment, characterized in that: The device comprises: a pressure difference determination module, configured to determine a pressure difference between a reference pressure value and a real-time pressure value of a fluid at an outlet of a target pump in the cleaning device; a speed regulation signal determination module, configured to process the pressure difference using a preset pressure control parameter based on a hysteresis relationship to determine a speed regulation signal, wherein the hysteresis relationship indicates a degree of hysteresis between a time when the target pump speed changes and a time when the collected fluid pressure value changes; a flow regulating module, configured to control the target pump to operate at a speed indicated by the speed regulating signal to adjust an output flow of the target pump so that an adjusted pressure value approaches the reference pressure value; The pressure control parameter is obtained by simulating the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time; The target pump is connected to the fluid passage of the cleaning equipment, the inertia time constant is obtained by the response time from the fluid flowing out from the starting point of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the starting point of the fluid passage to the end point of the fluid passage.

13. An electronic device comprising: one or more processors; A memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

Images