A method, device and partition temperature control system for cooperative temperature control

Abstract

The application provides a cooperative temperature control method, device and partition temperature control system, comprising: performing global temperature control until a reference temperature control sub-area reaches a target temperature control; including the reference temperature control sub-area into a cooperative temperature control group, and sequentially including multiple secondary temperature control sub-areas into the cooperative temperature control group according to temperature control levels and triggering multiple rounds of temperature equalization processing; for each round of temperature equalization processing, performing, for each temperature control sub-area in the cooperative temperature control group to which the round of temperature equalization processing belongs: taking the actual temperature and the target temperature of the temperature control sub-area itself as inputs of a PID temperature feedback control algorithm of the temperature control sub-area, to realize temperature equalization of the temperature control sub-area; and after completing the multiple rounds of temperature equalization processing, realizing temperature equalization control of a target temperature control object. The application decomposes the target temperature control object into multiple temperature control areas and performs time-sharing and stage-by-stage temperature control coupled with each other, so that temperature deviation between multiple areas is greatly reduced, the uniformity of overall temperature control of the target temperature control object is improved, and temperature control precision is improved.

Description

Technical Field

[0001] This application relates to the field of temperature control technology, and in particular to a collaborative temperature control method, device and zoned temperature control system. Background Technology

[0002] Temperature control technology is widely used in many fields such as modern industrial manufacturing, biopharmaceuticals, and aerospace. PID (Proportional-Integral-Derivative) control algorithms are commonly used and important control methods in practical temperature control applications due to their simplicity, speed, and high stability.

[0003] Traditional, conventional omnidirectional temperature control (heating or cooling) uses a control loop based on a single temperature measurement point as the input variable. Within the area of ​​that measurement point, PID control algorithms can achieve high control accuracy. However, this omnidirectional temperature control method has significant limitations. In the actual omnidirectional temperature control area, due to limitations in material uniformity and varying external heat dissipation conditions, this method leads to uneven temperature control in different local areas within the target temperature control region. Furthermore, since conventional single-point temperature control algorithms have already reached a steady state and achieved high accuracy, the control loop cannot correct for temperature deviations in other uneven areas, thus reducing the final temperature control accuracy. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide at least one collaborative temperature control method, device and zoned temperature control system, which decomposes the target temperature control object into multiple temperature control zones and performs time-sharing and staged temperature control on the multiple temperature control zones, thereby significantly reducing the temperature deviation between multiple zones, improving the uniformity of the overall temperature control of the target temperature control object and improving the temperature control accuracy.

[0005] This application mainly includes the following aspects: In a first aspect, embodiments of this application provide a collaborative temperature control method applied to a zoned temperature control system. The zoned temperature control system is deployed on a target temperature-controlled object, which is divided into multiple temperature-controlled sub-zones. These sub-zones include a reference temperature-controlled sub-zone and secondary temperature-controlled sub-zones. The zoned temperature control system includes a temperature control module disposed in each sub-zone. The method includes: controlling the zoned temperature control system to collect the actual temperature of each temperature-controlled sub-zone according to a preset sampling period; and performing global temperature control: using the actual temperature of the reference temperature-controlled sub-zone and the target temperature as inputs to the corresponding PID temperature feedback control algorithm for each temperature-controlled sub-zone, and controlling each temperature-controlled sub-zone through the zoned temperature control system. Perform global temperature regulation until the reference temperature control sub-zone reaches the target temperature; execute regional temperature uniform control: the reference temperature control sub-zone that has reached the target temperature is included in the collaborative temperature control group, and multiple secondary temperature control sub-zones are sequentially included in the collaborative temperature control group according to their temperature control level. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature equalization processing is triggered; for each round of temperature equalization processing, each temperature control sub-zone in the collaborative temperature control group to which the round of temperature equalization processing belongs executes: using the actual temperature and target temperature of the temperature control sub-zone as the input of the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone; after multiple rounds of temperature equalization processing, the temperature equalization control of the target temperature control object is achieved.

[0006] In one possible implementation, the secondary temperature control sub-region includes a primary temperature control sub-region adjacent to the reference temperature control sub-region and a secondary temperature control sub-region not adjacent to the reference temperature control sub-region. The regional temperature uniformity control process includes: incorporating the reference temperature control sub-region, after reaching the target temperature, into a collaborative temperature control group, and incorporating the primary temperature control sub-region into the collaborative temperature control group, and triggering primary temperature uniformity processing: for each of the reference temperature control sub-region and the primary temperature control sub-region, using the actual temperature and target temperature of that temperature control sub-region as inputs to the corresponding PID temperature feedback control algorithm for that temperature control sub-region, and performing temperature... The temperature control is maintained until the temperature control sub-zone reaches the target temperature. After the reference temperature control sub-zone and the first-level temperature control sub-zone have all reached the target temperature, the second-level temperature control sub-zone is included in the collaborative temperature control group, and the second-level temperature equalization process is triggered. The second-level temperature equalization process is performed: for each of the reference temperature control sub-zone, the first-level temperature control sub-zone and the second-level temperature control sub-zone, the actual temperature and the target temperature of the temperature control sub-zone are used as the input of the corresponding PID temperature feedback control algorithm to control the temperature of the temperature control sub-zone until the temperature control sub-zone reaches the target temperature. After the second-level temperature equalization process is completed, the temperature equalization control of the target temperature control object is realized.

[0007] In one possible implementation, the process of temperature control for each temperature control sub-zone during global temperature control includes: for each feedback control cycle of the PID temperature feedback control algorithm, performing the following: determining the actual temperature of the reference temperature control sub-zone based on the actual temperature output by the temperature control module set in the reference temperature control sub-zone; determining the temperature error of the reference temperature control sub-zone in the feedback control cycle based on the actual temperature and the target temperature of the reference temperature control sub-zone; substituting the temperature error of the reference temperature control sub-zone in the feedback control cycle, the temperature error of the reference temperature control sub-zone in the previous feedback control cycle, the PID control coefficient, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to each temperature control sub-zone to obtain the heating output power corresponding to each temperature control sub-zone; and for each temperature control sub-zone, controlling the corresponding temperature control module to perform temperature control on the temperature control sub-zone according to the corresponding heating output power.

[0008] In one possible implementation, the PID control coefficients include proportional, integral, and derivative coefficients, wherein, during global temperature control, the heating output power of the temperature control sub-zone in each feedback control cycle is determined by the following formula:

[0009] In this formula, This indicates the first temperature control sub-region in the global temperature control process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient. This represents the temperature error of the reference temperature control sub-region during the k-th feedback control cycle. Indicates the temperature sampling period. This represents the sum of temperature errors in the reference temperature control sub-region during the k-th feedback control cycle. This represents the temperature error of the reference temperature control sub-region during the (k-1)th feedback control cycle.

[0010] In one possible implementation, the primary temperature equalization process includes: for each feedback control cycle of the PID temperature feedback control algorithm, performing the following processing for each of the reference temperature control sub-region and the primary temperature control sub-region: determining the actual temperature of the temperature control sub-region based on the actual temperature output by the temperature control module set within that sub-region; determining the temperature error of the temperature control sub-region in that feedback control cycle based on the actual temperature and the target temperature of the temperature control sub-region; substituting the temperature error of the temperature control sub-region in that feedback control cycle, the temperature error of the temperature control sub-region in the previous feedback control cycle, the PID control coefficient corresponding to the primary temperature equalization process stage, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to that sub-region to obtain the heating output power corresponding to that sub-region; and controlling the temperature control module corresponding to that sub-region to perform temperature control on the sub-region according to the heating output power.

[0011] In one possible implementation, the PID control coefficients include proportional coefficients, integral coefficients, and derivative coefficients, wherein, during the first-stage temperature equalization process, the heating output power of the reference temperature control sub-region and the first-stage temperature control sub-region in each feedback control cycle is determined by the following formula:

[0012] In this formula, This indicates the first target temperature control sub-region in the first-stage temperature homogenization process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Differential coefficients, This represents the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. Indicates the temperature sampling period. This represents the sum of temperature errors in the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. This indicates the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the (k-1)th feedback control cycle.

[0013] In one possible implementation, the two-stage temperature equalization process includes: For each feedback control cycle of the PID temperature feedback control algorithm, the following processing is performed for each of the reference temperature control sub-region, the first-stage temperature control sub-region, and the second-stage temperature control sub-region: determining the actual temperature of the temperature control sub-region based on the actual temperature output by the temperature control module set within that sub-region; determining the temperature error of the temperature control sub-region in that feedback control cycle based on the actual temperature and the target temperature of the sub-region; substituting the temperature error of the sub-region in that feedback control cycle, the temperature error of the sub-region in the previous feedback control cycle, the PID control coefficient corresponding to the first-stage temperature equalization process, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to that sub-region to obtain the heating output power corresponding to that sub-region; and controlling the temperature control module corresponding to that sub-region to control the temperature of the sub-region according to the heating output power.

[0014] In one possible implementation, the target temperature control object is the calibration reference source of the spaceborne equipment.

[0015] Secondly, embodiments of this application also provide a collaborative temperature control device. The device is applied to a zoned temperature control system, which is arranged on a target temperature-controlled object. The target temperature-controlled object is divided into multiple temperature-controlled sub-zones, including a reference temperature-controlled sub-zone and secondary temperature-controlled sub-zones. The zoned temperature control system includes a temperature control module disposed in each temperature-controlled sub-zone. The method includes: a temperature acquisition module for controlling the zoned temperature control system to acquire the actual temperature of each temperature-controlled sub-zone according to a preset sampling period; and a global temperature control module for performing global temperature control: using the actual temperature of the reference temperature-controlled sub-zone and the target temperature as inputs to the corresponding PID temperature feedback control algorithm for each temperature-controlled sub-zone, and controlling the temperature control through the zoned temperature control system. The system performs global temperature regulation on each temperature control sub-zone until the reference temperature control sub-zone reaches the target temperature. The regional temperature equalization control module is used to include the reference temperature control sub-zone that has reached the target temperature into the collaborative temperature control group, and to sequentially include multiple secondary temperature control sub-zones into the collaborative temperature control group according to their temperature control level. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature equalization processing is triggered. For each round of temperature equalization processing, the following is executed for each temperature control sub-zone within the collaborative temperature control group to which the round of temperature equalization processing belongs: using the actual temperature and target temperature of the temperature control sub-zone as the input of the PID temperature feedback control algorithm of the temperature control sub-zone, so as to achieve temperature equalization of the temperature control sub-zone. After completing multiple rounds of temperature equalization processing, the temperature equalization control of the target temperature control object is achieved.

[0016] Thirdly, this application also provides a partitioned temperature control system, which is arranged on a target temperature control object. The target temperature control object is divided into multiple temperature control sub-zones, including a reference temperature control sub-zone and a secondary temperature control sub-zone. The partitioned temperature control system includes a central processing unit and a temperature control module disposed in each temperature control sub-zone. The central processing unit runs the collaborative temperature control method provided in any of the above possible embodiments. This application provides a collaborative temperature control method, device, and zoned temperature control system, comprising: performing global temperature control: using the actual temperature and target temperature of a reference temperature control sub-zone as inputs to the corresponding PID temperature feedback control algorithm of each temperature control sub-zone, and performing global temperature regulation of each temperature control sub-zone through a zoned temperature control system until the reference temperature control sub-zone reaches the target temperature control; performing zoned temperature uniform control: incorporating the reference temperature control sub-zone that has reached the target temperature control into a collaborative temperature control group, and sequentially incorporating multiple secondary temperature control sub-zones into the collaborative temperature control group according to their temperature control levels, triggering a round of temperature equalization processing for each secondary temperature control sub-zone incorporated into the collaborative temperature control group; for each round of temperature equalization processing, performing the following for each temperature control sub-zone within the collaborative temperature control group to which the round of temperature equalization processing belongs: using the actual temperature and target temperature of the temperature control sub-zone itself as inputs to the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone; after completing multiple rounds of temperature equalization processing, achieving temperature equalization control of the target temperature control object. This application significantly reduces temperature deviation between multiple regions and improves the uniformity of overall temperature control of the target temperature control object by decomposing the target temperature control object into multiple temperature control zones and coupling them together for time-sharing and stage-based temperature control.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart of a collaborative temperature control method provided in an embodiment of this application is shown; Figure 2 This illustration shows one of the partition diagrams of a target temperature control object provided in an embodiment of this application; Figure 3 This illustration shows a second schematic diagram of a partitioned target temperature control object provided in an embodiment of this application; Figure 4A functional block diagram of a collaborative temperature control device provided in an embodiment of this application is shown. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] Traditional, conventional holistic temperature control (heating or cooling) uses a control loop based on a single temperature measurement point as the input variable. Within the area of ​​that measurement point, PID control algorithms can achieve high control accuracy. However, this holistic temperature control method has significant limitations. In actual temperature-controlled objects, due to the uniformity of the material and variations in external heat dissipation conditions, this method leads to uneven temperature control in different local areas within the target temperature control region. Furthermore, since conventional single-point temperature control algorithms have already reached a steady state and achieved high accuracy, the control loop cannot correct for temperature deviations in other uneven areas, thus reducing the final temperature control accuracy.

[0023] In particular, existing technologies for temperature regulation and control of calibration reference sources (e.g., microwave blackbody and infrared blackbody) for spaceborne equipment (e.g., spaceborne microwave remote sensing payloads or spaceborne infrared remote sensing payloads) typically employ the aforementioned single-point temperature control algorithm. However, due to the higher temperature control accuracy requirements of calibration reference sources for spaceborne equipment, and the fact that the reference blackbody within the spaceborne equipment is also affected by changes in the external environment such as solar irradiance and Earth albedo, leading to a decrease in the uniformity of blackbody temperature control, the combined effect of regional temperature non-uniformity under the single-point temperature control algorithm significantly increases the calibration reference deviation, thereby reducing the accuracy of brightness temperature detection, calibration, and inversion of the calibration reference source. This, in turn, affects the accuracy of the observation data acquired by the spaceborne equipment and the operational stability of the equipment, thus reducing the ground-based ability to monitor and warn of subsequent Earth system climate change and extreme weather disasters based on observation data.

[0024] Based on this, embodiments of this application provide a collaborative temperature control method, apparatus, and zoned temperature control system. By decomposing the target temperature control object into multiple temperature control zones and coupling them together for time-sharing and phased temperature control, the temperature deviation between multiple zones is significantly reduced, the uniformity of overall temperature control of the target temperature control object is improved, and the temperature control accuracy is enhanced, as detailed below: Please see Figure 1 , Figure 1 A flowchart of a collaborative temperature control method provided in an embodiment of this application is shown. Please refer to [link / reference]. Figure 2 , Figure 2 This illustration shows one of the partitioned schematic diagrams of a target temperature-controlled object provided in an embodiment of this application. The method provided in this embodiment is applied to a partitioned temperature control system, which is arranged on the target temperature-controlled object, such as... Figure 2 As shown, the square target temperature control object is divided into a reference temperature control sub-region a1 and a secondary temperature control sub-region a2. Figure 2 This application provides only one shape and one method of dividing the target temperature control object. The specific method of dividing the area is determined according to the shape of the target temperature control object and the actual temperature control accuracy requirements. This application does not impose any specific restrictions. The zoned temperature control system includes a central processing unit (not shown in the figure) and multiple temperature control modules (not shown in the figure) that correspond one-to-one with the multiple temperature control sub-zones. The multiple temperature control modules are set one-to-one with the multiple temperature control sub-zones.

[0025] In a preferred embodiment, the target temperature control object provided in this application is provided with a heat insulation layer b around it. The temperature control module includes a heating component and a temperature sensor. The heating component and the temperature sensor are connected to a central processing unit. The heating component is used to heat its layout area under the control of the central processing unit. The temperature sensor is used to measure the temperature of its layout area under the controller of the central processing unit.

[0026] The zoned temperature control system designed in this application provides multiple temperature control modules that correspond one-to-one with multiple temperature control sub-zones. Compared with the single-point temperature control method of laying out a large temperature control module for the entire area of ​​the target temperature control object, it provides a physical basis for the subsequent uniform temperature control of different areas of the target temperature control object.

[0027] Preferred, such as Figure 1 The collaborative temperature control method provided in this application should be specifically applied to the central processing unit in a zoned temperature control system, and specifically includes the following steps: S100, the temperature control system of the control zone collects the actual temperature of each temperature control sub-zone according to the preset sampling period.

[0028] S200, Perform global temperature control: Use the actual temperature and target temperature of the reference temperature control sub-zone as inputs to the corresponding PID temperature feedback control algorithm of each temperature control sub-zone, and perform global temperature regulation of each temperature control sub-zone through the zoned temperature control system until the reference temperature control sub-zone reaches the target temperature.

[0029] Perform temperature uniformity control in the execution area: S300: The reference temperature control sub-zone that has reached the target temperature control is included in the collaborative temperature control group, and multiple secondary temperature control sub-zones are included in the collaborative temperature control group in sequence according to the temperature control level. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature equalization processing is triggered.

[0030] S400: For each round of temperature equalization processing, execute the following for each temperature control sub-zone within the collaborative temperature control group to which the round of temperature equalization processing belongs: use the actual temperature and target temperature of the temperature control sub-zone itself as the input of the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone.

[0031] After completing multiple rounds of temperature equalization processing, the S500 achieves temperature equalization control of the target temperature control object.

[0032] In existing single-point temperature control methods, the temperature balance of the area where the heating element is located is mainly used as the target balance state of the overall temperature control area. While this may achieve the target temperature in the area where the heating element is located, the actual heat loss varies between different areas due to the influence of the material itself or the surrounding insulation material. Specifically, the farther away from the area where the heating element is located, the less ideal the heating effect and the greater the heat loss. For example, ... Figure 2 Assuming that the temperature control module provided by the traditional single-point temperature control method is set in the reference temperature control sub-region a1, after the temperature control module in the reference temperature control sub-region a1 reaches the temperature control target, there will be a temperature deviation between the secondary temperature control sub-region a2 and the reference temperature control sub-region a1 due to the difference in heat dissipation. This will result in the temperature of the target temperature control object not being uniform, thus reducing the temperature control accuracy of the target temperature control object.

[0033] Steps S100 to S500 provided in this application address this technical problem by transforming the traditional single-point temperature control design approach into a multi-point temperature control design approach. Specifically, the target temperature-controlled object is divided into multiple temperature-controlled sub-regions, and a corresponding temperature control module is designed separately for each sub-region. The temperature control process for the target temperature-controlled object is mainly divided into two stages. First, the temperature measurement result of the reference temperature-controlled sub-region is used as the input to the PID temperature feedback control algorithm corresponding to all temperature-controlled sub-regions, and the temperature of all temperature-controlled sub-regions is adjusted until the reference temperature-controlled sub-region reaches the target temperature T. target To bring the target temperature-controlled object to a global steady state, regional temperature uniform control is performed on the target temperature-controlled object that has entered the global steady state. Through the regional temperature uniform control process, each temperature-controlled sub-region is kept at the target temperature T. target Under the premise of temperature control, the temperature deviation between the reference temperature control sub-region a1 and each secondary temperature control sub-region a2 is compensated in stages according to the temperature control level, so that the target temperature control object reaches a locally uniform steady state. For example, the secondary temperature control sub-region closer to the reference temperature control sub-region a1 has a higher temperature control level. By adjusting the temperature of the target temperature control object in stages, and by changing the temperature control reference index (i.e., the input of the PID temperature feedback control algorithm) of the temperature control sub-region at different temperature control stages, the temperature control of the target temperature control object is progressively achieved, ensuring that the target temperature control object reaches the target temperature T. target At the same time, it ensures consistency at different locations of the target temperature control object, thereby improving the temperature control accuracy of the target temperature control object.

[0034] In one specific embodiment provided in this application, the target temperature control object is the calibration reference source of the spaceborne equipment, such as a microwave blackbody in a spaceborne microwave remote sensing device or an infrared blackbody in a spaceborne infrared remote sensing device. Furthermore, steps S100 to S500 provided in this application are applied to the temperature control process of the calibration reference source of the spaceborne equipment. This can effectively reduce the calibration reference deviation caused by the non-uniformity of the physical temperature of the calibration reference source, and reduce the impact of the deterioration of the reference source temperature control uniformity caused by changes in the external environment such as solar radiation and Earth albedo within the spaceborne equipment. This comprehensively improves the detection, calibration, and inversion accuracy of the calibration reference source, thereby enhancing the subsequent ability to monitor and warn of climate change and extreme weather disasters in the Earth system based on the detection data. This plays an important role in the detection accuracy and long-term stability of the spaceborne equipment.

[0035] In a preferred embodiment, in step S100, the sampling period of the temperature sensor in each temperature control module is the same. Specifically, for each temperature control module, the temperature sensor in the temperature control module is controlled to collect the actual temperature corresponding to the temperature control sub-zone to which the temperature control module belongs according to a preset sampling period.

[0036] In specific implementation, the secondary temperature control sub-region includes at least one primary temperature control sub-region adjacent to the reference temperature control sub-region and at least one secondary temperature control sub-region not adjacent to the reference temperature control sub-region.

[0037] Please see Figure 3 , Figure 3 This illustration shows a second schematic diagram of a target temperature control object provided in an embodiment of this application. For example... Figure 3 As shown, taking a square target temperature control object as an example, the target temperature control object is divided into nine identical temperature control sub-regions Z1 to Z9. Temperature control modules (not shown in the figure) are correspondingly installed in each of the temperature control sub-regions Z1 to Z9. Preferably, the temperature sensor within the temperature control module is arranged at the center of its respective temperature control sub-region. Z5 is the base temperature control sub-region, Z2, Z4, Z6, and Z8 are primary temperature control sub-regions, and Z1, Z3, Z7, and Z9 are secondary temperature control sub-regions. Figure 3 In the given embodiment, the secondary temperature control sub-regions Z1, Z3, Z7, and Z9, located at the four corners of the target temperature control object, have the largest heat dissipation area and the most heat loss due to the thermal insulation material b covering the side length of two temperature control sub-regions. Therefore, their temperature difference with the reference temperature control sub-region Z5 is the largest. The primary temperature control sub-regions Z2, Z4, Z6, and Z8 are separated from the reference temperature control sub-region Z5 by a heat dissipation surface of one temperature control sub-region side length. Therefore, their temperature difference with the reference temperature control sub-region Z5 is lower than the temperature deviation between the secondary temperature control sub-regions and the reference temperature control sub-region Z5.

[0038] In a preferred embodiment, the global temperature control process provided in step S200 further includes: For each feedback control cycle of the PID temperature feedback control algorithm, the following steps are performed: Based on the actual temperature output by the temperature control module set in the reference temperature control sub-zone, determine the actual temperature of the reference temperature control sub-zone. Based on the actual temperature and target temperature of the reference temperature control sub-zone, determine the temperature error of the reference temperature control sub-zone in this feedback control cycle. Substitute the temperature error of the reference temperature control sub-zone in this feedback control cycle, the temperature error of the reference temperature control sub-zone in the previous feedback control cycle, the PID control coefficient, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to each temperature control sub-zone to obtain the heating output power corresponding to each temperature control sub-zone. For each temperature control sub-zone, control the corresponding temperature control module to perform temperature control on the corresponding temperature control sub-zone according to the corresponding heating output power.

[0039] In such Figure 3In the specific embodiment shown, during the global temperature control process provided in step S200, for each of the temperature control sub-regions Z1 to Z9, the actual temperature measured by the temperature sensor arranged in the basic temperature control sub-region Z5 is used as the control input of its corresponding PID temperature feedback control algorithm to obtain the heating output power corresponding to its own temperature control sub-region. The purpose is to achieve synchronous temperature control of the temperature control sub-regions Z1 to Z9. In fact, during the global temperature control process, the heating output power output by the PID temperature feedback control algorithm corresponding to the basic temperature control sub-region Z5 is directly used as the output of the heating components in all temperature control sub-regions Z1 to Z9 until the reference temperature control sub-region reaches the target temperature, that is, the PID temperature feedback control algorithm corresponding to the basic temperature control sub-region Z5 reaches control balance. During this stage, the heating output power of the temperature control sub-regions Z1 to Z9 is the same in the same feedback control cycle.

[0040] Preferably, the PID control coefficients include proportional coefficient, integral coefficient, and derivative coefficient, which are predetermined.

[0041] In a preferred embodiment, during global temperature control, the heating output power of the temperature control sub-region in each feedback control cycle is determined using the following formula: (1) In formula (1), This indicates the first temperature control sub-region in the global temperature control process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient. This represents the temperature error of the reference temperature control sub-region during the k-th feedback control cycle. Specifically, , Indicates the reference temperature control sub-region in the first... The actual temperature under the feedback control cycle (if the sampling period is the same as the feedback control period, directly take the first temperature). If the actual temperature sampled in the first feedback control cycle is inconsistent with the feedback control cycle, the second temperature sampled in the third feedback control cycle can be used. (Average actual temperature obtained by sampling during each feedback control cycle).

[0042] Indicates the temperature sampling period. This represents the sum of temperature errors (i.e., cumulative deviation sum) in the reference temperature control sub-region during the k-th feedback control cycle. This represents the temperature error of the reference temperature control sub-region during the (k-1)th feedback control cycle.

[0043] In a preferred embodiment, the regional temperature uniformity control process provided by steps S300 to S500 includes: Once the target temperature is reached, the reference temperature control sub-zone is included in the collaborative temperature control group, and the primary temperature control sub-zone is also included in the collaborative temperature control group, triggering the primary temperature equalization process: For each of the reference and primary temperature control sub-zones, the actual temperature and target temperature of that sub-zone are used as inputs to the corresponding PID temperature feedback control algorithm to control the temperature of that sub-zone until it reaches the target temperature. After all the reference and primary temperature control sub-zones have reached the target temperature, the secondary temperature control sub-zone is included in the collaborative temperature control group, triggering the secondary temperature equalization process. For each of the reference temperature control sub-zone, the primary temperature control sub-zone, and the secondary temperature control sub-zone, the actual temperature and the target temperature of the temperature control sub-zone are used as the inputs to the corresponding PID temperature feedback control algorithm. Temperature control is performed on the temperature control sub-zone until the temperature control sub-zone reaches the target temperature. After completing the secondary temperature equalization process, the temperature equalization control of the target temperature control object is achieved.

[0044] In one specific embodiment, such as Figure 3 As shown, the secondary temperature control sub-regions can be further divided into primary temperature control sub-regions Z2, Z4, Z6, Z8 and secondary temperature control sub-regions Z1, Z3, Z7, and Z9 according to the degree of heat loss. After executing step S200, although the reference temperature control sub-region Z5 reaches PID control steady state, and the primary temperature control sub-regions Z2, Z4, Z6, Z8 and the secondary temperature control sub-regions Z1, Z3, Z7, ... Z9 is synchronized with the reference temperature control sub-region Z5 (using the same heating power output in each feedback control cycle). However, due to the heat dissipation difference between the secondary temperature control sub-region and the reference temperature control sub-region Z5, a temperature difference still exists between them. Based on this, in steps S300 to S500 of this application, to solve the temperature difference formed in different regions after steady state, according to the degree of heat flow, a first-level temperature equalization process is performed on the temperature control region (and temperature control sub-region) with relatively weak heat loss, and then a second-level temperature equalization process is performed on the region with relatively strong heat loss (second-level temperature control sub-region). The different secondary temperature control sub-regions are controlled in a time-sharing manner according to the degree of heat loss. On the one hand, temperature equalization between different temperature control sub-regions is achieved, and on the other hand, the influence of cross-modulation (cross-coupling and crosstalk) is greatly reduced, reducing the degree of damage to the steady-state control environment of the temperature control sub-region that has formed a steady state. This allows different temperature control sub-regions to quickly reach / recover the achieved steady state, reduces the complexity of the temperature control algorithm, thereby shortening the stabilization time and improving efficiency.

[0045] In one specific embodiment, during the primary temperature equalization process, the heating output power of the reference temperature control sub-region and the primary temperature control sub-region in each feedback control cycle is determined by the following formula: (2) In formula (2), This indicates the first target temperature control sub-region in the first-stage temperature homogenization process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Differential coefficients, This represents the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. Indicates the temperature sampling period. This represents the sum of temperature errors in the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. This indicates the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the (k-1)th feedback control cycle, where n represents the label of the temperature control sub-region.

[0046] In one specific embodiment, such as Figure 3 During the primary temperature equalization process, the main temperature control adjustment areas are the primary temperature control sub-regions Z2, Z4, Z6, and Z8 in the collaborative temperature control group, as well as the reference temperature control sub-region Z5. The secondary temperature control sub-regions Z1, Z3, Z7, and Z9 maintain the original PID control unchanged.

[0047] Specifically, during the primary temperature equalization process, the output power of the primary temperature control sub-regions Z2, Z4, Z6, Z8, and the reference temperature control sub-region Z5 will be readjusted based on the original heating output power. Specifically, in this adjustment process, each of the primary temperature control sub-regions Z2, Z4, Z6, Z8, and the reference temperature control sub-region Z5 will perform PID control based on the temperature measurement results of the temperature sensors installed within its own region. For example, taking the primary temperature control sub-region Z2 as an example, after step S200, due to heat dissipation, the temperature of the primary temperature control sub-region Z2 is lower than the target temperature. Then, after adjusting the primary temperature control sub-region Z2 using the above formula, the heating output power of the primary temperature control sub-region Z2 will increase, and the temperature of the primary temperature control sub-region Z2 will gradually rise, thus bringing the temperature of the primary temperature control sub-region Z2 closer to the target temperature. The temperature difference between them will decrease until the temperature of the primary temperature control sub-region Z2 reaches the target temperature. That is, the temperature control of the primary temperature control sub-region Z2 reaches a steady-state equilibrium.

[0048] During the independent temperature increase adjustment process of the primary temperature control sub-region Z2, the heat loss from the reference temperature control sub-region Z5 to the primary temperature control sub-region Z2 decreases. Consequently, the temperature of the reference temperature control sub-region Z5 also rises. At this point, the reference temperature control sub-region Z5 readjusts its PID control based on the actual temperature within its region. Specifically, according to the above formula, the integral term of the PID control loop corresponding to the reference temperature control sub-region Z5... It will decrease and then return to steady-state equilibrium as control is applied.

[0049] In steps S200 to S500, the reference temperature control sub-region Z5 can reach a steady state in both the global temperature control stage and the first-level temperature equalization process stage, but the values ​​of the integral terms in these two steady states are different.

[0050] The temperature adjustment process of reference temperature control sub-regions Z4, Z6, and Z8 in the first-stage temperature homogenization process is similar to that of reference temperature control sub-region Z5 in the first-stage temperature homogenization process, and will not be elaborated further here.

[0051] After the first-stage temperature equalization process, the first-stage temperature control sub-regions Z2, Z4, Z6, and Z8, along with the reference temperature control sub-region Z5, will reach a stable state again after independent temperature control during the first-stage temperature equalization process.

[0052] In another preferred embodiment, in the secondary temperature equalization process of step S300, for each feedback control cycle of the PID temperature feedback control algorithm, the following processing is performed for each of the reference temperature control sub-region, the primary temperature control sub-region, and the secondary temperature control sub-region in the collaborative temperature control group: Based on the actual temperature output by the temperature control module set within the temperature control sub-zone, the actual temperature of the temperature control sub-zone is determined. Based on the actual temperature and the target temperature of the temperature control sub-zone, the temperature error of the temperature control sub-zone under the feedback control cycle is determined. The temperature error of the temperature control sub-zone in the feedback control cycle, the temperature error of the temperature control sub-zone in the previous feedback control cycle, the PID control coefficient corresponding to the first-level temperature equalization process, and the temperature sampling cycle of the temperature control module are respectively substituted into the PID temperature feedback control algorithm corresponding to the temperature control sub-zone to obtain the heating output power corresponding to the temperature control sub-zone. The temperature control module corresponding to the temperature control sub-zone is then controlled to perform temperature control on the temperature control sub-zone according to the heating output power.

[0053] In one example, such as Figure 3After the first-stage temperature equalization process, the second-stage temperature equalization process is carried out. The temperature control and adjustment area of ​​the second-stage temperature equalization process is all the divided temperature control sub-regions, namely temperature control sub-regions Z1 to Z9. Specifically, the temperature adjustment of the second-stage temperature control sub-regions Z1, Z3, Z7 and Z9 is the main focus. The adjustment of the reference temperature control sub-region Z5 and the first-stage temperature control sub-regions Z2, Z4, Z6 and Z8 is based on the temperature in their respective regions as feedback to quickly adjust and restore to a stable state. Specifically, the second-stage temperature equalization process is also controlled according to the above formula (2). The control method is the same as that of the first-stage temperature equalization process, and will not be elaborated on here.

[0054] After the above three stages of regulation, the temperature deviation between various temperature control sub-regions can be effectively reduced, the uniformity of the overall temperature control of the target temperature control object can be improved, and the time-sharing and staged temperature control strategy can significantly reduce the cross-modulation effect between different temperature control regions, reduce the complexity of multi-region temperature control adjustment algorithms, thereby shortening the time for the target temperature control object to reach a stable state and improving temperature control efficiency and accuracy.

[0055] Based on the same application concept, this application also provides a collaborative temperature control device corresponding to the collaborative temperature control method provided in the above embodiments. Since the principle of the device in this application is similar to the collaborative temperature control method in the above embodiments of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0056] Please see Figure 4 , Figure 4 A functional block diagram of a collaborative temperature control device provided in an embodiment of this application is shown. Figure 4 As shown, the device includes: Temperature acquisition module 600 is used to control the zone temperature control system to acquire the actual temperature of each temperature control sub-zone according to a preset sampling period; The global temperature control module 610 is used to perform global temperature control: the actual temperature and target temperature of the reference temperature control sub-zone are used as the input of the corresponding PID temperature feedback control algorithm of each temperature control sub-zone, and the global temperature regulation of each temperature control sub-zone is performed through the partition temperature control system until the reference temperature control sub-zone reaches the target temperature. The regional temperature equalization control module 620 is used to include the reference temperature control sub-zone after reaching the target temperature control into the collaborative temperature control group, and to include multiple secondary temperature control sub-zones into the collaborative temperature control group in sequence according to the temperature control level. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature equalization processing is triggered. For each round of temperature equalization processing, the following is executed for each temperature control sub-zone in the collaborative temperature control group to which the round of temperature equalization processing belongs: using the actual temperature and target temperature of the temperature control sub-zone as the input of the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone; after completing multiple rounds of temperature equalization processing, the temperature equalization control of the target temperature control object is achieved.

[0057] Based on the same concept, this application also provides a central processing unit that integrates the collaborative temperature control method provided in any of the above embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0058] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0059] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0060] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0061] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A collaborative temperature control method, characterized in that, This system is applied to a zoned temperature control system, which is deployed on a target temperature-controlled object. The target temperature-controlled object is divided into multiple temperature-controlled sub-zones, including a base temperature-controlled sub-zone and multiple secondary temperature-controlled sub-zones. The zoned temperature control system includes a temperature control module disposed in each temperature-controlled sub-zone. The method includes: The temperature control system for each temperature zone collects the actual temperature of each temperature control sub-zone according to a preset sampling period. Perform global temperature control: Use the actual temperature and target temperature of the reference temperature control sub-zone as inputs to the corresponding PID temperature feedback control algorithm of each temperature control sub-zone, and use the zoned temperature control system to perform global temperature regulation of each temperature control sub-zone until the reference temperature control sub-zone reaches the target temperature. Perform regional temperature uniformity control: The reference temperature control sub-zone after reaching the target temperature control is included in the collaborative temperature control group, and the multiple secondary temperature control sub-zones are sequentially included in the collaborative temperature control group according to the temperature control level. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature uniformity processing is triggered. For each round of temperature equalization, the following is executed for each temperature control sub-zone within the collaborative temperature control group to which the round of temperature equalization belongs: the actual temperature and target temperature of the temperature control sub-zone are used as the inputs to the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone; After completing multiple rounds of temperature equalization processing, the temperature equalization control of the target temperature control object is achieved.

2. The method according to claim 1, characterized in that, The secondary temperature control sub-region includes a primary temperature control sub-region adjacent to the reference temperature control sub-region and a secondary temperature control sub-region not adjacent to the reference temperature control sub-region. The process of uniform temperature control in the region includes: The reference temperature control sub-zone that has reached the target temperature control is included in the collaborative temperature control group, and the first-level temperature control sub-zone is included in the collaborative temperature control group, and the first-level temperature equalization process is triggered: for each of the reference temperature control sub-zone and the first-level temperature control sub-zone, the actual temperature and the target temperature of the temperature control sub-zone are used as the input of the corresponding PID temperature feedback control algorithm of the temperature control sub-zone, and the temperature of the temperature control sub-zone is controlled until the temperature control sub-zone reaches the target temperature; After the reference temperature control sub-region and the primary temperature control sub-region have all reached the target temperature, the secondary temperature control sub-region is incorporated into the collaborative temperature control group, and the secondary temperature homogenization process is triggered to execute the secondary temperature homogenization process: For each of the reference temperature control sub-region, the first-level temperature control sub-region, and the second-level temperature control sub-region, the actual temperature and the target temperature of the temperature control sub-region are used as the inputs to the corresponding PID temperature feedback control algorithm of the temperature control sub-region, and the temperature of the temperature control sub-region is controlled until the temperature control sub-region reaches the target temperature. After completing the secondary temperature equalization process, the temperature equalization control of the target temperature control object is achieved.

3. The method according to claim 1, characterized in that, In the global temperature control process, the process of controlling the temperature of each temperature control sub-zone includes: For each feedback control cycle of the PID temperature feedback control algorithm, execute: The actual temperature of the reference temperature control sub-zone is determined based on the actual temperature output by the temperature control module set in the reference temperature control sub-zone. Based on the actual temperature of the reference temperature control sub-region and the target temperature, determine the temperature error of the reference temperature control sub-region under this feedback control cycle; Substitute the temperature error of the reference temperature control sub-region in the feedback control cycle, the temperature error of the reference temperature control sub-region in the previous feedback control cycle, the PID control coefficient, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to each temperature control sub-region to obtain the heating output power corresponding to each temperature control sub-region. For each temperature control sub-zone, the corresponding temperature control module controls the temperature of that sub-zone according to the corresponding heating output power.

4. The method according to claim 3, characterized in that, PID control coefficients include proportional coefficient, integral coefficient, and derivative coefficient. In the global temperature control process, the heating output power of the temperature control sub-zone in each feedback control cycle is determined by the following formula: In this formula, This indicates the first temperature control sub-region in the global temperature control process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Denotes the differential coefficient. This represents the temperature error of the reference temperature control sub-region during the k-th feedback control cycle. Indicates the temperature sampling period. This represents the sum of temperature errors in the reference temperature control sub-region during the k-th feedback control cycle. This represents the temperature error of the reference temperature control sub-region during the (k-1)th feedback control cycle.

5. The method according to claim 2, characterized in that, The primary temperature equalization process also includes: For each feedback control cycle of the PID temperature feedback control algorithm, execute: For each of the reference temperature control sub-region and the primary temperature control sub-region, perform the following processing: The actual temperature of the temperature control sub-zone is determined based on the actual temperature output by the temperature control module set within that sub-zone. Based on the actual temperature of the temperature control sub-zone and the target temperature, determine the temperature error of the temperature control sub-zone under the feedback control cycle; Substitute the temperature error of the temperature control sub-region in the feedback control cycle, the temperature error of the temperature control sub-region in the previous feedback control cycle, the PID control coefficient of the first-level temperature equalization process, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to the temperature control sub-region to obtain the heating output power corresponding to the temperature control sub-region. The temperature control module corresponding to the temperature control sub-zone controls the temperature of the temperature control sub-zone according to the heating output power.

6. The method according to claim 5, characterized in that, PID control coefficients include proportional coefficient, integral coefficient, and derivative coefficient. In the primary temperature equalization process, the heating output power of the reference temperature control sub-region and the primary temperature control sub-region in each feedback control cycle is determined by the following formula: In this formula, This indicates the first target temperature control sub-region in the first-stage temperature homogenization process. Heating output power under each feedback control cycle This represents the proportionality coefficient. Represents the integral coefficient. Differential coefficients, This represents the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. Indicates the temperature sampling period. This represents the sum of temperature errors in the reference temperature control sub-region or the first-level temperature control sub-region during the k-th feedback control cycle. This indicates the temperature error of the reference temperature control sub-region or the first-level temperature control sub-region during the (k-1)th feedback control cycle.

7. The method according to claim 2, characterized in that, The secondary temperature homogenization process also includes: For each feedback control cycle of the PID temperature feedback control algorithm, execute: For each of the reference temperature control sub-region, the primary temperature control sub-region, and the secondary temperature control sub-region, perform the following processing: The actual temperature of the temperature control sub-zone is determined based on the actual temperature output by the temperature control module set within that sub-zone. Based on the actual temperature of the temperature control sub-zone and the target temperature, determine the temperature error of the temperature control sub-zone under the feedback control cycle; Substitute the temperature error of the temperature control sub-region in the feedback control cycle, the temperature error of the temperature control sub-region in the previous feedback control cycle, the PID control coefficient of the first-level temperature equalization process, and the temperature sampling cycle of the temperature control module into the PID temperature feedback control algorithm corresponding to the temperature control sub-region to obtain the heating output power corresponding to the temperature control sub-region. The temperature control module corresponding to the temperature control sub-zone controls the temperature of the temperature control sub-zone according to the heating output power.

8. The method according to claim 1, characterized in that, The target temperature control object is the calibration reference source of the spaceborne equipment.

9. A collaborative temperature control device, characterized in that, The device is applied to a zoned temperature control system, which is arranged on a target temperature-controlled object. The target temperature-controlled object is divided into multiple temperature-controlled sub-zones, including a base temperature-controlled sub-zone and a secondary temperature-controlled sub-zone. The zoned temperature control system includes a temperature control module disposed in each temperature-controlled sub-zone. The device includes: The temperature acquisition module is used to control the zone temperature control system to acquire the actual temperature of each temperature control sub-zone according to a preset sampling period; The global temperature control module is used to perform global temperature control: the actual temperature and target temperature of the reference temperature control sub-zone are used as inputs to the corresponding PID temperature feedback control algorithm of each temperature control sub-zone, and the global temperature regulation of each temperature control sub-zone is performed through the zoned temperature control system until the reference temperature control sub-zone reaches the target temperature. The regional temperature equalization control module is used to include the reference temperature control sub-zone that has reached the target temperature control into the collaborative temperature control group, and to sequentially include the multiple secondary temperature control sub-zones into the collaborative temperature control group according to their temperature control levels. Each time a secondary temperature control sub-zone is included in the collaborative temperature control group, a round of temperature equalization processing is triggered. For each round of temperature equalization processing, the following is executed for each temperature control sub-zone within the collaborative temperature control group to which the round of temperature equalization processing belongs: using the actual temperature and target temperature of the temperature control sub-zone as the input of the PID temperature feedback control algorithm of the temperature control sub-zone to achieve temperature equalization of the temperature control sub-zone; after completing multiple rounds of temperature equalization processing, the temperature equalization control of the target temperature control object is achieved.

10. A zoned temperature control system, characterized in that, The partitioned temperature control system is arranged on the target temperature control object, which is divided into multiple temperature control sub-zones, including a reference temperature control sub-zone and a secondary temperature control sub-zone. The partitioned temperature control system includes a central processing unit and a temperature control module disposed in each temperature control sub-zone. The central processing unit runs the collaborative temperature control method provided in any one of claims 1-8.

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