Method and device for controlling a self-sustaining liquid nitrogen tank, electronic equipment and medium

Abstract

The present disclosure provides a control method of a self-sustaining liquid nitrogen tank, which can be used in the field of liquid nitrogen tank control. The method comprises: obtaining a real-time pressure PP and a real-time temperature PT of the self-sustaining liquid nitrogen tank; calculating a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank and a set pressure SP; calculating a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank and a set temperature ST; and adjusting the output of a Stirling machine based on the pressure deviation value PER and the temperature deviation value TER to control the pressure and temperature of the self-sustaining liquid nitrogen tank. The present disclosure also provides a control device, equipment, storage medium and program product of a self-sustaining liquid nitrogen tank. The control method of the self-sustaining liquid nitrogen tank provided by the present disclosure can realize accurate control of the temperature and pressure of the self-sustaining liquid nitrogen tank, thereby ensuring the safety of the stored samples.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of liquid nitrogen tank control, in particular, to a control method, device, equipment, medium and program product of a self-sustaining liquid nitrogen tank. BACKGROUND

[0002] The liquid nitrogen tank is used to store a large amount of stem cells, embryos and low-temperature storage tanks for preservation. When cells or tissues are stored in the liquid nitrogen tank, the temperature drops rapidly, causing water molecules in the sample to crystallize, thereby avoiding chemical reactions. Cells and tissues can be preserved for a long time and maintain their original shape and structure for subsequent reproduction and treatment.

[0003] In the process of implementing the present disclosure, the inventors found that the current liquid nitrogen tank cannot control the pressure and temperature during storage, thereby greatly affecting the safety of the stored sample. SUMMARY

[0004] In view of the above problems, the present disclosure provides a control method, device, equipment, medium and program product of a self-sustaining liquid nitrogen tank.

[0005] According to a first aspect of the present disclosure, a control method of a self-sustaining liquid nitrogen tank is provided, comprising: obtaining a real-time pressure PP and a real-time temperature PT of the self-sustaining liquid nitrogen tank; calculating a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank and a set pressure SP; calculating a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank and a set temperature ST; and adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER to control the pressure and temperature of the self-sustaining liquid nitrogen tank.

[0006] According to an embodiment of the present disclosure, the step of adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER comprises: adjusting a pressure control output frequency OUT1 and a pressure control output change time TIMP based on the pressure deviation value PER; and adjusting an output frequency OUT and a control output change time TIM of the Stirling machine based on the temperature deviation value TER, wherein the output frequency OUT is calculated based on the pressure control output frequency OUT1, and the control output change time TIM is calculated based on the pressure control output change time TIMP.

[0007] According to an embodiment of the present disclosure, the step of adjusting the pressure control output frequency OUT1 and the pressure control output change time TIMP based on the pressure deviation value PER comprises: when the pressure deviation value PER is greater than 0, increasing the pressure control output frequency OUT1; and / or; when the pressure deviation value PER is less than 0, decreasing the pressure control output frequency OUT1; and / or; when the pressure deviation value PER is equal to 0, keeping the pressure control output frequency OUT1 and the pressure control output change time TIMP; the step of adjusting the output frequency OUT and the control output change time TIM of the Stirling machine based on the temperature deviation value TER comprises: when the temperature deviation value TER is greater than 0, increasing the output frequency OUT of the Stirling machine; and / or; when the temperature deviation value TER is less than 0, decreasing the output frequency OUT of the Stirling machine; and / or; when the temperature deviation value TER is equal to 0, keeping the output frequency OUT of the Stirling machine and the control output change time TIM.

[0008] According to the embodiment of the present disclosure, when the pressure deviation value PER is greater than 0, the step of increasing the pressure control output frequency OUT1 comprises: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling machine; presetting 5 pressure deviation value intervals: (0, PEH1), [PEH1, PEH2), [PEH2, PEH3), [PEH3, PEH4) and [PEH4, +∞), wherein: PEH4>PEH3>PEH2>PEH1>0; when the pressure deviation value PER≥PEH4, comparing the pressure control output frequency OUT1 and the maximum output frequency OUTH; when OUT1<OUTH, adjusting the pressure control output as OUT1=OUT1+(OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP=TIMP; when OUT1≥OUTH, adjusting the pressure control output as OUT1=OUTH, and the pressure control output change time is TIMP=TIMP; and / or; when PEH3≤the pressure deviation value PER<PEH4, comparing the pressure control output frequency OUT1 and the maximum output frequency OUTH; when OUT1<OUTH, adjusting the pressure control output as OUT1=OUT1+(OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; when OUT1≥OUTH, adjusting the pressure control output as OUT1=OUTH, and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; and / or; when PEH2≤the pressure deviation value PER<PEH3, comparing the pressure control output frequency OUT1 and the maximum output frequency OUTH; when OUT1<OUTH, adjusting the pressure control output as OUT1=OUT1+(OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; when OUT1≥OUTH, adjusting the pressure control output as OUT1=OUTH, and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.when PEH1 < pressure deviation value PER < PEH2, comparing the pressure control output frequency OUT1 and the maximum output frequency OUTH; when OUT1 < OUTH, adjusting the pressure control output as OUT1 = OUT1 + (OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], the pressure control output change time being TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; when OUT1 ≥ OUTH, adjusting the pressure control output as OUT1 = OUTH, the pressure control output change time being TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; and / or; when 0 < pressure deviation value PER < PEH1, comparing the pressure control output frequency OUT1 and the maximum output frequency OUTH; when OUT1 < OUTH, adjusting the pressure control output as OUT1 = OUT1, the pressure control output change time being TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)]; when OUT1 ≥ OUTH, adjusting the pressure control output as OUT1 = OUTH, the pressure control output change time being TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0009] According to embodiments of the present disclosure, the method further comprises: (PEH4-PEH3) > (PEH3-PEH2) > (PEH2-PEH1) > PEH1.

[0010] According to the embodiment of the present disclosure, when the pressure deviation value PER is less than 0, the step of reducing the pressure control output frequency OUT1 comprises: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML and the maximum control output change time TIMH of the Stirling machine; presetting 5 pressure deviation value intervals: (-∞, PEL4], (PEL4, PEL3], (PEL3, PEL2], (PEL2, PEL1], (PEL1, 0), wherein: 0>PEL1>PEL2>PEL3>PEL4; when the pressure deviation value PER≤PEL4, comparing the pressure control output frequency OUT1 and the minimum output frequency OUTL; when OUT1>OUTL, adjusting the pressure control output as OUT1=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP=TIMP; when OUT1≤OUTL, adjusting the pressure control output as OUT1=OUTL, and the pressure control output change time is TIMP=TIMP; and / or; when PEL4<the pressure deviation value PER≤PEL3, comparing the pressure control output frequency OUT1 and the minimum output frequency OUTL; when OUT1>OUTL, adjusting the pressure control output as OUT1=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; when OUT1≤OUTL, adjusting the pressure control output as OUT1=OUTL, and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; and / or; when PEL3<the pressure deviation value PER≤PEL2, comparing the pressure control output frequency OUT1 and the minimum output frequency OUTL; when OUT1>OUTL, adjusting the pressure control output as OUT1=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; when OUT1≤OUTL, adjusting the pressure control output as OUT1=OUTL, and the pressure control output change time is TIMP=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)] and / or; when PEL2 < pressure deviation value PER ≤ PEL1, comparing the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL; when OUT1 > OUTL, adjusting the pressure control output as OUT1 = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)]; when OUT1 ≤ OUTL, adjusting the pressure control output as OUT1 = OUTL, the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)]; and / or; when PEL1 < pressure deviation value PER < 0, comparing the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL; when OUT1 > OUTL, adjusting the pressure control output as OUT1 = OUT1, the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)]; when OUT1 ≤ OUTL, adjusting the pressure control output as OUT1 = OUTL, the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)].

[0011] According to embodiments of the present disclosure, the method further comprises: |PEL3 - PEL4| > |PEL2 - PEL3| > |PEL1 - PEL2| > |PEH1|.

[0012] According to the embodiment of the present disclosure, when the temperature deviation value TER is greater than 0, the step of increasing the output frequency OUT of the Stirling machine comprises: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling machine; presetting five temperature deviation value intervals: (0, TEH1), [TEH1, TEH2), [TEH2, TEH3), [TEH3, TEH4), and [TEH4, +∞), wherein: TEH4 > TEH3 > TEH2 > TEH1 > 0; when the temperature control deviation value TER is greater than or equal to TEH4, comparing the output frequency OUT of the Stirling machine with the maximum output frequency OUTH; when OUT < OUTH, adjusting the output frequency of the Stirling machine to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*56%, and the control output change time is TIM = TIM; when OUT ≥ OUTH, adjusting the output frequency of the Stirling machine to OUT = OUTH, and the control output change time is TIM = TIM; and / or; when TEH3 ≤ temperature control deviation value TER < TEH4, comparing the output frequency OUT of the Stirling machine with the maximum output frequency OUTH; when OUT < OUTH, adjusting the output frequency of the Stirling machine to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*43%, and the control output change time is TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; when OUT ≥ OUTH, adjusting the output frequency of the Stirling machine to OUT = OUTH, and the control output change time is TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; and / or; when TEH2 ≤ temperature deviation value TER < TEH3, comparing the output frequency OUT of the Stirling machine with the maximum output frequency OUTH; when OUT < OUTH, adjusting the output frequency of the Stirling machine to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*36%, and the control output change time is TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; when OUT ≥ OUTH, adjusting the output frequency of the Stirling machine to OUT = OUTH, and the control output change time is TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.6%; and / or; when TEH1≤ temperature deviation value TER < TEH2, comparing the output frequency OUT of the Stirling machine with the maximum output frequency OUTH; when OUT < OUTH, adjusting the output frequency of the Stirling machine as OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*29%, and controlling the output change time as TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; when OUT ≥ OUTH, adjusting the output frequency of the Stirling machine as OUT = OUTH, and controlling the output change time as TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; and / or; when 0 < temperature deviation value TER < TEH1, comparing the output frequency OUT of the Stirling machine with the maximum output frequency OUTH; when OUT < OUTH, adjusting the output frequency of the Stirling machine as OUT = OUT, and controlling the output change time as TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%; when OUT ≥ OUTH, adjusting the output frequency of the Stirling machine as OUT = OUTH, and controlling the output change time as TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.

[0013] According to embodiments of the present disclosure, the method further comprises: (TEH4-TEH3) > (TEH3-TEH2) > (TEH2-TEH1) > TEH1.

[0014] According to the embodiment of the present disclosure, when the temperature deviation value TER is less than 0, the step of adjusting the output frequency OUT of the Stirling machine includes: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling machine; presetting five temperature deviation value intervals: (-∞, TEL4], (TEL4, TEL3], (TEL3, TEL2], (TEL2, TEL1], and (TEL1, 0), wherein: 0>TEL1>TEL2>TEL3>TEL4; when the temperature deviation value TER is less than or equal to TEL4, comparing the output frequency OUT of the Stirling machine with the minimum output frequency OUTL; when OUT>OUTL, adjusting the output frequency of the Stirling machine to OUT=OUT-(OUTH-OUTL)*[(OUTH-OUTL)*|TER|*0.37%]-OUT1*56%, and the control output change time is TIM=TIM; when OUT≤OUTL, adjusting the output frequency of the Stirling machine to OUT=OUTL, and the control output change time is TIM=TIM; and / or; when THL4<TER≤TEL3, comparing the output frequency OUT of the Stirling machine with the minimum output frequency OUTL; when OUT>OUTL, adjusting the output frequency of the Stirling machine to OUT=OUT-(OUTH-OUTL)*[(OUTH-OUTL)*|TER|*0.37%]-OUT1*43%, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; when OUT≤OUTL, adjusting the output frequency of the Stirling machine to OUT=OUTL, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; and / or; when TEL3<TER≤TEL2, comparing the output frequency OUT of the Stirling machine with the minimum output frequency OUTL; when OUT>OUTL, adjusting the output frequency of the Stirling machine to OUT=OUT-(OUTH-OUTL)*[(OUTH-OUTL)*|TER|*0.37%]-OUT1*36%, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; when OUT≤OUTL, adjusting the output frequency of the Stirling machine to OUT=OUTL, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%.6%; and / or; when TEL2 < temperature deviation value TER ≤ TEL1, comparing the output frequency OUT of the Stirling machine with the minimum output frequency OUTL; when OUT > OUTL, adjusting the output frequency of the Stirling machine as OUT = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 29%, and controlling the output change time as TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; when OUT ≤ OUTL, adjusting the output frequency of the Stirling machine as OUT = OUTL, and controlling the output change time as TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; and / or; when TEL1 < temperature deviation value TER < 0, comparing the output frequency OUT of the Stirling machine with the minimum output frequency OUTL; when OUT > OUTL, adjusting the output frequency of the Stirling machine as OUT = OUT, and controlling the output change time as TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; when OUT ≤ OUTL, adjusting the output frequency of the Stirling machine as OUT = OUTL, and controlling the output change time as TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%.

[0015] According to an embodiment of the present disclosure, the method further comprises: |TEL3 - TEL4| > |TEL2 - TEL3| > |TEL1 - TEL2| > |TEH1|.

[0016] According to an embodiment of the present disclosure, the method further comprises: reacquiring the real-time pressure PP and the real-time temperature PT of the self-sustaining liquid nitrogen tank every time a control output change time elapses; and repeating the step of adjusting the output of the Stirling machine until PER and TER equal 0.

[0017] A second aspect of the present disclosure provides a control device of a self-sustaining liquid nitrogen tank, comprising: a first acquisition module configured to acquire a real-time pressure PP and a real-time temperature PT of the self-sustaining liquid nitrogen tank; a first calculation module configured to calculate a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank from a set pressure SP; a second calculation module configured to calculate a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank from a set temperature ST; and an adjustment module configured to adjust an output of a Stirling machine based on the pressure deviation value PER and the temperature deviation value TER, so as to control the pressure and the temperature of the self-sustaining liquid nitrogen tank.

[0018] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the above method.

[0019] A fourth aspect of the present disclosure also provides a computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the above method.

[0020] A fifth aspect of the present disclosure also provides a computer program product comprising a computer program that, when executed by a processor, implements the above method.

[0021] The one or more embodiments described above have the following advantages or beneficial effects: The control method of the self-sustaining liquid nitrogen tank provided by the embodiments of the present disclosure adjusts the output of the Stirling machine through the pressure deviation and the temperature deviation, realizes the accurate control of the temperature and the pressure of the self-sustaining liquid nitrogen tank, and thus guarantees the safety of the stored samples. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure, taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 The application scenario diagram of the control method, device, equipment, medium and program product of the self-sustaining liquid nitrogen tank according to the embodiments of the present disclosure is schematically shown;

[0024] Figure 2 The flowchart of the control method of the self-sustaining liquid nitrogen tank according to the embodiments of the present disclosure is schematically shown;

[0025] Figure 3 The schematic diagram when the frequency is increased based on the pressure deviation value according to the embodiments of the present disclosure is schematically shown;

[0026] Figure 4 The schematic diagram when the frequency is decreased based on the pressure deviation value according to the embodiments of the present disclosure is schematically shown;

[0027] Figure 5 The schematic diagram when the frequency is increased based on the temperature deviation value according to the embodiments of the present disclosure is schematically shown;

[0028] Figure 6 The schematic diagram when the frequency is decreased based on the temperature deviation value according to the embodiments of the present disclosure is schematically shown;

[0029] Figure 7 The pressure change schematic diagram according to the embodiments of the present disclosure is schematically shown;

[0030] Figure 8 A temperature change diagram according to an embodiment of the disclosure is schematically illustrated;

[0031] Figure 9 A block diagram of a control device of a self-sustaining liquid nitrogen tank according to an embodiment of the disclosure is schematically illustrated; and

[0032] Figure 10 A block diagram of an electronic device adapted to implement a control method of a self-sustaining liquid nitrogen tank according to an embodiment of the disclosure is schematically illustrated. DETAILED DESCRIPTION

[0033] Hereinafter, embodiments of the disclosure will be described with reference to the accompanying drawings. It should be understood, however, that the description which follows is merely illustrative and is not intended to limit the scope of the disclosure. In the following detailed description of embodiments of the disclosure, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. However, it will be apparent to one skilled in the art that the embodiments of the disclosure can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring the concepts of the disclosure.

[0034] The terms used herein are merely used to describe specific embodiments and are not intended to limit the disclosure. The terms "include", "comprise" and the like used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0035] All terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having meanings consistent with the context of the specification, and should not be interpreted in an idealized or excessively formal manner.

[0036] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should generally be interpreted to include at least one of the items enumerated, but not limited to the items enumerated (e.g., "a system having at least one of A, B, and C" should include a system having A alone, a system having B alone, a system having C alone, a system having A and B together, a system having A and C together, a system having B and C together, and / or a system having A, B, and C together, etc.). The terms "first", "second", etc. are used only for descriptive purposes, and should not be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features.

[0037] The liquid nitrogen tank is used to store a large number of stem cells, embryos and low-temperature storage tank for preservation. When the cells or tissues are stored in the liquid nitrogen tank, the temperature drops rapidly, causing the water molecules in the sample to crystallize, thereby avoiding the occurrence of chemical reactions. The cells and tissues can be preserved for a long time and maintain the original shape and structure for subsequent reproduction and treatment. The popular liquid nitrogen tank storage device on the market is a gas phase liquid nitrogen tank. The main structure of the liquid nitrogen tank is a tray inside. The tray is below the liquid nitrogen, and the storage space is above the tray. The sample is stored by means of liquid nitrogen evaporation cooling, and the temperature does not need to be controlled. The liquid nitrogen tank requires regular liquid nitrogen filling. If the liquid nitrogen is not filled in time, the liquid nitrogen will be consumed, and the temperature will rise, which will cause the damage of the frozen samples. Since the current liquid nitrogen tank cannot control the pressure and temperature during storage, the safety of the stored samples is greatly affected. The self-sustaining liquid nitrogen tank is designed by setting a fully enclosed liquid nitrogen storage tank inside the liquid nitrogen tank. The liquid nitrogen evaporates inside the storage tank, and the stored samples in the liquid nitrogen tank are cooled by temperature radiation. At the same time, the evaporated liquid nitrogen is condensed by the Stirling machine, so that the gaseous nitrogen is condensed into liquid nitrogen again. This design effectively saves the consumption of liquid nitrogen, and also avoids the temperature rise caused by the depletion of liquid nitrogen, which in turn causes the damage of the frozen samples. The sample temperature control and the pressure control in the liquid nitrogen storage tank are very important for the self-sustaining liquid nitrogen tank, and directly affect the safety of the self-sustaining liquid nitrogen tank and the safety of the samples.

[0038] In view of the above problems, the embodiments of the present disclosure provide a control method of a self-sustaining liquid nitrogen tank, comprising: acquiring a real-time pressure PP and a real-time temperature PT of the self-sustaining liquid nitrogen tank; calculating a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank and a set pressure SP; calculating a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank and a set temperature ST; and adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER, to control the pressure and temperature of the self-sustaining liquid nitrogen tank.

[0039] Figure 1 The application scenario of the control method, device, equipment, medium and program product of the self-sustaining liquid nitrogen tank according to the embodiments of the present disclosure is schematically shown.

[0040] As Figure 1 shown, the application scenario 100 according to the embodiments can include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 is used as a medium to provide a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 can include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0041] The user can use the terminal devices 101, 102, and 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications can be installed on the terminal devices 101, 102, and 103, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (only as examples).

[0042] The terminal devices 101, 102, and 103 can be various electronic devices with display screens and supporting web browsing, including but not limited to smartphones, tablet computers, laptop computers, desktop computers, etc.

[0043] The server 105 can be a server providing various services, such as a background management server providing support for websites browsed by users using the terminal devices 101, 102, and 103 (only as an example). The background management server can analyze and process received user requests and other data, and feed back the processing results (such as web pages, information, or data, etc. obtained or generated according to user requests) to the terminal devices.

[0044] It should be noted that the control method of the self-sustaining liquid nitrogen tank provided in the embodiments of the present disclosure can generally be executed by the server 105. Correspondingly, the control device of the self-sustaining liquid nitrogen tank provided in the embodiments of the present disclosure can generally be arranged in the server 105. The control method of the self-sustaining liquid nitrogen tank provided in the embodiments of the present disclosure can also be executed by a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, and 103 and / or the server 105. Correspondingly, the control device of the self-sustaining liquid nitrogen tank provided in the embodiments of the present disclosure can also be arranged in a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, and 103 and / or the server 105.

[0045] It should be understood that Figure 1 The number of terminal devices, networks, and servers in the above description is only illustrative. According to the needs of implementation, there can be any number of terminal devices, networks, and servers.

[0046] Figure 2 A flowchart of a control method of a self-sustaining liquid nitrogen tank according to an embodiment of the present disclosure is schematically shown.

[0047] As shown in Figure 2 The control method of the self-sustaining liquid nitrogen tank of this embodiment includes operation S210 to operation S240.

[0048] In operation S210, the real-time pressure PP and the real-time temperature PT of the self-sustaining liquid nitrogen tank are acquired.

[0049] In operation S220, a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank and the set pressure SP is calculated, where PER = PP - SP.

[0050] In operation S230, a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank and the set temperature ST is calculated, where TER = PT - ST.

[0051] In operation S240, based on the pressure deviation value PER and the temperature deviation value TER, the output of the Stirling machine is adjusted to control the pressure and temperature of the self-sustaining liquid nitrogen tank.

[0052] According to an embodiment of the present disclosure, the step of adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER comprises: adjusting the pressure control output frequency OUT1 and the pressure control output change time TIMP based on the pressure deviation value PER; and adjusting the output frequency OUT and the control output change time TIM of the Stirling machine based on the temperature deviation value TER, where the output frequency OUT is calculated based on the pressure control output frequency OUT1, and the control output change time TIM is calculated based on the pressure control output change time TIMP.

[0053] According to an embodiment of the present disclosure, the step of adjusting the pressure control output frequency OUT1 and the pressure control output change time TIMP based on the pressure deviation value PER comprises: increasing the pressure control output frequency OUT1 when the pressure deviation value PER is greater than 0; and / or decreasing the pressure control output frequency OUT1 when the pressure deviation value PER is less than 0; and / or keeping the pressure control output frequency OUT1 and the pressure control output change time TIMP when the pressure deviation value PER is equal to 0; and the step of adjusting the output frequency OUT and the control output change time TIM of the Stirling machine based on the temperature deviation value TER comprises: increasing the output frequency OUT of the Stirling machine when the temperature deviation value TER is greater than 0; and / or decreasing the output frequency OUT of the Stirling machine when the temperature deviation value TER is less than 0; and / or keeping the output frequency OUT and the control output change time TIM of the Stirling machine when the temperature deviation value TER is equal to 0.

[0054] Optionally, an initial pressure control output change time TIMPS and an initial control output change time TIMS can be set, and when the system is started for the first time, TIMP = TIMPS and TIM = TIMS are set.

[0055] According to an embodiment of the present disclosure, when the pressure deviation value PER is greater than 0, the step of increasing the pressure control output frequency OUT1 comprises: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML and the maximum control output change time TIMH of the Stirling machine; wherein the specific minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML and the maximum control output change time TIMH can be set according to actual conditions, and the embodiment of the present disclosure does not limit this. Five pressure deviation value intervals are preset: (0, PEH1), [PEH1, PEH2), [PEH2, PEH3), [PEH3, PEH4) and [PEH4, +∞), wherein: PEH4> PEH3> PEH2> PEH1> 0, in order to balance the speed of adjustment and the stability of adjustment, five pressure deviation value intervals are set for adjustment.

[0056] When the pressure deviation value PER is greater than or equal to PEH4, the pressure control output frequency OUT1 is compared with the maximum output frequency OUTH;

[0057] When OUT1 is less than OUTH, the pressure control output is adjusted to OUT1 = OUT1 + (OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP = TIMP.

[0058] When OUT1 is greater than or equal to OUTH, the pressure control output is adjusted to OUT1 = OUTH, and the pressure control output change time is TIMP = TIMP.

[0059] When PEH3 is less than or equal to the pressure deviation value PER and less than PEH4, the pressure control output frequency OUT1 is compared with the maximum output frequency OUTH;

[0060] When OUT1 is less than OUTH, the pressure control output is adjusted to OUT1 = OUT1 + (OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0061] When OUT1 is greater than or equal to OUTH, the pressure control output is adjusted to OUT1 = OUTH, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0062] When PEH2≤ pressure deviation value PER < PEH3, compare the size of pressure control output frequency OUT1 and maximum output frequency OUTH;

[0063] When OUT1 < OUTH, adjust the pressure control output as OUT1 = OUT1 + (OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)];

[0064] When OUT1 ≥ OUTH, adjust the pressure control output as OUT1 = OUTH, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0065] When PEH1≤ pressure deviation value PER < PEH2, compare the size of pressure control output frequency OUT1 and maximum output frequency OUTH;

[0066] When OUT1 < OUTH, adjust the pressure control output as OUT1 = OUT1 + (OUTH-OUTL)*[(OUTH-OUTL)*PER*0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)];

[0067] When OUT1 ≥ OUTH, adjust the pressure control output as OUT1 = OUTH, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0068] When 0 < pressure deviation value PER < PEH1, compare the size of pressure control output frequency OUT1 and maximum output frequency OUTH;

[0069] When OUT1 < OUTH, adjust the pressure control output as OUT1 = OUT1, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)];

[0070] When OUT1 ≥ OUTH, adjust the pressure control output as OUT1 = OUTH, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / PER)].

[0071] According to an embodiment of the present disclosure, the method further comprises: (PEH4-PEH3)>(PEH3-PEH2)>(PEH2-PEH1)>PEH1, that is, the lengths of the 5 preset pressure deviation value intervals are different, the closer the pressure deviation value is to 0, the shorter the interval length, and the more accurate the regulation, so that the pressure change is more stable.

[0072] Figure 3 A schematic diagram when the frequency is increased based on the pressure deviation value according to an embodiment of the present disclosure is schematically shown.

[0073] As shown in Figure 3 , the output frequency of the Stirling machine is controlled according to the pressure deviation of the self-sustaining liquid nitrogen tank, and is divided into 5 regulation intervals, the pressure control output frequency presents a gentle step-up state, and finally realizes a stable control effect.

[0074] According to an embodiment of the present disclosure, when the pressure deviation value PER is less than 0, the step of reducing the pressure control output frequency OUT1 comprises: obtaining the minimum output frequency OUTL and the maximum output frequency OUTH of the Stirling machine, the minimum control output change time TIML and the maximum control output change time TIMH; presetting 5 pressure deviation value intervals: (-∞, PEL4], (PEL4, PEL3], (PEL3, PEL2], (PEL2, PEL1], (PEL1, 0), wherein: 0>PEL1>PEL2>PEL3>PEL4.

[0075] When the pressure deviation value PER is less than or equal to PEL4, the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL is compared;

[0076] When OUT1>OUTL, the pressure control output is adjusted to OUT1=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP=TIMP.

[0077] When OUT1≤OUTL, the pressure control output is adjusted to OUT1=OUTL, and the pressure control output change time is TIMP=TIMP.

[0078] When PEL4<pressure deviation value PER≤PEL3, the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL is compared;

[0079] When OUT1 > OUTL, adjust the pressure control output to OUT1 = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)];

[0080] When OUT1 ≤ OUTL, adjust the pressure control output to OUT1 = OUTL, and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)].

[0081] When PEL3 < pressure deviation value PER ≤ PEL2, compare the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL;

[0082] When OUT1 > OUTL, adjust the pressure control output to OUT1 = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)];

[0083] When OUT1 ≤ OUTL, adjust the pressure control output to OUT1 = OUTL, and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)].

[0084] When PEL2 < pressure deviation value PER ≤ PEL1, compare the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL;

[0085] When OUT1 > OUTL, adjust the pressure control output to OUT1 = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)];

[0086] When OUT1 ≤ OUTL, adjust the pressure control output to OUT1 = OUTL, and the pressure control output change time is TIMP = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)].

[0087] When PEL1 < pressure deviation value PER < 0, the size of the pressure control output frequency OUT1 and the minimum output frequency OUTL is compared;

[0088] When OUT1 > OUTL, the pressure control output is adjusted as OUT1 = OUT1, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)].

[0089] When OUT1 ≤ OUTL, the pressure control output is adjusted as OUT1 = OUTL, and the pressure control output change time is TIMP = TIMP + (TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)].

[0090] According to an embodiment of the present disclosure, the method further comprises: |PEL3-PEL4| > |PEL2-PEL3| > |PEL1-PEL2| > |PEH1|. That is, the lengths of the 5 preset pressure deviation value intervals are different, the closer the pressure deviation value is to 0, the shorter the interval length is, and the more accurate the regulation is, so that the pressure change is more stable.

[0091] Figure 4 A schematic diagram based on pressure deviation value frequency reduction according to an embodiment of the present disclosure is schematically shown.

[0092] As shown in Figure 4 , the output of the Stirling machine is controlled by frequency reduction according to the self-sustaining liquid nitrogen tank pressure deviation, which is divided into 5 regulation intervals, and the pressure control output frequency presents a gentle stepwise decrease state, and finally realizes a stable control effect.

[0093] According to an embodiment of the present disclosure, when the temperature deviation value TER is greater than 0, the step of increasing the output frequency OUT of the Stirling machine comprises: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling machine; 5 temperature deviation value intervals are preset: (0, TEH1), [TEH1, TEH2), [TEH2, TEH3), [TEH3, TEH4) and [TEH4, +∞), wherein: TEH4 > TEH3 > TEH2 > TEH1 > 0.

[0094] When the temperature control deviation value TER ≥ TEH4, the size of the output frequency OUT of the Stirling machine and the maximum output frequency OUTH is compared;

[0095] When OUT < OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*56%, and the output change time is controlled to TIM = TIM;

[0096] When OUT ≥ OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUTH, and the output change time is controlled to TIM = TIM.

[0097] When TEH3 ≤ temperature deviation value TER < TEH4, the output frequency OUT of the Stirling machine is compared with the maximum output frequency OUTH;

[0098] When OUT < OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*43%, and the output change time is controlled to TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%;

[0099] When OUT ≥ OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUTH, and the output change time is controlled to TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.

[0100] When TEH2 ≤ temperature deviation value TER < TEH3, the output frequency OUT of the Stirling machine is compared with the maximum output frequency OUTH;

[0101] When OUT < OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUT + (OUTH-OUTL)*[(OUTH-OUTL)*TER*0.37%]+OUT1*36%, and the output change time is controlled to TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%;

[0102] When OUT ≥ OUTH, the output frequency of the Stirling machine is adjusted to OUT = OUTH, and the output change time is controlled to TIM = TIM + (TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.

[0103] When TEH1 ≤ temperature deviation value TER < TEH2, the output frequency OUT of the Stirling machine is compared with the maximum output frequency OUTH;

[0104] When OUT < OUTH, adjust the Stirling machine's output frequency to OUT = OUT + (OUTH - OUTL) * [(OUTH - OUTL) * TER * 0.37%] + OUT1 * 29%, and control the output change time to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%.

[0105] When OUT≥OUTH, adjust the output frequency of the Stirling machine to OUT=OUTH, and control the output change time as TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.

[0106] When 0 < temperature deviation value TER < TEH1, compare the output frequency OUT of the Stirling machine with the maximum output frequency OUTH.

[0107] When OUT < OUTH, adjust the output frequency of the Stirling machine to OUT = OUT, and control the output change time as TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%;

[0108] When OUT≥OUTH, adjust the output frequency of the Stirling machine to OUT=OUTH, and control the output change time as TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*(0.08% / TER)]+TIMP*TER*3.6%.

[0109] According to an embodiment of this disclosure, the method further includes: (TEH4-TEH3)>(TEH3-TEH2)>(TEH2-TEH1)>TEH1, that is, the lengths of the five preset temperature deviation value intervals are different. The closer the temperature deviation value is to 0, the shorter the interval length, indicating that the control is more precise and the temperature change is more stable.

[0110] Figure 5 A schematic diagram illustrating frequency enhancement based on temperature deviation values ​​according to an embodiment of the present disclosure is shown.

[0111] like Figure 5 As shown, the output of the Stirling engine is frequency-increased based on the temperature deviation of the self-sustaining liquid nitrogen tank. The frequency is divided into 5 control intervals, and the output frequency is controlled to show a smooth step-like increase, ultimately achieving a stable control effect.

[0112] According to the embodiment of the present disclosure, when the temperature deviation value TER is less than 0, the step of adjusting the output frequency OUT of the Stirling machine includes: obtaining the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling machine; and presetting five temperature deviation value intervals: (-∞, TEL4], (TEL4, TEL3], (TEL3, TEL2], (TEL2, TEL1], and (TEL1, 0), wherein 0>TEL1>TEL2>TEL3>TEL4.

[0113] When the temperature deviation value TER is less than or equal to TEL4, the output frequency OUT of the Stirling machine is compared with the minimum output frequency OUTL.

[0114] When OUT>OUTL, the output frequency of the Stirling machine is adjusted to OUT=OUT-(OUTH-OUTL)*[(OUTH-OUTL)*|TER|*0.37%]-OUT1*56%, and the control output change time is TIM=TIM.

[0115] When OUT≤OUTL, the output frequency of the Stirling machine is adjusted to OUT=OUTL, and the control output change time is TIM=TIM.

[0116] When TEL3<TER≤TEL2, the output frequency OUT of the Stirling machine is compared with the minimum output frequency OUTL.

[0117] When OUT>OUTL, the output frequency of the Stirling machine is adjusted to OUT=OUT-(OUTH-OUTL)*[(OUTH-OUTL)*|TER|*0.37%]-OUT1*43%, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%.

[0118] When OUT≤OUTL, the output frequency of the Stirling machine is adjusted to OUT=OUTL, and the control output change time is TIM=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%.

[0119] When TEL3<TER≤TEL2, the output frequency OUT of the Stirling machine is compared with the minimum output frequency OUTL.

[0120] When OUT > OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 36%, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%;

[0121] When OUT ≤ OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUTL, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%.

[0122] When TEL2 < temperature deviation value TER ≤ TEL1, the output frequency OUT of the Stirling engine is compared with the minimum output frequency OUTL;

[0123] When OUT > OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 29%, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%;

[0124] When OUT ≤ OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUTL, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%.

[0125] When TEL1 < temperature deviation value TER < 0, the output frequency OUT of the Stirling engine is compared with the minimum output frequency OUTL;

[0126] When OUT > OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUT, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%;

[0127] When OUT ≤ OUTL, the output frequency of the Stirling engine is adjusted to OUT = OUTL, and the output change time is controlled to TIM = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%.

[0128] According to an embodiment of the present disclosure, the method further comprises: |TEL3-TEL4| > |TEL2-TEL3| > |TEL1-TEL2| > |TEH1|, that is, the lengths of the five preset temperature deviation value intervals are different, the closer the temperature deviation value is to 0, the shorter the interval length is, and the more accurate the regulation is, so that the temperature change is more stable.

[0129] Figure 6 A schematic diagram based on the temperature deviation value frequency reduction is schematically shown according to an embodiment of the present disclosure.

[0130] As shown in the figure, the output of the Stirling machine is controlled according to the temperature deviation of the self-sustaining liquid nitrogen tank, and is divided into five regulation intervals, the control output frequency presents a gentle step-down state, and finally a stable control effect is realized. Figure 6

[0131] According to an embodiment of the present disclosure, the method further comprises: reacquiring the real-time pressure PP and the real-time temperature PT of the self-sustaining liquid nitrogen tank every time a control output change time elapses; and repeating the step of adjusting the output of the Stirling machine until the PER and the TER are equal to 0. Thus, the temperature and pressure of the self-sustaining liquid nitrogen tank are accurately controlled, and the stability of the temperature and pressure is effectively controlled.

[0132] Figure 7 A pressure change schematic diagram according to an embodiment of the present disclosure is schematically shown. Figure 8 A temperature change schematic diagram according to an embodiment of the present disclosure is schematically shown.

[0133] As shown in the figure, when the actual pressure is greater than the set pressure, the regulation method according to an embodiment of the present disclosure regulates the Stirling machine, thereby realizing stable and undulating control of the pressure. Figure 7

[0134] As shown in the figure, when the actual temperature is greater than the set temperature, the regulation method according to an embodiment of the present disclosure regulates the Stirling machine, thereby realizing stable and undulating control of the temperature. Figure 8

[0135] The control method of the self-sustaining liquid nitrogen tank provided by the embodiment of the present disclosure adjusts the output of the Stirling machine through the pressure deviation and the temperature deviation, realizes accurate control of the temperature and pressure of the self-sustaining liquid nitrogen tank, thereby ensuring the safety of the stored sample, and can effectively control the stability of the temperature and pressure, effectively control the stability of the temperature of the self-sustaining liquid nitrogen tank and the stability of the pressure of the liquid nitrogen storage tank, effectively control the sample temperature to be lower than -175℃, and further ensure the safety of the stored sample.

[0136] Based on the above control method of the self-sustaining liquid nitrogen tank, the present disclosure further provides a control device of a self-sustaining liquid nitrogen tank. The following will be described in combination with​​​Figure 9 The device is described in detail.

[0137] Figure 9 A structural block diagram of the control device of the self-sustaining liquid nitrogen tank according to an embodiment of the present disclosure is schematically shown.

[0138] As Figure 9 shown, the control device 900 of the self-sustaining liquid nitrogen tank of the embodiment includes a first obtaining module 910, a first calculating module 920, a second calculating module 930, and an adjusting module 940.

[0139] The first obtaining module 910 is configured to obtain a real-time pressure PP and a real-time temperature PT of the self-sustaining liquid nitrogen tank. In an embodiment, the first obtaining module 910 can be configured to perform the operation S210 described above, and details are not repeated here.

[0140] The first calculating module 920 is configured to calculate a pressure deviation value PER of the real-time pressure PP of the self-sustaining liquid nitrogen tank and a set pressure SP. In an embodiment, the first calculating module 920 can be configured to perform the operation S220 described above, and details are not repeated here.

[0141] The second calculating module 930 is configured to calculate a temperature deviation value TER of the real-time temperature PT of the self-sustaining liquid nitrogen tank and a set temperature ST. In an embodiment, the second calculating module 930 can be configured to perform the operation S230 described above, and details are not repeated here.

[0142] The adjusting module 940 is configured to adjust an output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER, so as to control the pressure and the temperature of the self-sustaining liquid nitrogen tank. In an embodiment, the adjusting module 940 can be configured to perform the operation S240 described above, and details are not repeated here.

[0143] According to an embodiment of the present disclosure, any of the first obtaining module 910, the first calculating module 920, the second calculating module 930 and the adjusting module 940 can be combined in one module, or any of them can be split into multiple modules. Alternatively, at least part of the function of one or more of these modules can be combined with at least part of the function of other modules, and implemented in one module. According to an embodiment of the present disclosure, at least one of the first obtaining module 910, the first calculating module 920, the second calculating module 930 and the adjusting module 940 can 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 chip, a system on board, a system on package, an application specific integrated circuit (ASIC), or any other reasonable way of hardware or firmware that can be integrated or packaged with a circuit, or any one of software, hardware and firmware or any appropriate combination of any of them. Alternatively, at least one of the first obtaining module 910, the first calculating module 920, the second calculating module 930 and the adjusting module 940 can be at least partially implemented as a computer program module that can perform corresponding functions when it is run.

[0144] Figure 10 A block diagram of an electronic device suitable for implementing the control method of the self-sustaining liquid nitrogen tank according to an embodiment of the present disclosure is schematically shown.

[0145] As shown in Figure 10 The electronic device 1000 according to an embodiment of the present disclosure includes a processor 1001 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or loaded from a storage portion 1008 into a random access memory (RAM) 1003. The processor 1001 can include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset, and / or a special-purpose microprocessor (such as an application specific integrated circuit (ASIC)), and the like. The processor 1001 can also include an on-board memory for cache use. The processor 1001 can include a single processing unit or multiple processing units for performing different actions of the method processes according to embodiments of the present disclosure.

[0146] In the RAM 1003, various programs and data required for the operation of the electronic device 1000 are stored. The processor 1001, the ROM 1002, and the RAM 1003 are connected to each other via the bus 1004. The processor 1001 performs various operations of the method flow according to the embodiments of the present disclosure by executing the programs in the ROM 1002 and / or the RAM 1003. It should be noted that the programs can also be stored in one or more memories other than the ROM 1002 and the RAM 1003. The processor 1001 can also perform various operations of the method flow according to the embodiments of the present disclosure by executing the programs stored in the one or more memories.

[0147] According to an embodiment of the present disclosure, the electronic device 1000 can further include an input / output (I / O) interface 1005, which is also connected to the bus 1004. The electronic device 1000 can further include one or more of the following components connected to the I / O interface 1005: an input part 1006 including a keyboard, a mouse, etc.; an output part 1007 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 1008 including a hard disk, etc.; and a communication part 1009 including a network interface card such as a LAN card, a modem, etc. The communication part 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1010 as necessary, so that a computer program read out therefrom is installed in the storage part 1008 as necessary.

[0148] The present disclosure also provides a computer readable storage medium, which can be included in the device / apparatus / system described in the above embodiments; or can exist separately without being assembled into the device / apparatus / system. The above computer readable storage medium carries one or more programs, when the one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.

[0149] According to an embodiment of the present disclosure, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, can include, but is not limited to, a portable computer diskette, 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 disc read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present disclosure, the computer readable storage medium can include one or more memories such as the ROM 1002 and / or the RAM 1003 described above and / or one or more memory chips other than the ROM 1002 and the RAM 1003.

[0150] Embodiments of the present disclosure also include a computer program product that includes a computer program containing program codes for executing the methods shown in the flowcharts. When the computer program product is run in a computer system, the program codes are used to cause the computer system to implement the methods of the embodiments of the present disclosure.

[0151] The above-described functions defined in the system / apparatus / module / units of the embodiments of the present disclosure are performed when the computer program is executed by the processor 1001. According to an embodiment of the present disclosure, the above-described system, apparatus, module, unit, etc. can be implemented by the computer program modules.

[0152] In one embodiment, the computer program can rely on a tangible storage medium such as an optical storage device, a magnetic storage device, etc. In another embodiment, the computer program can also be transmitted, distributed, and / or downloaded in the form of a signal over a network medium and installed and / or installed from the removable medium 1011 through the communication part 1009. The program codes contained in the computer program can be transmitted using any appropriate network medium, including but not limited to wireless, wired, etc., or any appropriate combination thereof.

[0153] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009 and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above-described functions defined in the system of the embodiments of the present disclosure are performed. According to an embodiment of the present disclosure, the above-described system, apparatus, device, module, unit, etc. can be implemented by computer program modules.

[0154] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational 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 execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0156] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0157] The above describes embodiments of the present disclosure. However, these embodiments are merely for illustrative purposes, and are not intended to limit the scope of the present disclosure. Although each embodiment is described above separately, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Those skilled in the art can make various substitutions and modifications without departing from the scope of the present disclosure, and these substitutions and modifications should all fall within the scope of the present disclosure.

Claims

1. A control method for a self-sustaining liquid nitrogen tank, characterized in that, include: Obtain the real-time pressure PP and real-time temperature PT of the self-sustaining liquid nitrogen tank; Calculate the pressure deviation PER between the real-time pressure PP and the set pressure SP of the self-sustaining liquid nitrogen tank; Calculate the temperature deviation TER between the real-time temperature PT and the set temperature ST of the self-sustaining liquid nitrogen tank; as well as Based on the pressure deviation value PER and the temperature deviation value TER, the output of the Stirling engine is adjusted to control the pressure and temperature of the self-sustaining liquid nitrogen tank. The step of adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER includes: Based on the pressure deviation value PER, adjust the pressure control output frequency OUT1 and the pressure control output change time TIMP; and Based on the temperature deviation value TER, adjust the output frequency OUT and control output change time TIM of the Stirling machine, wherein the output frequency OUT is calculated based on the pressure control output frequency OUT1, and the control output change time TIM is calculated based on the pressure control output change time TIMP.

2. The method according to claim 1, characterized in that, The step of adjusting the pressure control output frequency OUT1 and the pressure control output change time TIMP based on the pressure deviation value PER includes: When the pressure deviation value PER is greater than 0, increase the pressure control output frequency OUT1; and / or; When the pressure deviation value PER is less than 0, reduce the pressure control output frequency OUT1; and / or; When the pressure deviation value PER is equal to 0, maintain the pressure control output frequency OUT1 and the pressure control output change time TIMP. The steps of adjusting the output frequency OUT of the Stirling machine and controlling the output change time TIM based on the temperature deviation value TER include: When the temperature deviation value TER is greater than 0, increase the output frequency OUT of the Stirling machine; and / or; When the temperature deviation value TER is less than 0, reduce the output frequency OUT of the Stirling machine; and / or; When the temperature deviation value TER is equal to 0, maintain the output frequency OUT of the Stirling machine and control the output change time TIM.

3. The method according to claim 2, characterized in that, The step of increasing the pressure control output frequency OUT1 when the pressure deviation value PER is greater than 0 includes: Obtain the minimum output frequency OUTL, maximum output frequency OUTH, minimum control output change time TIML, and maximum control output change time TIMH of the Stirling machine. Five pressure deviation value ranges are preset: (0, PEH1), [PEH1, PEH2), [PEH2, PEH3), [PEH3, PEH4) and [PEH4, +∞), where: PEH4 > PEH3 > PEH2 > PEH1 > 0; When the pressure deviation value PER≥PEH4, compare the magnitudes of the pressure control output frequency OUT1 and the maximum output frequency OUTH. When OUT1 < OUTH, adjust the pressure control output frequency to OUT1’ = OUT1 + (OUTH - OUTL) * [(OUTH - OUTL) * PER * 0.43%], and the pressure control output change time is TIMP’ = TIMP; When OUT1 ≥ OUTH, adjust the pressure control output frequency to OUT1 = OUTH, and the pressure control output change time is TIMP’ = TIMP; and / or; When PEH3 ≤ pressure deviation value PER < PEH4, compare the magnitudes of the pressure control output frequency OUT1 and the maximum output frequency OUTH; When OUT1 < OUTH, adjust the pressure control output frequency to OUT1’ = OUT1 + (OUTH - OUTL) * [(OUTH - OUTL) * PER * 0.43%], and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; When OUT1 ≥ OUTH, adjust the pressure control output frequency to OUT1 = OUTH; the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; and / or; When PEH2 ≤ pressure deviation value PER < PEH3, compare the magnitudes of the pressure control output frequency OUT1 and the maximum output frequency OUTH; When OUT1 < OUTH, adjust the pressure control output frequency to OUT1’ = OUT1 + (OUTH - OUTL) * [(OUTH - OUTL) * PER * 0.43%], and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; When OUT1 ≥ OUTH, adjust the pressure control output frequency to OUT1 = OUTH, and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; and / or; When PEH1 ≤ pressure deviation value PER < PEH2, compare the magnitudes of the pressure control output frequency OUT1 and the maximum output frequency OUTH; When OUT1 < OUTH, adjust the pressure control output frequency to OUT1’ = OUT1 + (OUTH - OUTL) * [(OUTH - OUTL) * PER * 0.43%], and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; When OUT1 ≥ OUTH, adjust the pressure control output frequency to OUT1 = OUTH, and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; and / or; When 0 < pressure deviation value PER < PEH1, compare the magnitudes of the pressure control output frequency OUT1 and the maximum output frequency OUTH; When OUT1 < OUTH, adjust the pressure control output frequency to OUT1’ = OUT1, and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)]; When OUT1 ≥ OUTH, adjust the pressure control output frequency to OUT1 = OUTH, and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / PER)].

4. The method according to claim 3, characterized in that, The method further includes: (PEH4 - PEH3) > (PEH3 - PEH2) > (PEH2 - PEH1) > PEH1.

5. The method according to claim 2, characterized in that, The step of reducing the pressure control output frequency OUT1 when the pressure deviation value PER is less than 0 includes: Obtain the minimum output frequency OUTL of the Stirling engine, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH; Preset 5 pressure deviation value intervals: (-∞, PEL4], (PEL4, PEL3], (PEL3, PEL2], (PEL2, PEL1], (PEL1, 0), where: 0 > PEL1 > PEL2 > PEL3 > PEL4; When the pressure deviation value PER ≤ PEL4, compare the magnitudes of the pressure control output frequency OUT1 and the minimum output frequency OUTL; When OUT1 > OUTL, adjust the pressure control output frequency to OUT1’ = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], and the pressure control output change time is TIMP’ = TIMP; When OUT1 ≤ OUTL, adjust the pressure control output frequency to OUT1 = OUTL, and the pressure control output change time is TIMP’ = TIMP; and / or; When PEL4 < pressure deviation value PER ≤ PEL3, compare the magnitudes of the pressure control output frequency OUT1 and the minimum output frequency OUTL; When OUT1 > OUTL, adjust the pressure control output frequency to OUT1’ = OUT1 - (OUTH - OUTL) * [(OUTH - OUTL) * |PER| * 0.43%], and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)]; When OUT1 ≤ OUTL, adjust the pressure control output frequency to OUT1 = OUTL, and the pressure control output change time is TIMP’ = TIMP + (TIMH - TIML) * [(OUTH - OUTL) * (0.18% / |PER|)]; and / or; When PEL3 < pressure deviation value PER ≤ PEL2, compare the magnitudes of pressure control output frequency OUT1 and minimum output frequency OUTL. When OUT1>OUTL, the pressure control output frequency is adjusted to OUT1'=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; When OUT1≤OUTL, the pressure control output frequency is adjusted to OUT1=OUTL, and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; and / or; When PEL2 < pressure deviation value PER ≤ PEL1, compare the magnitudes of pressure control output frequency OUT1 and minimum output frequency OUTL. When OUT1>OUTL, the pressure control output frequency is adjusted to OUT1'=OUT1-(OUTH-OUTL)*[(OUTH-OUTL)*|PER|*0.43%], and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; When OUT1≤OUTL, the pressure control output frequency is adjusted to OUT1=OUTL, and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; and / or; When PEL1 < pressure deviation value PER < 0, compare the magnitudes of pressure control output frequency OUT1 and minimum output frequency OUTL. When OUT1>OUTL, the pressure control output frequency is adjusted to OUT1'=OUT1, and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)]; When OUT1≤OUTL, the pressure control output frequency is adjusted to OUT1=OUTL, and the pressure control output change time is TIMP'=TIMP+(TIMH-TIML)*[(OUTH-OUTL)*(0.18% / |PER|)].

6. The method according to claim 5, characterized in that, The method further includes: |PEL3-PEL4|>|PEL2-PEL3|>|PEL1-PEL2|>|PEH1|.

7. The method according to any one of claims 3-6, characterized in that, When the temperature deviation value TER is greater than 0, the step of increasing the output frequency OUT of the Stirling machine includes: Obtain the minimum output frequency OUTL, maximum output frequency OUTH, minimum control output change time TIML, and maximum control output change time TIMH of the Stirling machine; Preset 5 temperature deviation value intervals: (0, TEH1), [TEH1, TEH2), [TEH2, TEH3), [TEH3, TEH4), and [TEH4, +∞), where: TEH4 > TEH3 > TEH2 > TEH1 > 0; When the temperature control deviation value TER ≥ TEH4, compare the output frequency OUT of the Stirling engine with the maximum output frequency OUTH; When OUT < OUTH, adjust the output frequency of the Stirling engine to OUT’ = OUT + (OUTH - OUTL)*[(OUTH - OUTL)*TER*0.37%] + OUT1*56%, and control the output change time to TIM’ = TIM; When OUT ≥ OUTH, adjust the output frequency of the Stirling engine to OUT = OUTH, and control the output change time to TIM’ = TIM; and / or; When TEH3 ≤ the temperature control deviation value TER < TEH4, compare the output frequency OUT of the Stirling engine with the maximum output frequency OUTH; When OUT < OUTH, adjust the output frequency of the Stirling engine to OUT’ = OUT + (OUTH - OUTL)*[(OUTH - OUTL)*TER*0.37%] + OUT1*43%, and control the output change time to TIM’ = TIM + (TIMH - TIML)*[(OUTH - OUTL)*(0.08% / TER)] + TIMP*TER*3.6%; When OUT ≥ OUTH, adjust the output frequency of the Stirling engine to OUT = OUTH, and control the output change time to TIM’ = TIM + (TIMH - TIML)*[(OUTH - OUTL)*(0.08% / TER)] + TIMP*TER*3.6%; and / or; When TEH2 ≤ the temperature deviation value TER < TEH3, compare the output frequency OUT of the Stirling engine with the maximum output frequency OUTH; When OUT < OUTH, adjust the output frequency of the Stirling engine to OUT’ = OUT + (OUTH - OUTL)*[(OUTH - OUTL)*TER*0.37%] + OUT1*36%, and control the output change time to TIM’ = TIM + (TIMH - TIML)*[(OUTH - OUTL)*(0.08% / TER)] + TIMP*TER*3.6%; When OUT ≥ OUTH, adjust the output frequency of the Stirling engine to OUT = OUTH, and control the output change time to TIM’ = TIM + (TIMH - TIML)*[(OUTH - OUTL)*(0.08% / TER)] + TIMP*TER*3.6%; and / or; When TEH1 ≤ the temperature deviation value TER < TEH2, compare the output frequency OUT of the Stirling engine with the maximum output frequency OUTH; When OUT < OUTH, adjust the output frequency of the Stirling engine to OUT’ = OUT + (OUTH - OUTL) * [(OUTH - OUTL) * TER * 0.37%] + OUT1 * 29%, and control the output change time as TIM’ = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%; When OUT ≥ OUTH, adjust the output frequency of the Stirling engine to OUT = OUTH, and control the output change time as TIM’ = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%; and / or; When 0 < temperature deviation value TER < TEH1, compare the output frequency OUT of the Stirling engine with the maximum output frequency OUTH; When OUT < OUTH, adjust the output frequency of the Stirling engine to OUT’ = OUT, and control the output change time as TIM’ = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%; When OUT ≥ OUTH, adjust the output frequency of the Stirling engine to OUT = OUTH, and control the output change time as TIM’ = TIM + (TIMH - TIML) * [(OUTH - OUTL) * (0.08% / TER)] + TIMP * TER * 3.6%.

8. The method according to claim 7, characterized in that, The method further includes: (TEH4 - TEH3) > (TEH3 - TEH2) > (TEH2 - TEH1) > TEH1.

9. The method according to any one of claims 3-6, characterized in that, When the temperature deviation value TER is less than 0, the steps of reducing the output frequency OUT of the Stirling engine include: Obtain the minimum output frequency OUTL, the maximum output frequency OUTH, the minimum control output change time TIML, and the maximum control output change time TIMH of the Stirling engine; Preset 5 temperature deviation value intervals: (-∞, TEL4], (TEL4, TEL3], (TEL3, TEL2], (TEL2, TEL1], (TEL1, 0), where: 0 > TEL1 > TEL2 > TEL3 > TEL4; When the temperature control deviation value TER ≤ TEL4, compare the output frequency OUT of the Stirling engine with the minimum output frequency OUTL; When OUT > OUTL, adjust the output frequency of the Stirling engine to OUT’ = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 56%, and control the output change time as TIM’ = TIM; When OUT ≤ OUTL, adjust the output frequency of the Stirling engine to OUT = OUTL, and control the output change time as TIM’ = TIM; and / or; When THL4 < temperature control deviation value TER ≤ TEL3, compare the output frequency OUT of the Stirling engine with the minimum output frequency OUTL; When OUT > OUTL, adjust the Stirling machine's output frequency to OUT' = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 43%, and control the output change time to TIM' = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; When OUT≤OUTL, adjust the Stirling machine's output frequency to OUT=OUTL, and control the output change time as TIM'=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; and / or; When TEL3 < temperature deviation TER ≤ TEL2, compare the output frequency OUT of the Stirling machine with the minimum output frequency OUTL. When OUT > OUTL, adjust the Stirling machine's output frequency to OUT' = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 36%, and control the output change time to TIM' = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; When OUT≤OUTL, adjust the Stirling machine's output frequency to OUT=OUTL, and control the output change time as TIM'=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; and / or; When TEL2 < temperature deviation value TER ≤ TEL1, compare the output frequency OUT of the Stirling machine with the minimum output frequency OUTL. When OUT > OUTL, adjust the Stirling machine's output frequency to OUT' = OUT - (OUTH - OUTL) * [(OUTH - OUTL) * |TER| * 0.37%] - OUT1 * 29%, and control the output change time to TIM' = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; When OUT≤OUTL, adjust the Stirling machine's output frequency to OUT=OUTL, and control the output change time as TIM'=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%; and / or; When TEL1 < temperature deviation value TER < 0, compare the output frequency OUT of the Stirling machine with the minimum output frequency OUTL. When OUT > OUTL, adjust the Stirling machine's output frequency to OUT' = OUT, and control the output change time as TIM' = TIM + (TIMH - TIML) * [(OUTH - OUTL) * |PER| * 0.3%] + TIMP * |TER| * 3.6%; When OUT≤OUTL, adjust the output frequency of the Stirling machine to OUT=OUTL, and control the output change time as TIM'=TIM+(TIMH-TIML)*[(OUTH-OUTL)*|PER|*0.3%]+TIMP*|TER|*3.6%.

10. The method according to claim 9, characterized in that, The method further includes: |TEL3-TEL4|>|TEL2-TEL3|>|TEL1-TEL2|>|TEH1|.

11. The method according to claim 1, characterized in that, The method further includes: After each control output change time, the real-time pressure PP and real-time temperature PT of the self-sustaining liquid nitrogen tank are reacquired; and Repeat the steps of adjusting the Stirling machine's output until PER and TER equal 0.

12. A control device for a self-sustaining liquid nitrogen tank, comprising: The first acquisition module is used to acquire the real-time pressure PP and real-time temperature PT of the self-sustaining liquid nitrogen tank; The first calculation module is used to calculate the pressure deviation value PER between the real-time pressure PP and the set pressure SP of the self-sustaining liquid nitrogen tank. The second calculation module is used to calculate the temperature deviation value TER between the real-time temperature PT and the set temperature ST of the self-sustaining liquid nitrogen tank. as well as An adjustment module is used to adjust the output of the Stirling engine based on the pressure deviation value PER and the temperature deviation value TER, in order to control the pressure and temperature of the self-sustaining liquid nitrogen tank. The step of adjusting the output of the Stirling machine based on the pressure deviation value PER and the temperature deviation value TER includes: Based on the pressure deviation value PER, adjust the pressure control output frequency OUT1 and the pressure control output change time TIMP; and Based on the temperature deviation value TER, adjust the output frequency OUT and control output change time TIM of the Stirling machine, wherein the output frequency OUT is calculated based on the pressure control output frequency OUT1, and the control output change time TIM is calculated based on the pressure control output change time TIMP.

13. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 11.

14. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 11.

15. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 11.

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