Ppid temperature control method, device and computer readable storage medium

Abstract

The application discloses a PID temperature control adjusting method, a device and a computer readable storage medium, and the PID temperature control adjusting method comprises the following steps: obtaining a temperature difference between an environment temperature and a set temperature; and determining an initial value of an integral control item based on a linear corresponding relationship between the temperature difference and the integral control item; and outputting a control signal based on the initial value of the integral control item and the set temperature to control a controlled device to reach the set temperature. Through the above steps, the stability of the temperature control system is improved, so that the overshoot phenomenon can be slowed down and the stable time can be shortened.

Description

Technical Field

[0001] This invention relates to the field of temperature control and regulation, and more particularly to PID temperature control and regulation methods, devices, and computer-readable storage media. Background Technology

[0002] PID (Proportional Integral Derivative) temperature control algorithms utilize proportional (P), integral (I), and derivative (D) control to adjust the output of the control system, enabling the system to reach and maintain a set value. In practical applications, such as when using a PID temperature control system to analyze the characteristics of DRAM, an initial output power value needs to be manually selected as a starting point. The PID's negative feedback mechanism eventually reaches the set value. However, this approach relies heavily on personal experience and makes it difficult to achieve a shorter stabilization time while minimizing overshoot during the initial temperature adjustment of the controlled equipment.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a PID temperature control method, device, and computer-readable storage medium, which aims to solve the technical problem that previous temperature control methods are difficult to achieve a shorter stabilization time while reducing overshoot during the initial temperature adjustment of the controlled device.

[0005] To achieve the above objectives, the present invention provides a PID temperature control method, which includes the following steps:

[0006] Obtain the temperature difference between the ambient temperature and the set temperature;

[0007] Based on the linear correspondence between the temperature difference and the integral control term, the initial value for starting the integral control term is determined.

[0008] Based on the initial value of the integral control term and the set temperature, a control signal is output to control the controlled device to reach the set temperature.

[0009] Optionally, before the step of determining the initial value of the integral control term based on the linear correspondence between the temperature difference and the integral control term, the method further includes:

[0010] Obtain the control parameters of the temperature control system;

[0011] Based on the control parameters, the ambient temperature, and the settable temperature, the integral control term is fitted to obtain the corresponding function;

[0012] Based on the function, determine the linear correspondence between the temperature difference and the integral control term.

[0013] Optionally, the step of outputting a control signal to control the controlled device to reach the set temperature based on the initial value of the integral control term and the set temperature includes:

[0014] Based on the initial startup value and the set temperature, the initial output power is determined and the initial control signal is output to adjust the temperature of the controlled device;

[0015] When the next control cycle arrives, the temperature of the controlled device is acquired;

[0016] If the temperature of the controlled device does not reach the set temperature, adjust the output parameters of the proportional control term, the integral control term, and the derivative control term according to the temperature difference between the set temperature and the controlled device.

[0017] Based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term, the output power is determined and a control signal is output until the next control cycle is reached, at which point the step of obtaining the temperature of the controlled device is executed.

[0018] Optionally, after the step of obtaining the temperature of the controlled device, the following step is further included:

[0019] If the controlled device reaches the set temperature, maintain the output power of the proportional control term, the integral control term, and the derivative control term;

[0020] When the next control cycle is reached again, the step of obtaining the temperature of the controlled device is performed.

[0021] Optionally, the step of determining the output power and outputting the control signal based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term includes:

[0022] Obtain the PWM duty cycle of the temperature control system;

[0023] Based on the output parameters of the proportional control term, the integral control term, and the derivative control term, determine the sum of the output parameters;

[0024] The sum of the output parameters is mapped one-to-one with the duty cycle of the PWM to determine the output power, and the control signal is output based on the output power.

[0025] Optionally, the step of adjusting the output parameters of the proportional control term, the integral control term, and the derivative control term based on the temperature difference between the set temperature and the temperature of the controlled device if the temperature of the controlled device does not reach the set temperature includes:

[0026] The output parameters of the proportional control term are determined based on the temperature difference and the proportional coefficient.

[0027] The output parameters of the integral control term are determined based on the temperature difference, the initial start-up value, the proportional coefficient, and the integral time.

[0028] The output parameters of the differential control term are determined based on the temperature difference, the proportional coefficient, the derivative time, and the temperature difference of the previous control cycle.

[0029] Optionally, after the step of outputting a control signal to control the controlled device to reach the set temperature based on the initial value of the integral control term and the set temperature, the method further includes:

[0030] Obtain the temperature and output power of the temperature control system;

[0031] Based on the temperature, the input power, and the prediction model, predict the temperature change for the next control cycle;

[0032] Based on the prediction results and the optimization problem of the prediction model, the target output power for the next control cycle is determined.

[0033] The control signal is output based on the target output power to maintain the temperature of the controlled device.

[0034] Optionally, before the step of predicting the temperature change for the next control cycle based on the temperature, the input power, and the prediction model, the method further includes:

[0035] The prediction model is constructed based on the system parameters of the temperature control system;

[0036] Based on the temperature control requirements of the controlled equipment, the optimization problem and constraints of the prediction model are determined.

[0037] The model parameters of the prediction model are updated based on the real-time measurement data of the temperature control system.

[0038] In addition, to achieve the above objectives, the present invention also provides a PID temperature control device, the PID temperature control device comprising: a memory, a processor, and a PID temperature control program stored in the memory and executable on the processor, the PID temperature control program being configured to implement the steps of the PID temperature control method as described above.

[0039] Furthermore, to achieve the above objectives, the present invention provides a computer-readable storage medium storing a PID temperature control program, which, when executed by a processor, implements the steps of the PID temperature control method as described above.

[0040] This invention provides a PID temperature control method. First, the temperature difference between the ambient temperature and the set temperature is obtained. Then, based on the linear correspondence between the temperature difference and the integral control term, which has been previously fitted with static error, the initial value of the integral control term is determined. This initial value is used as the initial starting power of the PID control system. Based on the initial value of the integral control term and the set temperature, a control signal is output to control the controlled device to reach the set temperature. Through these steps, the stability of the temperature control system can be improved. For scenarios where the controlled device is adjusted from room temperature to the set temperature, overshoot can be mitigated while the settling time is shortened. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the first embodiment of the PID temperature control method of the present invention;

[0042] Figure 2 This is a flowchart illustrating the second embodiment of the PID temperature control method of the present invention;

[0043] Figure 3 This is a flowchart illustrating the third embodiment of the PID temperature control method of the present invention;

[0044] Figure 4 This is a flowchart illustrating the fourth embodiment of the PID temperature control method of the present invention;

[0045] Figure 5 This is a reference diagram showing the linear correspondence between the temperature and integral control terms in the first embodiment;

[0046] Figure 6 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] In traditional temperature control methods where the controlled equipment is adjusted from an initial temperature to a set temperature, the operator typically sets the output power directly. The negative feedback mechanism of the PID temperature control system automatically adjusts the output power of the proportional, integral, and derivative control terms. When the PID controller attempts to respond quickly based on the output power and reduce the settling time, it often leads to overshoot, meaning the temperature exceeds the target value before returning to a steady state. Conversely, to reduce overshoot, the PID controller may adopt a conservative adjustment strategy, resulting in a longer settling time, meaning the system needs more time to converge to a steady state. In other words, traditional temperature control methods struggle to achieve a balance between mitigating overshoot and reducing settling time.

[0049] To mitigate overshoot in a stable environment while shortening the settling time, this invention provides a PID temperature control method. This method fits a steady-state error line based on the temperature difference between the settable temperature of the controlled device and the ambient temperature. This line represents the linear correspondence between the settable temperature and the integral control term. The starting power of the integral control box is then determined based on the settable temperature. This starting power of the integral control term is then used as the initial power for the PID controller, which outputs a control signal to regulate the temperature of the controlled device until the settable temperature is reached.

[0050] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0051] This invention provides a PID temperature control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of a PID temperature control method according to the present invention.

[0052] In this embodiment, the PID temperature control method includes:

[0053] Step S10: Obtain the temperature difference between the ambient temperature and the set temperature.

[0054] In a PID temperature control system, proportional control (P) uses a gain proportional to the error to generate the output signal. This means it multiplies the difference between the target set temperature and the current measured temperature by a proportional gain coefficient Kp to obtain the proportional control output. The proportional gain determines the control system's sensitivity to errors, but P cannot eliminate static errors. Integral control (I) generates the output signal based on the accumulated error, multiplying it by an integral gain coefficient Ki. The purpose of integral control is to eliminate persistent static errors and improve the stability of the temperature control system. Derivative control (D) calculates the rate of change of the error and multiplies it by a derivative gain coefficient Kd. Derivative control can be used to predict the future behavior of the temperature control system, improving the system's response speed. The PID controller combines these three control parameters, adding the proportional, integral, and derivative control outputs to obtain the final control signal, which is used to adjust the temperature of the controlled equipment to reach the set temperature.

[0055] This embodiment addresses the scenario of adjusting the initial temperature of a controlled device in a stable environment, where the temperature is constantly adjusted from room temperature to a set temperature. A stable environment refers to one where the ambient temperature remains relatively constant. For example, when using a PID temperature control system to analyze the characteristics of DRAM (Dynamic Random Access Memory), the laboratory environment is kept at a constant temperature; this can be considered a stable environment. In such an environment, the initial temperature of the controlled device is assumed to be equal to the ambient temperature. Once the set temperature to which the controlled device needs to be adjusted is given, the temperature difference between the ambient temperature and the set temperature can be determined.

[0056] Furthermore, in one feasible implementation, the ambient temperature can be monitored using a temperature sensor, and the set temperature can be manually set by the user. Specifically, the user needs to input the desired temperature value into the PID temperature controller, so that the PID controller will adjust the output of the heating or cooling system based on the difference between the current ambient temperature and the set temperature. In another feasible implementation, the PID temperature controller can be used to provide multi-segment programmable control for the controlled equipment, determining the set temperature according to a pre-defined time and temperature change curve to meet more complex temperature control needs.

[0057] In this embodiment, the temperature difference between the ambient temperature and the set temperature is obtained so that the initial value of the corresponding integral control term can be determined based on the temperature difference.

[0058] Step S20: Based on the linear correspondence between the temperature difference and the integral control term, determine the initial value for starting the integral control term.

[0059] In this embodiment, given a known constant room temperature and the initial temperature of the controlled device equal to room temperature, a static error fitting can be performed beforehand based on the temperature difference between the settable temperature and the initial temperature of the controlled device, resulting in a straight line. (Refer to...) Figure 5 This straight line represents the linear relationship between temperature difference and integral control term. The horizontal axis corresponds to the settable temperature of the controlled device, and the vertical axis corresponds to the initial value of integral control term (I). When the controlled device first adjusts its temperature from room temperature, the initial value of the integral control term can be determined using the previously fitted static difference straight line, i.e., the integral relationship between temperature difference and integral control term. The integral control term is proportional to the temperature difference. During the heating process of the controlled device, heat dissipation also occurs, and the output power corresponding to the integral control term is used to compensate for the heat dissipation of the controlled device. For example, refer to... Figure 5 The settable temperature of the controlled device can be selected from 40℃ upwards. The function expression of the straight line that has been fitted based on the constant ambient temperature is y=0.4452x-17.87. After the user selects the settable temperature of the controlled device as 70℃, the initial power value of the integral control term can be determined to be 13.294 through the fitted straight line expression.

[0060] It should be noted that different temperature control systems will fit different straight lines, which depends on the relationship between the integral control term and the system power.

[0061] The greater the temperature difference, i.e., the greater the difference between the controlled device's temperature and the set temperature, the more prone overshoot is to occur. Therefore, in this embodiment, for the scenario where the controlled device is first adjusted from room temperature to the set temperature, the initial power value of the integral control term is determined by the straight line fitted by the static error, so that it can be used as the initial value for the PID controller to adjust the temperature of the controlled device.

[0062] Step S30: Based on the initial value of the integral control term and the set temperature, output a control signal to control the controlled device to reach the set temperature.

[0063] In this embodiment, in temperature control based on integral control terms, a control signal is output to control the controlled equipment to reach the target temperature by setting an initial value and a set temperature. Before the control system starts running, the initial value is used as the starting point of the integral control term, and the required target temperature, i.e., the temperature that the controlled equipment needs to reach, is determined. The initial value here is determined based on the integral gain coefficient, which can eliminate the persistent steady-state error. The initial values ​​of the proportional control term and the derivative control term can be set to 0. The values ​​of the proportional control term, integral control term, and derivative control term are added together to obtain the final output power. The output power is used to output a control signal to adjust the controlled equipment.

[0064] During this process, the temperature of the controlled equipment will be continuously measured, and the error will be calculated based on the measured value and the set temperature. By continuously feeding back the measured value, error calculation and adjustment of the output control signal will be performed until the controlled equipment can stably reach the set temperature. Specifically, the PID control system will continuously record the temperature of the controlled equipment and update the temperature difference between the controlled equipment and the set temperature for use in the next control cycle. When the next control cycle arrives, the proportional control term (P), integral control term (I), and derivative control term (D) will be recalculated based on the current temperature difference and the following formulas: P term = Kp * error; I term = I_init + (Kp / Ti) * error; D term = Kp * Td * (error - previous temperature difference). The proportional, integral, and derivative terms will be added together to obtain the control signal for the new control cycle (control signal = P term + I term + D term). Here, error represents the current temperature difference, I_init represents the initial value of the integral control term, Kp is the proportional coefficient of the PID controller, Ti is the integral time, and Td is the derivative time. Then, within each control cycle, the above steps are continuously repeated, adjusting the control signals and the operating quantities of the controlled equipment in real time until the system temperature stabilizes near the set temperature. When the controlled equipment reaches the set temperature, the output power of the proportional control term, integral control term, and derivative control term is maintained. Simultaneously, when the next control cycle begins, the step of acquiring the temperature of the controlled equipment is repeated. In other words, the control signals and actuators for the controlled equipment are adjusted in real time to achieve stable temperature control.

[0065] In this embodiment, for the scenario where the controlled device is first adjusted from room temperature to the set temperature, the initial starting value of the integral control term is determined by a straight line fitted with the static error. Based on the initial starting value of the integral control term, an initial output power control signal is output, and the temperature of the controlled device is continuously adjusted accordingly. Because the integral control term can eliminate persistent static errors, the stability of the temperature control system is improved, thereby mitigating overshoot and shortening the settling time.

[0066] Furthermore, refer to Figure 2 In the second embodiment of the PID temperature control method of the present invention, before step S10, the method further includes:

[0067] Step S40: Obtain the control parameters of the temperature control system.

[0068] Step S50: Based on the control parameters, the ambient temperature, and the settable temperature, fit the integral control term to obtain the corresponding function.

[0069] Step S60: Determine the linear correspondence between the temperature difference and the integral control term based on the function.

[0070] In this embodiment, by acquiring the control parameters of the temperature control system, and using these parameters, the ambient temperature, and the settable temperature of the controlled equipment, a steady-state error fitting is performed on the integral control term to determine the corresponding function. This function represents the linear correspondence between the temperature difference and the integral control term. In the control system, the setting of control parameters directly affects the proportional gain. In a PID controller, the proportional parameter amplifies the deviation of the input signal, thus affecting the magnitude of the integral term. Steady-state error refers to the steady-state deviation between the actual temperature and the set temperature. The integral control term can reduce or eliminate steady-state error by fitting it, thereby improving the accuracy of temperature control.

[0071] Furthermore, in a feasible implementation, steady-state error fitting can be performed using mathematical modeling. Based on experimental data or theoretical analysis, the linear relationship between the temperature difference and the integral term is determined. For example, an expression similar to "integral term = K * temperature difference" can be obtained, where K is the proportionality coefficient. The controlled equipment is set to a certain temperature, and the output power and actual temperature value of the integral control term are recorded at this time. The coefficient of the integral control term is adjusted so that the system can eliminate or reduce steady-state error, minimizing the steady-state deviation between the actual temperature and the set temperature. Then, the output power and actual temperature value are recorded again. By continuously adjusting the coefficient of the integral control term and repeating the above steps, a series of data points for output power and actual temperature values ​​are finally obtained. Regression analysis methods can be used to fit these data to determine the optimal parameters of the integral control term. Optionally, specific fitting methods can include linear regression, multinomial regression, exponential regression, etc.

[0072] It should be noted that when performing steady-state error fitting, the ambient temperature should be kept constant and the testing time should be long enough to ensure the stability and reliability of the obtained data. Furthermore, the fitting results are only applicable to the control system under the current testing conditions. If the ambient temperature, the controlled equipment, or other factors change, steady-state error fitting needs to be performed again to determine the optimal integral control term parameters.

[0073] In this embodiment, by performing static error fitting, the correspondence between the settable temperature and the integral control term can be predetermined. When the controlled device needs to be adjusted from room temperature to a certain set temperature value for the first time, the output power of the required integral control term can be determined through the linear correspondence.

[0074] Reference Figure 3 In the third embodiment of the PID temperature control method of the present invention, the step of determining the output power and outputting a control signal based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term includes:

[0075] Step S70: Obtain the PWM duty cycle of the temperature control system.

[0076] Step S80: Determine the sum of output parameters based on the output parameters of the proportional control term, the integral control term, and the derivative control term.

[0077] Step S90: Map the sum of the output parameters one-to-one based on the duty cycle of the PWM to determine the output power, and output the control signal based on the output power.

[0078] In this embodiment, when the PID controller outputs a control signal, the output power is mapped to the PWM (Pulse Width Modulation) duty cycle, that is, the output power is converted into the PWM duty cycle. Therefore, the PWM duty cycle of the PID temperature control system is first obtained. The PWM duty cycle refers to the proportion of the high-level portion within a certain period, usually expressed as a percentage. In temperature control systems, PWM is typically used to control the operating time of devices such as heaters or coolers. If the temperature control system is equipped with a digital controller, the current PWM duty cycle can be obtained through the controller's interface or settings menu. The controller usually displays the current control signal output status, including information such as the PWM duty cycle.

[0079] Furthermore, based on the output parameters of the proportional, integral, and derivative control terms, the sum of output parameters is calculated. This output parameter always corresponds to the system power output. Mapping the sum of output parameters one-to-one with the PWM duty cycle can determine the output power, and a control signal is output based on the output power. First, the operating range of the PWM duty cycle is determined, typically from 0% to 100%. Within this range, changes in the PWM duty cycle correspond to changes in output power. Based on the system characteristics and the response curve of the controlled device, a mapping relationship between the PWM duty cycle and output power is established. This can be obtained through experimental measurement or theoretical analysis. Based on the measured output power, the corresponding control signal is determined. The output power and the status of the controlled device are continuously monitored, and the PWM duty cycle and control signal are adjusted in real time according to the actual situation to achieve precise control of the output power. Optionally, in a feasible implementation, the output power can be set to a PWM duty cycle of 5% to 95%, and the output parameters can be mapped 1:1. Therefore, the output power ranges from 5 to 95. To facilitate control over the stability of the output power, output power exceeding 95 is recorded as 95, and output power below 5 is recorded as 5. Based on the determined output power, a corresponding control signal can be output to regulate the temperature of the controlled device.

[0080] In this embodiment, by reasonably controlling the output power and PWM duty cycle mapping range, the adjustment capability of the control system can be fully utilized. This range avoids both excessively drastic temperature changes and excessively slow response speeds, allowing the control system to perform precise control over a wide range. Simultaneously, the maximum and minimum values ​​of the output power can be limited, thereby improving the stability of the control system, mitigating overshoot temperature, and reducing settling time.

[0081] Reference Figure 4 In the fourth embodiment of the PID temperature control method of the present invention, after step S40, the following steps are also included:

[0082] Step S100: Obtain the temperature and output power of the temperature control system.

[0083] Step S110: Based on the temperature, the input power, and the prediction model, predict the temperature change for the next control cycle.

[0084] Step S120: Based on the prediction results and the optimization problem of the prediction model, determine the target output power for the next control cycle.

[0085] Step S130: Output a control signal based on the target output power to maintain the temperature of the controlled device.

[0086] To ensure the stability of the controlled equipment's set temperature during subsequent processes, this embodiment employs a model predictive control strategy to predict the behavior of the PID temperature control system and adjust the controller output accordingly, thereby achieving effective system control. First, the temperature control system needs to be mathematically modeled, involving factors such as system dynamics equations, heat transfer models, and environmental influences. Difference equations or state-space models are used to describe the dynamic behavior of the temperature control system, i.e., constructing a system model. Based on the system modeling results, a model is constructed to predict the future behavior of the current temperature control system, using discrete-time or continuous-time models to predict temperature changes. Within each control cycle, an optimization problem is solved to select the optimal output power. The optimization problem can be set according to the temperature control requirements of different controlled devices. This optimization problem includes minimizing prediction error or a certain performance index, while minimizing prediction error to ensure the controller closely follows the desired temperature changes. Furthermore, constraints on output power, such as maximum input value, minimum input value, and continuity conditions, are considered. Within each sampling cycle, the current system state and the prediction model are used to solve the optimization problem to obtain the optimal output power.

[0087] For example, when performing characteristic analysis on DRAM using a PID temperature control system, to maintain its temperature at the setpoint, the current system state, including temperature T and output power u, is acquired at the beginning of the sampling period. The defined optimization problem is to minimize the sum of squares of the temperature prediction error, i.e., to minimize the difference between the controller output and the desired temperature. The performance index is the sum of squares of the temperature prediction error. Let the setpoint temperature be T_set, then the prediction error can be expressed as e = T - T_set. Therefore, the performance index can be defined as J = e 2 The constraint on output power is that the heating power cannot exceed a certain maximum value, i.e., u <= u_max. Considering the physical characteristics of the heating system, dynamic constraints on the system also need to be set based on the temperature response speed limit. The performance indicators and constraints are applied to an optimization problem. By solving this optimization problem, the optimal output power u is selected to stabilize the temperature near the setpoint. In each control cycle, the optimization problem is solved again, the output power is updated, and it is applied to the heating system to achieve precise temperature control and stability.

[0088] Once the optimal output power is determined, it can be applied to the system. This output power can be the output of a PID controller or other control algorithms. At the start of the next sampling period, the process restarts from step one. Furthermore, to ensure the long-term usability of the model, online parameter estimation is performed based on real-time measurement data of the system to reflect its actual behavior, and the predictive model is updated periodically.

[0089] In this embodiment, when the controlled device reaches the set temperature, the model is used to predict the subsequent behavior of the PID temperature control system. At the same time, based on the optimization problem of the model, the optimal output power of the PID temperature control system in the next control cycle is determined, which can ensure the stability of the temperature control system.

[0090] Reference Figure 6 , Figure 6 This is a schematic diagram of the PID temperature control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0091] like Figure 6As shown, the PID temperature control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0092] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the PID temperature control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0093] like Figure 6 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a PID temperature control program.

[0094] exist Figure 6 In the PID temperature control device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the PID temperature control device of the present invention can be set in the PID temperature control device, and the PID temperature control device calls the PID temperature control method program stored in the memory 1005 through the processor 1001 and executes the following steps:

[0095] Obtain the temperature difference between the ambient temperature and the set temperature;

[0096] Based on the linear correspondence between the temperature difference and the integral control term, the initial value for starting the integral control term is determined.

[0097] Based on the initial value of the integral control term and the set temperature, a control signal is output to control the controlled device to reach the set temperature.

[0098] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0099] Obtain the control parameters of the temperature control system;

[0100] Based on the control parameters, the ambient temperature, and the settable temperature, the integral control term is fitted to obtain the corresponding function;

[0101] Based on the function, determine the linear correspondence between the temperature difference and the integral control term.

[0102] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0103] Based on the initial startup value and the set temperature, the initial output power is determined and the initial control signal is output to adjust the temperature of the controlled device;

[0104] When the next control cycle arrives, the temperature of the controlled device is acquired;

[0105] If the temperature of the controlled device does not reach the set temperature, adjust the output parameters of the proportional control term, the integral control term, and the derivative control term according to the temperature difference between the set temperature and the controlled device.

[0106] Based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term, the output power is determined and a control signal is output until the next control cycle is reached, at which point the step of obtaining the temperature of the controlled device is executed.

[0107] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0108] If the controlled device reaches the set temperature, maintain the output power of the proportional control term, the integral control term, and the derivative control term;

[0109] When the next control cycle is reached again, the step of obtaining the temperature of the controlled device is performed.

[0110] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0111] Obtain the PWM duty cycle of the temperature control system;

[0112] Based on the output parameters of the proportional control term, the integral control term, and the derivative control term, determine the sum of the output parameters;

[0113] The sum of the output parameters is mapped one-to-one with the duty cycle of the PWM to determine the output power, and the control signal is output based on the output power.

[0114] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0115] The output parameters of the proportional control term are determined based on the temperature difference and the proportional coefficient.

[0116] The output parameters of the integral control term are determined based on the temperature difference, the initial start-up value, the proportional coefficient, and the integral time.

[0117] The output parameters of the differential control term are determined based on the temperature difference, the proportional coefficient, the derivative time, and the temperature difference of the previous control cycle.

[0118] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0119] Obtain the temperature and output power of the temperature control system;

[0120] Based on the temperature, the input power, and the prediction model, predict the temperature change for the next control cycle;

[0121] Based on the prediction results and the optimization problem of the prediction model, the target output power for the next control cycle is determined.

[0122] The control signal is output based on the target output power to maintain the temperature of the controlled device.

[0123] Furthermore, the PID temperature control device, through processor 1001 calling the PID temperature control method program stored in memory 1005, also performs the following steps:

[0124] The prediction model is constructed based on the system parameters of the temperature control system;

[0125] Based on the temperature control requirements of the controlled equipment, the optimization problem and constraints of the prediction model are determined.

[0126] The model parameters of the prediction model are updated based on the real-time measurement data of the temperature control system.

[0127] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0128] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0129] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0130] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A PID temperature control method, characterized in that, The PID temperature control method includes the following steps: Obtain the temperature difference between the ambient temperature and the set temperature; The control parameters of the temperature control system are obtained, wherein the setting of the control parameters affects the proportional coefficient, and the proportional coefficient amplifies the steady-state deviation between the actual temperature and the set temperature; Based on the control parameters, the ambient temperature, and the settable temperature, the coefficient of the integral control term is adjusted so that the system can eliminate or reduce steady-state error, wherein the steady-state error refers to the steady-state deviation between the actual temperature and the set temperature at the set temperature. Record the output power and the actual temperature. By adjusting the coefficient of the integral control term, obtain a series of data points for the output power and the actual temperature. Then, fit the data points using regression analysis to obtain the corresponding function. Based on the function, determine the linear correspondence between the temperature difference and the integral control term; Based on the linear correspondence between the temperature difference and the integral control term, the initial value for starting the integral control term is determined. Based on the initial value of the integral control term and the set temperature, outputting a control signal to control the controlled device to reach the set temperature includes: determining an initial output power and outputting an initial control signal based on the initial value and the set temperature to adjust the temperature of the controlled device; acquiring the temperature of the controlled device when the next control cycle is reached; if the temperature of the controlled device has not reached the set temperature, adjusting the output parameters of the proportional control term, the integral control term, and the derivative control term according to the temperature difference between the set temperature and the controlled device; determining the output power and outputting a control signal based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term, until the next control cycle is reached again, and then executing the step of acquiring the temperature of the controlled device.

2. The PID temperature control method as described in claim 1, characterized in that, After the step of obtaining the temperature of the controlled device, the following steps are also included: If the controlled device reaches the set temperature, maintain the output power of the proportional control term, the integral control term, and the derivative control term; When the next control cycle is reached again, the step of obtaining the temperature of the controlled device is performed.

3. The PID temperature control method as described in claim 1, characterized in that, The step of determining the output power and outputting the control signal based on the adjusted output parameters of the proportional control term, the integral control term, and the derivative control term includes: Obtain the PWM duty cycle of the temperature control system; Based on the output parameters of the proportional control term, the integral control term, and the derivative control term, determine the sum of the output parameters; The sum of the output parameters is mapped one-to-one with the duty cycle of the PWM to determine the output power, and the control signal is output based on the output power.

4. The PID temperature control method as described in claim 1, characterized in that, The step of adjusting the output parameters of the proportional control term, the integral control term, and the derivative control term according to the temperature difference between the set temperature and the controlled device if the temperature of the controlled device does not reach the set temperature includes: The output parameters of the proportional control term are determined based on the temperature difference and the proportional coefficient. The output parameters of the integral control term are determined based on the temperature difference, the initial start-up value, the proportional coefficient, and the integral time. The output parameters of the differential control term are determined based on the temperature difference, the proportional coefficient, the derivative time, and the temperature difference of the previous control cycle.

5. The PID temperature control method as described in claim 1, characterized in that, After the step of outputting a control signal to control the controlled device to reach the set temperature based on the initial value of the integral control term and the set temperature, the method further includes: Obtain the temperature and output power of the temperature control system; Based on the temperature, the output power, and the prediction model, predict the temperature change for the next control cycle; Based on the prediction results and the optimization problem of the prediction model, the target output power for the next control cycle is determined. The control signal is output based on the target output power to maintain the temperature of the controlled device.

6. The PID temperature control method as described in claim 5, characterized in that, Before the step of predicting the temperature change for the next control cycle based on the temperature, the output power, and the prediction model, the method further includes: The prediction model is constructed based on the system parameters of the temperature control system; Based on the temperature control requirements of the controlled equipment, the optimization problem and constraints of the prediction model are determined. The model parameters of the prediction model are updated based on the real-time measurement data of the temperature control system.

7. A PID temperature control device, characterized in that, The PID temperature control device includes: a memory, a processor, and a PID temperature control program stored in the memory and executable on the processor, the PID temperature control program being configured to implement the steps of the PID temperature control method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The storage medium stores a PID temperature control program, which, when executed by a processor, implements the steps of the PID temperature control method as described in any one of claims 1 to 6.

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