Control method and device of equipment compressor and control method and device of air conditioner

Abstract

The application relates to the technical field of compressor control, and discloses a control method of a device compressor. The control method of the device compressor comprises the following steps: obtaining a first control output of a PID controller in a previous control period and a safety limit processing procedure of processing the first control output according to a safety limit condition; determining a current integral operation procedure of the PID controller in a current control period according to the safety limit processing procedure; obtaining a second control output of the PID controller in the current control period based on the current integral operation procedure; performing safety limit processing on the second control output according to the safety limit condition to obtain a first safety limit processing result, and controlling the compressor by using the first safety limit processing result. The control method of the device compressor can make an actual parameter stabilize at a set parameter quickly. The application further discloses a control device of the device compressor, a control method and a control device of an air conditioner.

Description

Technical Field

[0001] This application relates to the field of compressor control technology, such as a control method and device for a device compressor and a control method and device for an air conditioner. Background Technology

[0002] Currently, in the process of adjusting the indoor temperature of an air conditioner, a set temperature is usually set and the indoor temperature is detected. Then, the relevant actuators of the air conditioner are controlled based on the temperature difference between the set temperature and the indoor temperature. For example, the compressor speed of the air conditioner is controlled. The compressor speed control scheme is usually a proportional-integral-differential (PID) control algorithm.

[0003] In the process of implementing the embodiments of this application, at least the following problems were found in the related technology:

[0004] In the process of controlling the compressor speed using the PID control algorithm, under normal circumstances, the control output of the PID control algorithm has a corresponding relationship with the compressor speed. However, the control output of the PID control algorithm can theoretically be infinitely large or infinitely small, while in reality the compressor speed cannot be infinitely large or infinitely small, which can easily lead to the actual parameters of the controlled variable not stabilizing at the set parameters quickly.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This application provides a method and apparatus for controlling a device compressor and an air conditioner, so as to make the actual parameter stabilize at the set parameter more quickly during the process of the controlled variable being adjusted from the actual parameter to the set parameter.

[0008] In some embodiments, the method for controlling a device compressor includes: obtaining a first control output of a PID controller in the previous control cycle and a safety limitation processing procedure for processing the first control output according to safety limitation conditions; wherein the safety limitation conditions enable the compressor and / or device to be in a safe state; determining the current integral operation process of the PID controller in the current control cycle according to the safety limitation processing procedure, such that the current integral operation process is conducive to reducing the change in steady-state error; obtaining a second control output of the PID controller in the current control cycle based on the current integral operation process; performing safety limitation processing on the second control output according to the safety limitation conditions to obtain a first safety limitation processing result, and controlling the compressor using the first safety limitation processing result.

[0009] Optionally, determining the current integral operation process of the PID controller in the current control cycle based on the safety limit processing procedure includes: if the safety limit processing procedure has adjusted the first control output, then the integral process with the accumulated term being the first value is taken as the current integral operation process; if the safety limit processing procedure has not adjusted the first control output, then the integral process with the accumulated term being the second value is taken as the current integral operation process; wherein the absolute value of the first value is less than the absolute value of the second value.

[0010] Optionally, the first value is zero, and the second value is positively correlated with the deviation input to the PID controller, where the deviation is the parameter difference between the set parameters and the actual parameters of the device controlled by the PID controller.

[0011] Optionally, the current integral operation process for the first value as the accumulation term includes: firstly, performing an accumulation operation on the first value to obtain a first accumulation result, and then using the first product of the first accumulation result and the integral coefficient as the integral term of the PID controller; or, firstly, obtaining a second product of the first value and the integral coefficient, then performing an accumulation operation on the second product to obtain a second accumulation result, and using the second accumulation result as the integral term.

[0012] Optionally, the current integral operation process for the accumulation term being the second value includes: first, performing an accumulation operation on the second value to obtain a third accumulation result, and then using the third product of the third accumulation result and the integral coefficient as the integral term of the PID controller; or, first obtaining the fourth product of the second value and the integral coefficient, then performing an accumulation operation on the fourth product to obtain a fourth accumulation result, and using the fourth accumulation result as the integral term.

[0013] Optionally, the safety limiting conditions include a first safety limiting condition and a second safety limiting condition, wherein the first safety limiting condition is used to ensure that the compressor itself is in a safe state, and the second safety limiting condition is used to ensure that the equipment itself is in a safe state.

[0014] Optionally, the first control output is subjected to security restriction processing according to security restrictions, including: performing security restriction processing on the first control output according to the first security restrictions to obtain a first intermediate processing result; and performing security restriction processing on the first intermediate processing result according to the second security restrictions to obtain a second security restriction processing result.

[0015] Optionally, the second control output is subjected to security restriction processing according to security restrictions to obtain a first security restriction processing result, including: performing security restriction processing on the second control output according to the first security restrictions to obtain a second intermediate processing result; and performing security restriction processing on the second intermediate processing result according to the second security restrictions to obtain the first security restriction processing result.

[0016] Optionally, the safety restriction process determines whether the first control output has been adjusted, or determines whether the first control output has not been adjusted, including: if the first control output and the second safety restriction process result are the same, determining that the safety restriction process has not adjusted the first control output; if the first control output and the safety restriction process are different, determining that the safety restriction process has adjusted the first control output.

[0017] Optionally, the safety restriction process determines whether the first control output has been adjusted or not, including: if the first safety restriction condition is triggered during the safety restriction process of the first control output according to the first safety restriction condition, or if the second safety restriction condition is triggered during the safety restriction process of the first intermediate processing result according to the second safety restriction condition, then the safety restriction process is determined to have adjusted the first control output; if the first safety restriction condition is not triggered during the safety restriction process of the first control output according to the first safety restriction condition, or if the second safety restriction condition is not triggered during the safety restriction process of the first intermediate processing result according to the second safety restriction condition, then the safety restriction process is determined to have not adjusted the first control output.

[0018] In some embodiments, the air conditioner control method includes: obtaining a temperature difference between a set temperature and an actual temperature; inputting the temperature difference to a PID controller; obtaining a first control output of the PID controller in the previous control cycle and a safety limitation process for the first control output according to safety limitation conditions; wherein the safety limitation conditions enable the compressor and / or equipment to be in a safe state; determining the current integral operation process of the PID controller in the current control cycle according to the safety limitation process; wherein the current integral operation process is used to perform integral operation based on the temperature difference; obtaining a second control output of the PID controller in the current control cycle based on the current integral operation process; performing safety limitation processing on the second control output according to the safety limitation conditions to obtain a first safety limitation processing result, and controlling the air conditioner compressor using the first safety limitation processing result.

[0019] In some embodiments, the control device for the equipment compressor includes a first obtaining module, a determining module, a second obtaining module, and a control module.

[0020] The first acquisition module is used to acquire the first control output of the PID controller in the previous control cycle and the safety limit processing procedure for processing the first control output according to safety limit conditions; wherein, the safety limit conditions enable the compressor and / or equipment to be in a safe state.

[0021] The determination module is used to determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure.

[0022] The second acquisition module is used to obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process.

[0023] The control module is used to perform safety restriction processing on the second control output according to safety restriction conditions, obtain the first safety restriction processing result, and use the first safety restriction processing result to control the compressor.

[0024] In some embodiments, the control device for the device compressor includes a processor and a memory storing program instructions, the processor being configured to execute the control method for the device compressor provided in the foregoing embodiments when executing the program instructions.

[0025] In some embodiments, the air conditioner control device includes a processor and a memory storing program instructions, the processor being configured to execute the air conditioner control method provided in the foregoing embodiments when executing the program instructions.

[0026] The control method and apparatus for the equipment compressor and the control method and apparatus for the air conditioner provided in the embodiments of this application can achieve the following technical effects:

[0027] The current integral operation process of the PID controller in the current control cycle is related to the safety restriction processing process of processing the first control output according to safety conditions. Furthermore, the integral operation process of the PID controller has the function of reducing the steady-state error between the actual parameter and the set parameter of the control variable. Therefore, the accumulation process of steady-state error in this embodiment is related to the safety restriction processing process of processing the first control output according to safety conditions. The current integral operation process is then determined based on the safety processing process, so that the current integral operation process is conducive to reducing the change of steady-state error. When the actual parameter of the control variable fluctuates around the set parameter, a smaller steady-state error is conducive to reducing the amplitude of the fluctuation of the actual parameter around the set parameter, so that the actual parameter stabilizes at the set parameter more quickly.

[0028] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0029] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrative descriptions and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are considered similar elements, and wherein:

[0030] Figure 1 This is a schematic flowchart of a control method for a device compressor provided in an embodiment of this application;

[0031] Figure 2 This is a schematic diagram illustrating a process of performing security restriction processing on a first control output based on security constraints, provided in an embodiment of this application.

[0032] Figure 3 This is a schematic flowchart of a control method for a device compressor provided in an embodiment of this application;

[0033] Figure 4 This is a flowchart illustrating an air conditioner control method provided in an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of a control block diagram of a device compressor provided in an embodiment of this application;

[0035] Figure 6 This is a schematic diagram of a control block diagram of a device compressor provided in an embodiment of this application;

[0036] Figure 7 This is a schematic diagram of a control block diagram of a device compressor provided in an embodiment of this application;

[0037] Figure 8 This is a schematic diagram of a control block diagram of a device compressor provided in an embodiment of this application;

[0038] Figure 9 This is a schematic diagram of a control block diagram of a device compressor provided in an embodiment of this application;

[0039] Figure 10 This is a schematic diagram of a control device for a device compressor provided in an embodiment of this application;

[0040] Figure 11 This is a schematic diagram of a control device for a device compressor provided in an embodiment of this application. Detailed Implementation

[0041] To provide a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this application. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0042] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0043] Unless otherwise stated, the term "multiple" means two or more.

[0044] In this embodiment, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0045] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0046] In the embodiments of this application, the term "device" refers to a device that includes a compressor, such as an air conditioner or a refrigerator.

[0047] Figure 1 This is a flowchart illustrating a control method for a device compressor provided in an embodiment of this application. The control method for the device compressor can be implemented in the device's controller.

[0048] Combination Figure 1 As shown, the control method for the equipment compressor includes:

[0049] S101, Obtain the first control output of the PID controller in the previous control cycle and the safety limit processing procedure for processing the first control output according to the safety limit conditions.

[0050] The input parameter of a PID controller is the difference between the setpoint and the actual parameter of the controlled variable. The controlled variable can be a variable of the equipment itself or a variable of the external environment that the equipment can influence. For example, the controlled parameter can be the internal temperature of the equipment, such as in a refrigerator; the controlled variable can be the indoor temperature, such as in an air conditioner.

[0051] During the process of controlling equipment with a PID controller, the PID controller periodically generates a control output, and the equipment executes the corresponding action according to the control output. In one control cycle, the PID controller outputs one control output.

[0052] Safety constraints enable the compressor and / or equipment to be in a safe condition.

[0053] Both compressors and equipment have safe operating conditions. When a compressor and / or equipment operates under these safe conditions, it is in a safe state. When the actual operating conditions of the compressor and / or equipment exceed these safe operating conditions, it is in an unsafe state. These safe operating conditions are determined during the design or manufacturing process of the compressor and / or equipment.

[0054] For example, the rated speed range of a compressor. If the actual speed of the compressor is within the rated speed range, the compressor can operate safely. When the actual speed of the compressor exceeds the rated speed range, the compressor is prone to failure.

[0055] For example, the rated current range of an air conditioner and the rated temperature range of its control board. If the actual current of the air conditioner is within the rated current range and the actual temperature of the control board is within the rated temperature range, the air conditioner can operate safely. However, if the actual current of the air conditioner exceeds the rated current range or the actual temperature of the control board exceeds the rated temperature range, the air conditioner is prone to malfunction.

[0056] The first control output is processed according to safety constraints, causing the compressor to operate according to the final processing result, thereby ensuring that the compressor and / or equipment are in a safe state.

[0057] If the compressor operates according to the first control output and the compressor and / or equipment are in a safe state, then the first control output is determined to meet the safety limits; if the compressor operates according to the first control output and the compressor and / or air conditioner are in an unsafe state, then the first control output is determined to meet the safety limits.

[0058] The safety restriction process includes two types: If the first control output meets the safety restriction conditions, the safety restriction process is that the first control output is not adjusted, and the first control output is used as the result of the second safety restriction process. If the first control output does not meet the safety restriction conditions, the safety restriction process is that the first control output has been adjusted, and the adjusted first control output is used as the result of the second safety restriction process.

[0059] The final processing result described above is used to control the equipment compressor in the previous control cycle.

[0060] S102. Determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure.

[0061] The safety restriction process can be either when the first control output has been adjusted or when the first control output has not been adjusted.

[0062] Based on this, the current integral operation process of the PID controller in the current control cycle is determined according to the safety limit processing procedure. This may include: if the safety limit processing procedure has adjusted the first control output, then the integral process with the first value as the accumulated term is taken as the current integral operation process; if the safety limit processing procedure has not adjusted the first control output, then the integral process with the second value as the accumulated term is taken as the current integral operation process; wherein the absolute value of the first value is less than the absolute value of the second value.

[0063] The above method achieves the adjustment of the current integral calculation process, and thus the adjustment of the cumulative deviation in the PID controller. The absolute value of the first value is less than the absolute value of the second value, which means that if the first control output does not meet the safety limit conditions, the change in cumulative deviation will be reduced.

[0064] In the control process of a PID controller, if its control output does not meet the safety limits, that is, if the PID controller's control output puts the compressor and / or equipment in an unsafe state, then the parameter difference between the actual parameter and the set parameter of the controlled variable is usually quite large. In this case, an integral operation process with the accumulator term as the first value is used to reduce the cumulative deviation and reduce the impact of the large parameter difference between the actual parameter and the set parameter of the controlled variable on the steady-state error.

[0065] When the control output meets the safety limits, that is, when the control output of the PID controller puts the compressor and / or equipment in a safe state, the parameter difference between the actual parameter and the set parameter of the controlled variable is usually small. At this time, the integral operation process with the accumulator term as the second value is used to improve the change of the accumulated deviation, so as to reduce the steady-state error as soon as possible, reduce the fluctuation range of the actual parameter of the controlled variable near the set parameter, and enable the actual parameter of the controlled variable to stabilize at the set parameter as soon as possible.

[0066] Optionally, the first value can be zero, and the second value can be positively correlated with the deviation input to the PID controller, where the deviation is the parameter difference between the set parameter and the actual parameter of the device controlled by the PID controller. For example, the deviation can be used as the second value, or the product of the deviation and the integral coefficient of the PID controller can be used as the second value.

[0067] The above embodiments are merely illustrative examples of the first and second values, and do not constitute specific limitations on the first and second values. Those skilled in the art can determine the first and second values ​​that conform to the actual situation based on the foregoing functional descriptions of the first and second values.

[0068] S103. Obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process.

[0069] The process of obtaining the second control output of the PID controller in the current control cycle is the summation of the proportional and integral terms in the PID controller, or the summation of the proportional, integral, and derivative terms, which will not be elaborated here.

[0070] S104. Perform safety restriction processing on the second control output according to the safety restriction conditions to obtain the first safety restriction processing result, and use the first safety restriction processing result to control the compressor.

[0071] If the compressor operates according to the second control output and the compressor and / or equipment are in a safe state, then the first control output is determined to meet the safety limits; if the compressor operates according to the second control output and the compressor and / or air conditioner are in an unsafe state, then the first control output is determined to meet the safety limits.

[0072] Obtaining the first safety restriction processing result includes: if the second control output meets the safety restriction conditions, then the second control output is used as the first safety restriction processing result; if the second control output does not meet the safety restriction conditions, then the adjusted second control output is used as the first safety restriction processing result.

[0073] There is a correlation between the first safety limit processing result and the compressor speed. By controlling the compressor using the first safety limit processing result, the compressor and / or equipment can be kept in a safe state.

[0074] The current integral operation process of the PID controller in the current control cycle is related to the safety restriction processing process of processing the first control output according to safety conditions. Furthermore, the integral operation process of the PID controller has the function of reducing the steady-state error between the actual parameter and the set parameter of the control variable. Therefore, the accumulation process of steady-state error in this embodiment is related to the safety restriction processing process of processing the first control output according to safety conditions. The current integral operation process is then determined based on the safety processing process, so that the current integral operation process is conducive to reducing the change of steady-state error. When the actual parameter of the control variable fluctuates around the set parameter, a smaller steady-state error is conducive to reducing the amplitude of the fluctuation of the actual parameter around the set parameter, so that the actual parameter stabilizes at the set parameter more quickly.

[0075] The following is an exemplary description of the current integration process in the embodiments of this application.

[0076] Optionally, the current integral operation process for the first value as the accumulation term includes: firstly, performing an accumulation operation on the first value to obtain a first accumulation result, and then using the first product of the first accumulation result and the integral coefficient as the integral term of the PID controller; or, firstly, obtaining a second product of the first value and the integral coefficient, then performing an accumulation operation on the second product to obtain a second accumulation result, and using the second accumulation result as the integral term.

[0077] Optionally, the current integral operation process for the accumulation term being the second value includes: first, performing an accumulation operation on the second value to obtain a third accumulation result, and then using the third product of the third accumulation result and the integral coefficient as the integral term of the PID controller; or, first obtaining the fourth product of the second value and the integral coefficient, then performing an accumulation operation on the fourth product to obtain a fourth accumulation result, and using the fourth accumulation result as the integral term.

[0078] The integral coefficients mentioned above are the integral coefficients in a PID controller. Those skilled in the art can determine appropriate integral coefficients based on experience.

[0079] In PID control, the integral term is accumulated once in each control cycle.

[0080] If the current integral operation process of the accumulation term is the first value, it is as follows: first, the first value is accumulated to obtain the first accumulation result, and then the first product of the first accumulation result and the first integral coefficient is used as the integral term of the PID controller.

[0081] The current integral operation process for the second value as the accumulation term is as follows: first, the second value is accumulated to obtain the third accumulation result, and then the third product of the third accumulation result and the integral coefficient is used as the integral term of the PID controller.

[0082] If the current integration process for the accumulated term is the first value, it is as follows: first, obtain the second product of the first value and the integration coefficient, then perform an accumulation operation on the second product to obtain the second accumulated result, and use the second accumulated result as the integration term;

[0083] The current integration process for the accumulated term being the second value is as follows: first, obtain the fourth product of the second value and the integration coefficient, then perform an accumulation operation on the fourth product to obtain the fourth accumulated result, and use the fourth accumulated result as the integration term.

[0084] In the air conditioning compressor control method using the above-mentioned integral calculation process, when the first control output meets the safety limit conditions, the safety limit processing process is that the first control output is not adjusted. At this time, the compressor speed represented by the first control output of the PID controller is the same as or similar to the actual speed of the compressor. Since the compressor speed represented by the first control output of the PID controller is the same as or similar to the actual speed of the compressor, the linearization model of the compressor is not changed for the PID controller. This makes the process of the PID controller controlling the compressor conform to the theoretical analysis process of the PID control algorithm, and can achieve the expected control effect. When the first control output does not meet the safety limits, the safety limit processing procedure involves adjusting the first control output. At this point, the compressor speed represented by the first control output of the PID controller deviates from the actual compressor speed, sometimes significantly. Because of this deviation, the compressor's linearization model changes for the PID controller. To adapt to this changed linearization model, the first value is used as an accumulation term during the PID controller's integral operation. This reduces the adjustment speed of the PID controller's integral term, thereby reducing the adjustment speed of the PID controller's control output. This adjustment of the PID controller's control output, and consequently, the relationship between the PID controller's input and output, is achieved. In other words, the control model of the PID controller itself is adjusted, making the adjusted PID control model compatible with the changed compressor linearization model. Consequently, the actual compressor control process of the PID controller closely approximates or conforms to the theoretical analysis process of the PID control model, achieving the expected control performance, such as reduced fluctuations and rapid stabilization.

[0085] On the other hand, by using the first value as an accumulation term, the adjustment speed of the integral term of the PID controller is reduced, thereby reducing the adjustment speed of the control output of the PID controller. This achieves the suppression of the control output of the PID controller, enabling the control output of the PID controller to return to the safety limit conditions at a faster speed. This also allows the relationship between the algorithm model of the PID controller and the mathematical model of the compressor to return to the adaptation relationship in conventional theoretical analysis, thus improving the accuracy of the PID controller in controlling the compressor process.

[0086] There can be one or more security restrictions. The following example illustrates the security restrictions and the security restriction processing procedure using two security restrictions as an example.

[0087] For example, safety constraints may include a first safety constraint and a second safety constraint, wherein the first safety constraint is used to ensure that the compressor itself is in a safe state, and the second safety constraint is used to ensure that the equipment itself is in a safe state.

[0088] The first safety limit can be the upper and lower speed limits of the compressor, set based on the compressor type;

[0089] The second safety limit can be the upper and lower speed limits of the compressor set based on the equipment type. Taking an air conditioner as an example, the second safety limit can be the upper and lower speed limits of the compressor set based on conditions such as compressor exhaust temperature protection, compressor current protection, air conditioner input current protection, temperature protection of control board components, and temperature sensor OFF / ON.

[0090] Of course, in specific applications, the second security constraint can be broken down into multiple constraints. Here, we will use the term "second security constraint" to illustrate the concept.

[0091] Based on this, combined Figure 2 As shown, the process of applying safety limits to the first control output based on safety constraints includes:

[0092] S201. Perform safety restriction processing on the first control output according to the first safety restriction condition to obtain the first intermediate processing result.

[0093] If the first control output is greater than the upper limit speed in the first safety limit condition, then the upper limit speed of the first safety limit condition is used as the first intermediate processing result.

[0094] If the first control output is less than the lower limit speed in the first safety limit condition, then the lower limit speed of the first safety limit condition is used as the first intermediate processing result.

[0095] If the first control output is greater than or equal to the lower speed limit of the first safety limit condition and less than or equal to the upper speed limit of the first safety limit condition, then the first control output is used as the first intermediate processing result.

[0096] S202. Apply security restriction processing to the first intermediate processing result according to the second security restriction condition to obtain the second security restriction processing result.

[0097] If the result of the first intermediate processing is greater than the upper limit speed in the second safety limit condition, then the upper limit speed of the second safety limit condition shall be used as the result of the second safety limit processing.

[0098] If the result of the first intermediate processing is less than the lower limit speed in the second safety limit condition, then the lower limit speed of the second safety limit condition shall be used as the result of the second safety limit processing.

[0099] If the first intermediate processing result is greater than or equal to the lower speed limit of the second safety limit condition, and less than or equal to the upper speed limit of the second safety limit condition, then the first intermediate processing result is used as the second safety limit processing result.

[0100] Based on the aforementioned process of performing safety restriction processing on the first control output, the determination that the safety restriction processing has adjusted the first control output, or the determination that the safety restriction processing has not adjusted the first control output, includes: if the first safety restriction condition is triggered during the process of performing safety restriction processing on the first control output according to the first safety restriction condition, or if the second safety restriction condition is triggered during the process of performing safety restriction processing on the first intermediate processing result according to the second safety restriction condition, then the safety restriction processing is determined to have adjusted the first control output; if the first safety restriction condition is not triggered during the process of performing safety restriction processing on the first control output according to the first safety restriction condition, or if the second safety restriction condition is not triggered during the process of performing safety restriction processing on the first intermediate processing result according to the second safety restriction condition, then the safety restriction processing is determined to have not adjusted the first control output.

[0101] The first safety limit condition is triggered when: the first control output is greater than the upper limit speed in the first safety limit condition, or the first control output is less than the lower limit speed in the first safety limit condition.

[0102] The second safety constraint is triggered when: the first intermediate processing result is greater than the upper limit speed in the second safety constraint, or the first intermediate processing result is less than the lower limit speed in the second safety constraint.

[0103] Furthermore, the determination that the safety restriction process has adjusted the first control output, or the determination that the safety restriction process has not adjusted the first control output, may further include: determining that the safety restriction process has adjusted the first control output, or the determination that the safety restriction process has not adjusted the first control output, includes: determining that the safety restriction process has not adjusted the first control output when the first control output and the second safety restriction process result are the same; determining that the safety restriction process has adjusted the first control output when the first control output and the safety restriction process are different.

[0104] Figure 3 This is a flowchart illustrating a control method for a device compressor provided in an embodiment of this application. It exemplarily describes the process of performing safety restriction processing on the second control output based on the safety restriction conditions, which include a first safety restriction condition and a second safety restriction condition.

[0105] like Figure 3 As shown, the control method for the equipment compressor includes:

[0106] S301, Obtain the first control output of the PID controller in the previous control cycle and the safety limit processing procedure for the first control output according to the safety limit conditions.

[0107] Among them, safety constraints enable the compressor and / or equipment to be in a safe state.

[0108] S302. Determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure.

[0109] S303. Obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process.

[0110] S304. Perform safety restriction processing on the second control output according to the first safety restriction condition to obtain the second intermediate processing result.

[0111] If the second control output is greater than the upper limit speed in the first safety limit condition, then the upper limit speed of the first safety limit condition is used as the second intermediate processing result.

[0112] If the second control output is less than the lower limit speed in the first safety limit condition, then the lower limit speed of the first safety limit condition is used as the second intermediate processing result.

[0113] If the second control output is greater than or equal to the lower speed limit of the first safety limit condition and less than or equal to the upper speed limit of the first safety limit condition, then the first control output is used as the second intermediate processing result.

[0114] S305. Perform security restriction processing on the second intermediate processing result according to the second security restriction condition to obtain the first security restriction processing result.

[0115] If the second intermediate processing result is greater than the upper limit speed in the second safety limit condition, then the upper limit speed of the second safety limit condition shall be used as the first safety limit processing result.

[0116] If the second intermediate processing result is less than the lower limit speed in the second safety limit condition, then the lower limit speed of the second safety limit condition shall be used as the first safety limit processing result.

[0117] If the second intermediate processing result is greater than or equal to the lower speed limit of the second safety limit condition and less than or equal to the upper speed limit of the second safety limit condition, then the first intermediate processing result is used as the first safety limit processing result.

[0118] S306. Control the compressor using the result of the first safety limit processing.

[0119] In the next control cycle, if the safety limit processing procedure has adjusted the second control output, the integration process with the third value as the accumulated term will be used as the integration calculation process in the next control cycle.

[0120] If the safety limit processing procedure does not adjust the second control output, then the integral process with the fourth value as the accumulated term will be used as the integral calculation process in the next control cycle.

[0121] Among them, the absolute value of the third value is less than the absolute value of the fourth value; the first value and the third value may be equal or unequal; the second value and the fourth value may be equal or unequal.

[0122] The determination process for the safety restriction processing of the second control output is the same as that for the safety restriction processing of the first control output, and will not be described in detail here.

[0123] Figure 4 This is a flowchart illustrating an air conditioner control method provided in an embodiment of this application. This air conditioner control method can be implemented in the air conditioner's controller.

[0124] Combination Figure 4 As shown, the air conditioning control methods include:

[0125] S401, Obtain the temperature difference between the set temperature and the actual temperature.

[0126] S402. Input the temperature difference value to the PID controller.

[0127] S403, Obtain the first control output of the PID controller in the previous control cycle and the safety limit processing procedure for the first control output according to the safety limit conditions.

[0128] Among them, safety constraints enable the compressor and / or equipment to be in a safe state.

[0129] S404. Determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure.

[0130] The current integration process is used to perform integration based on the temperature difference.

[0131] S405. Obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process.

[0132] S406. Based on the safety restriction conditions, perform safety restriction processing on the second control output to obtain the first safety restriction processing result, and use the first safety restriction processing result to control the air conditioner compressor.

[0133] Figure 5 This is a schematic diagram of a control block diagram for a device compressor provided in an embodiment of this application. Taking an air conditioner as the specific device and temperature as the controlled variable, the control method for the device compressor is illustrated by way of example.

[0134] exist Figure 5 In this context, tset is the set temperature, troom is the actual temperature, Pn is the temperature deviation, Dn is the temperature difference between the temperature deviation of the current control cycle and the temperature deviation of the previous control cycle, and Z... -1 This indicates a lag of one control cycle. Kp is the proportional gain (proportional coefficient) of the proportional term, Kd is the derivative gain (differential coefficient) of the derivative term, Ki is the integral gain (integral coefficient) of the integral term, Delta_P is the proportional term, Delta_D is the derivative term, Delta_I is the integral term, Delta_PID is the difference between the control output of the current control cycle and the previous control cycle, PID_com is the control output, REVlim_1 is the first safety limiter, Limit Condition is the first safety limit condition, REV_com is the intermediate processing result, REVlim_2 is the second safety limiter, Protect Condition is the second safety limit condition, and REV_act is the safety limit processing result. The safety limit processing result REV_act corresponds to the actual speed of the compressor.

[0135] F_REVlim1 is the first action flag signal of the first safety limiter REVlim_1. If the first full limiter REVlim_1 is triggered, that is, the control output PID_com is adjusted, then the first action flag signal F_REVlim1 is 1; if the first safety limiter REVlim_1 is not triggered, that is, the control output PID_com is not adjusted, then the first action flag signal F_REVlim1 is 0.

[0136] F_REVlim2 is the second action flag signal of the second safety limiter REVlim_2. If the second safety limiter REVlim_2 is triggered, that is, the intermediate processing result REV_com is adjusted, then the second action flag signal F_REVlim2 is 1; if the second safety limiter REVlim_2 is not triggered, that is, the intermediate processing result REV_com is not adjusted, then the second action flag signal F_REVlim2 is 0.

[0137] F_limit is the result of performing an OR operation on the first action flag signal F_REVlim1 and the second action flag signal F_REVlim2.

[0138] MUX is the selector, and Select is the selection result. If the OR operation result F_limit in the previous control cycle is 1, then the selection result Select is the temperature deviation Pn; if the OR operation result F_limit in the previous control cycle is 0, then the selection result Select is 0.

[0139] Figure 6 This is a schematic diagram of a control block diagram for a device compressor provided in an embodiment of this application. Taking an air conditioner as the specific device and temperature as the controlled variable, the control method for the device compressor is illustrated by way of example.

[0140] exist Figure 6 In this context, tset is the set temperature, troom is the actual temperature, Pn is the temperature deviation, Dn is the temperature difference between the temperature deviation of the current control cycle and the temperature deviation of the previous control cycle, and Z... -1This indicates a lag of one control cycle. Kp is the proportional gain (proportional coefficient) of the proportional term, Kd is the derivative gain (differential coefficient) of the derivative term, Ki is the integral gain (integral coefficient) of the integral term, Delta_P is the proportional term, Delta_D is the derivative term, Delta_I is the integral term, Delta_PID is the difference between the control output of the current control cycle and the previous control cycle, PID_com is the control output, REVlim_1 is the first safety limiter, Limit Condition is the first safety limit condition, REV_com is the intermediate processing result, REVlim_2 is the second safety limiter, Protect Condition is the second safety limit condition, and REV_act is the safety limit processing result. The safety limit processing result REV_act corresponds to the actual speed of the compressor.

[0141] F_REVlim1 is the first action flag signal of the first safety limiter REVlim_1. If the first full limiter REVlim_1 is triggered, that is, the control output PID_com is adjusted, then the first action flag signal F_REVlim1 is 1; if the first safety limiter REVlim_1 is not triggered, that is, the control output PID_com is not adjusted, then the first action flag signal F_REVlim1 is 0.

[0142] F_REVlim2 is the second action flag signal of the second safety limiter REVlim_2. If the second safety limiter REVlim_2 is triggered, that is, the intermediate processing result REV_com is adjusted, then the second action flag signal F_REVlim2 is 1; if the second safety limiter REVlim_2 is not triggered, that is, the intermediate processing result REV_com is not adjusted, then the second action flag signal F_REVlim2 is 0.

[0143] The numerical comparator has two inputs: the control output PID_com and the safety limit processing result REV_act. The numerical comparator inputs the different judgment results of the two inputs to the OR operator, and F_diff is the result of the OR operator.

[0144] MUX is the selector, and Select is the selection result. If the OR operation result F_diff in the previous control cycle is 1, then the selection result Select is the temperature deviation Pn; if the OR operation result F_diff in the previous control cycle is 0, then the selection result Select is 0.

[0145] Figure 7This is a schematic diagram of a control block diagram for a device compressor provided in an embodiment of this application. Taking an air conditioner as the specific device and temperature as the controlled variable, the control method for the device compressor is illustrated by way of example.

[0146] exist Figure 7 In this context, tset is the set temperature, troom is the actual temperature, Pn is the temperature deviation, Dn is the temperature difference between the temperature deviation of the current control cycle and the temperature deviation of the previous control cycle, and Z... -1 This indicates a lag of one control cycle. Kp is the proportional gain (proportional coefficient) of the proportional term, Kd is the derivative gain (differential coefficient) of the derivative term, Ki is the integral gain (integral coefficient) of the integral term, Delta_P is the proportional term, Delta_D is the derivative term, Delta_I is the integral term, Delta_PID is the difference between the control output of the current control cycle and the previous control cycle, PID_com is the control output, REVlim_1 is the first safety limiter, Limit Condition is the first safety limit condition, REV_com is the intermediate processing result, REVlim_2 is the second safety limiter, Protect Condition is the second safety limit condition, and REV_act is the safety limit processing result. The safety limit processing result REV_act corresponds to the actual speed of the compressor.

[0147] F_REVlim1 is the first action flag signal of the first safety limiter REVlim_1. If the first full limiter REVlim_1 is triggered, that is, the control output PID_com is adjusted, then the first action flag signal F_REVlim1 is 1; if the first safety limiter REVlim_1 is not triggered, that is, the control output PID_com is not adjusted, then the first action flag signal F_REVlim1 is 0.

[0148] F_REVlim2 is the second action flag signal of the second safety limiter REVlim_2. If the second safety limiter REVlim_2 is triggered, that is, the intermediate processing result REV_com is adjusted, then the second action flag signal F_REVlim2 is 1; if the second safety limiter REVlim_2 is not triggered, that is, the intermediate processing result REV_com is not adjusted, then the second action flag signal F_REVlim2 is 0.

[0149] The numerical comparator has two inputs: the control output PID_com and the safety limit processing result REV_act. The numerical comparator inputs the judgment result that the two inputs are the same to the NOT arithmetic unit, and F_diff is the calculation result of the NOT arithmetic unit.

[0150] MUX is the selector, and Select is the selection result. If the NOT calculation result F_diff in the previous control cycle is 1, then the selection result Select is the temperature deviation Pn; if the NOT calculation result F_diff in the previous control cycle is 0, then the selection result Select is 0.

[0151] Figure 8 This is a schematic diagram of a control block diagram for a device compressor provided in an embodiment of this application. Taking an air conditioner as the specific device and temperature as the controlled variable, the control method for the device compressor is illustrated by way of example.

[0152] exist Figure 8 In this context, tset is the set temperature, troom is the actual temperature, Pn is the temperature deviation of the current control cycle, Pn-1 is the temperature deviation of the previous control cycle, and Z... -1 This indicates a lag of one control cycle. Kp is the proportional coefficient (proportional gain) of the proportional term, Kd is the derivative coefficient (derivative gain) of the derivative term, Ki is the integral coefficient (integral gain) of the integral term, Delta_P is the proportional term, Delta_D is the derivative term, Delta_I is the integral term, and PID_com is the control output.

[0153] MUX is the selector, and Select is the selection result. If the safety limit processing result of the control output in the previous control cycle was no adjustment, then the selection result Select is the temperature deviation Pn; if the safety limit processing result of the control output in the previous control cycle was adjusted, then the selection result Select is 0.

[0154] Figure 8 The safety limitation processing procedure for the control output in the previous control cycle is omitted. This procedure can be implemented using... Figure 5 , Figure 6 or Figure 7 Any of the processes shown in the diagram.

[0155] and Figure 5 , Figure 6 and Figure 7 compared to, Figure 8 The main difference lies in the change of the control block diagram of the PID controller; that is, in the control method of the equipment compressor, a different control block diagram can be used. Figure 5 , Figure 6 or Figure 7 The PID controller shown can also be used Figure 8 The PID controller shown.

[0156] Figure 9This is a schematic diagram of a control block diagram for a device compressor provided in an embodiment of this application. Taking an air conditioner as the specific device and temperature as the controlled variable, the control method for the device compressor is illustrated by way of example.

[0157] exist Figure 9 In this context, tset is the set temperature, troom is the actual temperature, Pn is the temperature deviation, Dn is the temperature difference between the temperature deviation of the current control cycle and the temperature deviation of the previous control cycle, and Z... -1 This indicates a lag of one control cycle. Kp is the proportional gain (proportional coefficient) of the proportional term, Kd is the derivative gain (differential coefficient) of the derivative term, Ki is the integral gain (integral coefficient) of the integral term, Delta_P is the proportional term, Delta_D is the derivative term, Delta_I is the integral term, Delta_PID is the difference between the control output of the current control cycle and the previous control cycle, and PID_com is the control output.

[0158] MUX is the selector, and Select is the selection result. If the safety limit processing result of the control output in the previous control cycle was no adjustment, then the selection result Select is the temperature deviation Pn; if the safety limit processing result of the control output in the previous control cycle was adjusted, then the selection result Select is 0.

[0159] Figure 9 The safety limitation processing procedure for the control output in the previous control cycle is omitted. This procedure can be implemented using... Figure 5 , Figure 6 or Figure 7 Any of the processes shown in the diagram.

[0160] and Figure 8 compared to, Figure 9 This is used to illustrate the relationship between the selector MUX and the integral coefficient Ki. Figure 9 The PID controller in the middle can also be replaced with Figure 8 The PID controller in the system.

[0161] Figure 10 This is a schematic diagram of a control device for a device compressor provided in an embodiment of this application. The control device for the device compressor can be implemented through software, hardware, or a combination of both.

[0162] Combination Figure 10 As shown, the control device for the equipment compressor includes a first acquisition module 101, a determination module 102, a second acquisition module 103, and a control module 104.

[0163] The first acquisition module 101 is used to acquire the first control output of the PID controller in the previous control cycle and the safety limit processing process for processing the first control output according to the safety limit conditions;

[0164] Among them, the safety limiting process enables the compressor and / or equipment to be in a safe state;

[0165] The determination module 102 is used to determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure;

[0166] The second acquisition module 103 is used to obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process;

[0167] The control module 104 is used to perform safety restriction processing on the second control output according to the safety restriction conditions, obtain the first safety restriction processing result, and use the first safety restriction processing result to control the compressor.

[0168] Optionally, the determining module 102 includes a first determining unit and a second determining unit.

[0169] The first determining unit is used to take the integration process with the first value as the current integration operation process if the safety limit processing process has adjusted the first control output;

[0170] The second determining unit is used to take the integration process with the second value as the current integration operation process if the safety restriction process does not adjust the first control output; wherein the absolute value of the first value is less than the absolute value of the second value.

[0171] Optionally, the first value is zero, and the second value is positively correlated with the deviation input to the PID controller, where the deviation is the parameter difference between the set parameters and the actual parameters of the device controlled by the PID controller.

[0172] Optionally, the current integral operation process for the first value as the accumulation term includes: firstly, performing an accumulation operation on the first value to obtain a first accumulation result, and then using the first product of the first accumulation result and the integral coefficient as the integral term of the PID controller; or, firstly, obtaining a second product of the first value and the integral coefficient, then performing an accumulation operation on the second product to obtain a second accumulation result, and using the second accumulation result as the integral term.

[0173] Optionally, the current integral operation process for the accumulation term being the second value includes: first, performing an accumulation operation on the second value to obtain a third accumulation result, and then using the third product of the third accumulation result and the integral coefficient as the integral term of the PID controller; or, first obtaining the fourth product of the second value and the integral coefficient, then performing an accumulation operation on the fourth product to obtain a fourth accumulation result, and using the fourth accumulation result as the integral term.

[0174] Optionally, the safety limiting conditions include a first safety limiting condition and a second safety limiting condition, wherein the first safety limiting condition is used to ensure that the compressor itself is in a safe state, and the second safety limiting condition is used to ensure that the equipment itself is in a safe state.

[0175] Optionally, the first control output is subjected to security restriction processing according to security restrictions, including: performing security restriction processing on the first control output according to the first security restrictions to obtain a first intermediate processing result; and performing security restriction processing on the first intermediate processing result according to the second security restrictions to obtain a second security restriction processing result.

[0176] The control module 104 includes an acquisition unit, which is used to perform security restriction processing on the second control output according to the first security restriction condition to obtain a second intermediate processing result; and to perform security restriction processing on the second intermediate processing result according to the second security restriction condition to obtain a first security restriction processing result.

[0177] Optionally, the safety restriction process determines whether the first control output has been adjusted, or determines whether the first control output has not been adjusted, including: if the first control output and the second safety restriction process result are the same, determining that the safety restriction process has not adjusted the first control output; if the first control output and the safety restriction process are different, determining that the safety restriction process has adjusted the first control output.

[0178] Optionally, the safety restriction process determines whether the first control output has been adjusted or not, including: if the first safety restriction condition is triggered during the safety restriction process of the first control output according to the first safety restriction condition, or if the second safety restriction condition is triggered during the safety restriction process of the first intermediate processing result according to the second safety restriction condition, then the safety restriction process is determined to have adjusted the first control output; if the first safety restriction condition is not triggered during the safety restriction process of the first control output according to the first safety restriction condition, or if the second safety restriction condition is not triggered during the safety restriction process of the first intermediate processing result according to the second safety restriction condition, then the safety restriction process is determined to have not adjusted the first control output.

[0179] In some embodiments, the control device for the device compressor includes a processor and a memory storing program instructions. The processor is configured to execute the control method for the device compressor provided in the foregoing embodiments when executing the program instructions.

[0180] In some embodiments, the air conditioner control device includes a processor and a memory storing program instructions, wherein the processor is configured to execute the air conditioner control method provided in the foregoing embodiments when executing the program instructions.

[0181] Figure 11 This is a schematic diagram of a control device for a device compressor provided in an embodiment of this application. (In conjunction with...) Figure 11 As shown, the control device for the equipment compressor includes:

[0182] The processor 111 and memory 112 may further include a communication interface 113 and a bus 114. The processor 111, communication interface 113, and memory 112 can communicate with each other via the bus 114. The communication interface 113 can be used for information transmission. The processor 111 can call logical instructions in the memory 112 to execute the device compressor control method provided in the foregoing embodiments.

[0183] Furthermore, the logical instructions in the aforementioned memory 112 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0184] The memory 112, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this application. The processor 111 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 112, that is, it implements the methods in the above-described method embodiments.

[0185] The memory 112 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 112 may include high-speed random access memory and may also include non-volatile memory.

[0186] This application provides an air conditioner that includes a control device for the device compressor provided in the foregoing embodiments.

[0187] This application provides an air conditioner that includes the control device for the air conditioner provided in the foregoing embodiments.

[0188] This application provides a computer-readable storage medium storing computer-executable instructions configured to execute the control method for the device compressor provided in the foregoing embodiments.

[0189] This application provides a computer-readable storage medium storing computer-executable instructions configured to execute the air conditioner control method provided in the foregoing embodiments.

[0190] This application provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the control method for the device compressor provided in the foregoing embodiments.

[0191] This application provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the air conditioning control method provided in the foregoing embodiments.

[0192] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0193] The technical solutions of this application embodiment can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in this application embodiment. The aforementioned storage medium can be a non-transitory storage medium, including: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0194] The foregoing description and accompanying drawings fully illustrate embodiments of this application to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Additionally, when used in this application, the terms “comprise” and its variations “comprises” and / or “comprising” refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Unless otherwise specified, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes that element. In this document, each embodiment may focus on describing the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, then the relevant parts can be referred to the description of the method section.

[0195] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0196] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0197] 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 embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a device compressor, characterized in that, include: The first control output of the PID controller in the previous control cycle is obtained, and the safety limit processing procedure is performed on the first control output according to the safety limit conditions; wherein the safety limit conditions enable the compressor and / or equipment to be in a safe state. Based on the safety limit processing procedure, the current integral operation process of the PID controller in the current control cycle is determined so that the current integral operation process is conducive to reducing the change of steady-state error. The second control output of the PID controller in the current control cycle is obtained based on the current integral calculation process; The second control output is subjected to safety restriction processing according to the safety restriction conditions to obtain the first safety restriction processing result, and the compressor is controlled using the first safety restriction processing result.

2. The control method according to claim 1, characterized in that, The current integral calculation process of the PID controller in the current control cycle is determined based on the safety limit processing procedure, including: If the safety limit processing procedure has already adjusted the first control output, then the integration process with the first value as the accumulated term will be used as the current integration operation process; If the safety limit processing procedure does not adjust the first control output, then the integration process with the second value as the accumulated term will be used as the current integration operation process. The absolute value of the first value is less than the absolute value of the second value.

3. The control method according to claim 2, characterized in that, The first value is zero, and the second value is positively correlated with the deviation input to the PID controller. The deviation is the parameter difference between the set parameters and the actual parameters of the device controlled by the PID controller.

4. The control method according to claim 2, characterized in that, The current integral operation process with the first value as the accumulation term includes: firstly, performing an accumulation operation on the first value to obtain a first accumulation result, and then using the first product of the first accumulation result and the integral coefficient as the integral term of the PID controller; or, firstly, obtaining a second product of the first value and the integral coefficient, then performing an accumulation operation on the second product to obtain a second accumulation result, and using the second accumulation result as the integral term. The current integral operation process for the accumulation term being the second value includes: first, accumulating the second value to obtain the third accumulation result, and then using the third product of the third accumulation result and the integral coefficient as the integral term of the PID controller; or, first obtaining the fourth product of the second value and the integral coefficient, then accumulating the fourth product to obtain the fourth accumulation result, and using the fourth accumulation result as the integral term.

5. The control method according to any one of claims 1 to 4, characterized in that, The safety limiting conditions include a first safety limiting condition and a second safety limiting condition. The first safety limiting condition is used to ensure that the compressor itself is in a safe state, and the second safety limiting condition is used to ensure that the equipment itself is in a safe state. The first control output is subjected to security restriction processing according to security restrictions, including: performing security restriction processing on the first control output according to the first security restrictions to obtain a first intermediate processing result; and performing security restriction processing on the first intermediate processing result according to the second security restrictions to obtain a second security restriction processing result. According to the safety restrictions, the second control output is subjected to safety restriction processing to obtain a first safety restriction processing result, including: performing safety restriction processing on the second control output according to the first safety restrictions to obtain a second intermediate processing result; and performing safety restriction processing on the second intermediate processing result according to the second safety restrictions to obtain a first safety restriction processing result.

6. The control method according to claim 5, characterized in that, The safety limitation process determines whether the first control output has been adjusted, or determines whether the first control output has not been adjusted, including: If the first control output and the second safety limit processing result are the same, the safety limit processing process is determined to be that the first control output was not adjusted; if the first control output and the safety limit processing process are different, the safety limit processing process is determined to be that the first control output has been adjusted. or, If the first safety constraint is triggered during the safety constraint processing of the first control output according to the first safety constraint, or if the second safety constraint is triggered during the safety constraint processing of the first intermediate processing result according to the second safety constraint, then the safety constraint processing is determined to have adjusted the first control output; if the first safety constraint is not triggered during the safety constraint processing of the first control output according to the first safety constraint, or if the second safety constraint is not triggered during the safety constraint processing of the first intermediate processing result according to the second safety constraint, then the safety constraint processing is determined to have not adjusted the first control output.

7. A method for controlling an air conditioner, characterized in that, include: Obtain the temperature difference between the set temperature and the actual temperature; The temperature difference value is input to the PID controller; The process of obtaining the first control output of the PID controller in the previous control cycle and the safety limit processing of the first control output according to safety constraints; wherein the safety constraints enable the compressor and / or equipment to be in a safe state; The current integral operation process of the PID controller in the current control cycle is determined based on the safety limit processing procedure; wherein, the current integral operation process is used to perform integral operation based on the temperature difference. The second control output of the PID controller in the current control cycle is obtained based on the current integral calculation process; The second control output is subjected to safety restriction processing according to the safety restriction conditions to obtain the first safety restriction processing result, and the air conditioner compressor is controlled using the first safety restriction processing result.

8. A control device for a compressor, characterized in that, include: The first acquisition module is used to acquire the first control output of the PID controller in the previous control cycle and the safety limit processing procedure for processing the first control output according to safety limit conditions; wherein, the safety limit conditions enable the compressor and / or equipment to be in a safe state; The determination module is used to determine the current integral calculation process of the PID controller in the current control cycle based on the safety limit processing procedure. The second acquisition module is used to obtain the second control output of the PID controller in the current control cycle based on the current integral calculation process; The control module is used to perform safety restriction processing on the second control output according to safety restriction conditions, obtain the first safety restriction processing result, and use the first safety restriction processing result to control the compressor.

9. A control device for a compressor, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the control method for the device compressor as described in any one of claims 1 to 6 when executing the program instructions.

10. A control device for an air conditioner, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the air conditioner control method as described in claim 7 when executing the program instructions.

Images