Predictive control method and device for thermostatic valve of radiator, electronic equipment and storage medium

Abstract

The invention provides a radiator thermostatic valve predictive control method and device, electronic equipment and a storage medium. The method comprises the steps that the current temperature of the environment where the radiator is located at the current moment is collected, and the temperature difference value and the error change rate are determined according to the current temperature and the preset target temperature; determining PID parameters of a PID control model according to the difference value, the error change rate and a preset fuzzy control model; obtaining variable temperature performance data of the constant temperature valve of the radiator at the current moment and expected temperature adjusting duration; determining an integral quantity in a PID control model according to the difference value, the variable temperature performance data, the expected temperature adjustment duration and the PID parameter; and based on the integral quantity, the PID parameters and the PID control model, the adjusting opening degree of the radiator thermostatic valve is determined, and based on the adjusting opening degree, the radiator thermostatic valve is controlled to conduct opening degree adjustment. The radiator thermostatic valve can be accurately controlled, and the control effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radiators, and in particular to a predictive control method, device, electronic equipment and storage medium for a radiator thermostatic valve. Background Art

[0002] With the improvement of residents' living standards and the increase in comfort needs, indoor temperature control has become particularly important. Due to climate diversity and subjective differences in personal comfort, traditional heating and cooling methods cannot meet the needs of accurately adjusting indoor temperature. Radiator thermostatic valves control the heat output of radiators by adjusting the flow of hot water entering the radiator, thereby achieving the purpose of maintaining a stable indoor temperature.

[0003] In the related art, the radiator thermostatic valve usually uses an embedded microprocessor and a set of predetermined control algorithms to adjust the valve opening degree by monitoring the difference between the ambient temperature and the set target temperature, thereby controlling the heat output of the radiator. This control method is easy to damage the motor and battery, affecting the service life of the motor and the battery. In addition, this control method requires repeated adjustments, which is prone to over-adjustment and poor control effect. Summary of the invention

[0004] The embodiments of the present invention provide a radiator thermostatic valve predictive control method, device, electronic device and storage medium, so as to accurately control the radiator thermostatic valve and improve the control effect while taking into account the service life of the motor.

[0005] In a first aspect, an embodiment of the present invention provides a radiator thermostatic valve predictive control method, comprising:

[0006] Collect the current temperature of the environment where the radiator is located at the current moment, and determine the temperature difference and error change rate according to the current temperature and the preset target temperature;

[0007] Determining PID parameters of a proportional-integral-differential (PID) control model according to the difference, the error change rate and a preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve;

[0008] Obtain the temperature change performance data of the radiator thermostatic valve at the current moment, as well as the expected temperature adjustment time;

[0009] Determine the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter;

[0010] Based on the integral amount, the PID parameter and the PID control model, the adjustment opening of the radiator thermostatic valve is determined, and based on the adjustment opening, the radiator thermostatic valve is controlled to adjust the opening.

[0011] In a possible implementation, determining the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter includes:

[0012] Determining the expected opening of the radiator thermostatic valve according to the difference, the temperature change performance data and the expected temperature adjustment time;

[0013] Based on the PID parameters and the desired opening degree, an integral amount in a PID control model is determined.

[0014] In a possible implementation, determining the expected opening of the radiator thermostatic valve according to the difference, the temperature change performance data and the expected temperature adjustment time includes:

[0015] Determining a temperature difference change rate according to a ratio of the difference to the expected temperature adjustment time;

[0016] The desired opening degree of the radiator thermostatic valve is determined according to the temperature difference change rate and the temperature change performance data ratio.

[0017] In a possible implementation, determining the integral amount in the PID control model based on the PID parameter and the expected opening includes:

[0018] Obtaining the integral coefficient in the PID parameters;

[0019] The integral amount in the PID control model is determined according to the ratio of the expected opening and the integral coefficient.

[0020] In a possible implementation, the temperature change performance data includes temperature increase performance data and temperature decrease performance data;

[0021] The step of obtaining the temperature changing performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time includes:

[0022] Obtaining the temperature increase regulation efficiency and the temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in a cycle before the current moment, and obtaining the expected temperature adjustment time of the radiator thermostatic valve at the current moment;

[0023] According to the heating regulation efficiency and cooling regulation efficiency of each stage in the cycle, respectively determine the heating stage efficiency and cooling stage efficiency of each stage;

[0024] Based on the heating stage efficiency of each stage, the heating performance data of the radiator thermostatic valve at the current moment is determined, and based on the cooling stage efficiency of each stage, the cooling performance data of the radiator thermostatic valve at the current moment is determined.

[0025] In a possible implementation, each stage in the cycle includes a first target period and a second target period; the interval corresponding to the target temperature of the radiator thermostatic valve includes a first temperature interval and a second temperature interval;

[0026] According to the heating regulation efficiency and cooling regulation efficiency of each stage in the cycle, the heating stage efficiency and cooling stage efficiency of each stage are determined respectively, including:

[0027] For each stage in the cycle, determining a first average heating regulation efficiency and a first average cooling regulation efficiency in a first target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in a first target period in the stage;

[0028] Determine a second average heating regulation efficiency and a second average cooling regulation efficiency in the second target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in the second target period in the stage;

[0029] Determine a third average heating regulation efficiency and a third average cooling regulation efficiency corresponding to the first temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the first temperature interval in the stage;

[0030] Determine a fourth average heating regulation efficiency and a fourth average cooling regulation efficiency corresponding to the second temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the second temperature interval in the stage;

[0031] Determine the temperature rise stage efficiency of the stage based on a preset first weight coefficient, the first average temperature rise regulation efficiency, the second average temperature rise regulation efficiency, the third average temperature rise regulation efficiency and the fourth average temperature rise regulation efficiency;

[0032] The cooling stage efficiency of this stage is determined based on a preset second weight coefficient, the first average cooling regulation efficiency, the second average cooling regulation efficiency, the third average cooling regulation efficiency and the fourth average cooling regulation efficiency.

[0033] In a possible implementation, obtaining the temperature increase regulation efficiency and the temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in a cycle before the current moment includes:

[0034] Acquire the opening adjustment data of each adjustment of the radiator thermostatic valve in the previous cycle at the current moment; wherein the opening adjustment data includes the opening change of the radiator thermostatic valve, and the temperature change and adjustment time of the environment where the corresponding radiator is located;

[0035] For each adjustment of increasing the opening, the temperature increase adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time;

[0036] For each adjustment to reduce the opening, the cooling adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time.

[0037] In a second aspect, an embodiment of the present invention provides a radiator thermostatic valve predictive control device, comprising:

[0038] The acquisition module is used to acquire the current temperature of the environment where the radiator is located at the current moment, and determine the temperature difference and error change rate according to the current temperature and the preset target temperature;

[0039] A first determination module, used to determine the PID parameters of the PID control model according to the difference, the error change rate and a preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve;

[0040] An acquisition module is used to obtain the temperature change performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time;

[0041] A second determination module is used to determine the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter;

[0042] A control module is used to determine the adjustment opening of the radiator thermostatic valve based on the integral amount, the PID parameter and the PID control model, and control the radiator thermostatic valve to adjust the opening based on the adjustment opening.

[0043] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method described in the first aspect or any possible implementation method of the first aspect are implemented.

[0044] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect or any possible implementation method of the first aspect are implemented.

[0045] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0046] By comparing the current temperature of the environment where the radiator is located at the current moment with the preset target temperature, the embodiment of the present invention can obtain the corresponding difference and error change rate, so as to perform temperature adjustment later; the PID parameters of the PID control model are determined by the difference, the error change rate and the preset fuzzy control model, and the PID parameters can be used to perform PID control on the radiator thermostatic valve to ensure the stability of valve control, reduce the phenomenon of over-adjustment and oscillation, and extend the service life of the motor; the PID control model can be predictively adjusted by the difference, the temperature change performance data of the radiator thermostatic valve at the current moment, the expected temperature adjustment time and the PID parameters, and the integral amount in the PID control model can be determined to reduce the process of continuous integration, thereby reducing the time of temperature increase adjustment and temperature decrease adjustment; and then the adjustment opening of the radiator thermostatic valve is determined by the integral amount, the PID parameters and the PID control model, and the radiator thermostatic valve is controlled to adjust to the adjustment opening, so that the opening of the radiator thermostatic valve can be adjusted timely and accurately, and the process of continuous cumulative adjustment of the opening can be reduced, thereby improving the real-time response and robustness of the opening of the radiator thermostatic valve and improving the control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 is a flow chart of the implementation of the radiator thermostatic valve predictive control method provided by an embodiment of the present invention;

[0049] Figure 2 It is a structural diagram of the combination of fuzzy control and PID control provided by an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of the relationship between the temperature change rate and the opening degree provided by an embodiment of the present invention;

[0051] Figure 4 is a schematic diagram of the structure of a fuzzy control model provided by an embodiment of the present invention;

[0052] Figure 5 is a schematic diagram of a membership function in a fuzzy control model provided by an embodiment of the present invention;

[0053] Figure 6 It is a control effect diagram of the radiator thermostatic valve predictive control method provided by an embodiment of the present invention;

[0054] Figure 7 is a structural schematic diagram of a radiator thermostatic valve predictive control device provided by an embodiment of the present invention;

[0055] Figure 8 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0057] The inventors have found that in order to control a radiator thermostatic valve (the radiator thermostatic valve may be a Thermostatic Radiator Valve, TRV), the opening degree of the valve is usually adjusted by the difference between the ambient temperature and the target temperature, which requires repeated adjustment, is prone to over-adjustment, has a poor control effect, and may damage the motor and the battery. Therefore, it is necessary to consider a control method for a radiator thermostatic valve.

[0058] In order to accurately control the radiator thermostatic valve and improve the control effect, in the implementation of the present invention, the control is performed through the fuzzy control model and the PID control model, and can be gradually adjusted so that the ambient temperature reaches or remains at the target temperature; at the same time, predictive adjustment is performed through variable temperature performance data and expected temperature adjustment time, which can reduce the continuous integration process in the PID control model, improve the robustness of the radiator thermostatic valve control, and thus improve the control effect.

[0059] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0060] Figure 1 The implementation flow chart of the radiator thermostatic valve predictive control method provided by the embodiment of the present invention is described in detail as follows:

[0061] Step S101 , collecting the current temperature of the environment where the radiator is located at the current moment, and determining the temperature difference and error change rate according to the current temperature and a preset target temperature.

[0062] In this embodiment, a temperature sensor may be disposed on or around the radiator to collect the current temperature of the environment where the radiator is located.

[0063] Here, the target temperature may be a preset temperature, i.e., a desired temperature, such as 15°C, 20°C, and 25°C, etc. This is only an example and is not intended to be limiting. The target temperature may be preset in the radiator, or may be included in a received external temperature setting instruction, such as one adjusted by an operator.

[0064] In addition, the temperature difference is the difference between the current temperature and the target temperature. Since the temperature adjustment process is a cyclic and iterative adjustment process, the temperature error change rate can be determined based on the difference in the last adjustment and the difference in this adjustment, as well as the time between the two adjustments.

[0065] Step S102, determining PID parameters of a PID control model according to the difference, the error change rate and a preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve.

[0066] like Figure 2 As shown, in this embodiment, the radiator thermostatic valve is controlled based on fuzzy control and PID control. The PID parameters in the PID control model are calculated by the fuzzy control model, which simplifies the cumbersome parameter setting and adjustment work in the PID control model, and does not need to set the relevant parameters of the PID control model separately.

[0067] Here, the fuzzy control model can update the PID parameters and improve the adaptability to changes in external conditions by fuzzy processing and defuzzification of the difference and error change rate.

[0068] The PID control model can perform proportional regulation, integral regulation and differential regulation through the difference to achieve automatic control and regulation.

[0069] Optionally, the differential coefficient in the PID parameters of the PID control model can be set to 0, that is, only the proportional coefficient and the integral coefficient can be used during control and adjustment.

[0070] Step S103, obtaining the temperature change performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time.

[0071] In this embodiment, the variable temperature performance data refers to the temperature change corresponding to each degree change in the opening of the radiator thermostatic valve, that is, the heating capacity (when the opening increases) or cooling capacity (when the opening decreases) of the radiator thermostatic valve.

[0072] Here, the expected temperature adjustment time refers to the time when the ambient temperature can reach the target temperature by adjusting the opening. The expected adjustment time can be pre-set in the radiator, or obtained at the same time as the target temperature, or calculated. For example, when obtaining the temperature setting instruction, the target temperature and the expected temperature adjustment time can be obtained. During the adjustment process, the expected temperature adjustment time can be updated according to the adjustment time to obtain the expected temperature adjustment time corresponding to the current moment.

[0073] Step S104, determining the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameters.

[0074] In this embodiment, the integral amount corresponding to the integral coefficient required in the PID control model can be calculated through the difference, variable temperature performance data, expected temperature adjustment time and PID parameters, and the required integral amount can be directly predicted without gradually accumulating from 0.

[0075] Step S105, determining the adjustment opening of the radiator thermostatic valve based on the integral amount, the PID parameter and the PID control model, and controlling the radiator thermostatic valve to adjust the opening based on the adjustment opening.

[0076] In this embodiment, the obtained integral amount and PID parameters may be substituted into the PID control model, so as to calculate the adjustment opening of the radiator thermostatic valve.

[0077] Optionally, the PID control model can be: In the formula, u(t) represents the adjustment opening corresponding to the current time t, K p Represents the proportionality coefficient, K i Indicates the integral coefficient, K d represents the differential coefficient, e(t) represents the error corresponding to the current time t, ∫e(t)dt represents the integral corresponding to the current time t, Represents the differential corresponding to the current time t.

[0078] Optionally, the opening of the radiator thermostatic valve may be controlled to be an adjustable opening, or the opening of the radiator thermostatic valve may be controlled to increase or decrease the adjustable opening.

[0079] In addition, if Figure 2 As shown, after determining the adjustment opening and controlling the radiator thermostatic valve to adjust the opening based on the adjustment opening, the current temperature can continue to be collected to perform the next round of predictive control.

[0080] By comparing the current temperature of the environment where the radiator is located at the current moment with the preset target temperature, the embodiment of the present invention can obtain the corresponding difference and error change rate, so as to perform temperature adjustment later; the PID parameters of the PID control model are determined by the difference, the error change rate and the preset fuzzy control model, and the PID parameters can be used to perform PID control on the radiator thermostatic valve to ensure the stability of valve control, reduce the phenomenon of over-adjustment and oscillation, and extend the service life of the motor; the PID control model can be predictively adjusted by the difference, the temperature change performance data of the radiator thermostatic valve at the current moment, the expected temperature adjustment time and the PID parameters, and the integral amount in the PID control model can be determined to reduce the process of continuous integration, thereby reducing the time of temperature increase adjustment and temperature decrease adjustment; and then the adjustment opening of the radiator thermostatic valve is determined by the integral amount, the PID parameters and the PID control model, and the radiator thermostatic valve is controlled to adjust to the adjustment opening, so that the opening of the radiator thermostatic valve can be adjusted timely and accurately, and the process of continuous cumulative adjustment of the opening can be reduced, thereby improving the real-time response and robustness of the opening of the radiator thermostatic valve and improving the control effect.

[0081] In some embodiments, the temperature-changing performance data includes temperature-raising performance data and temperature-lowering performance data.

[0082] The present embodiment obtains the temperature-changing performance data of the radiator thermostatic valve at the current moment, and the expected temperature adjustment time, which can be: first obtain the heating regulation efficiency and the cooling regulation efficiency of each adjustment of the radiator thermostatic valve in the previous cycle before the current moment, and obtain the expected temperature adjustment time of the radiator thermostatic valve at the current moment; then determine the heating stage efficiency and the cooling stage efficiency of each stage according to the heating regulation efficiency and the cooling stage efficiency of each stage in the cycle; finally, determine the heating performance data of the radiator thermostatic valve at the current moment based on the heating stage efficiency of each stage, and determine the cooling performance data of the radiator thermostatic valve at the current moment based on the cooling stage efficiency of each stage.

[0083] In this embodiment, after each adjustment of the radiator thermostatic valve, the adjustment situation of this adjustment can be calculated. For example, if the opening is increased during this adjustment, even if the temperature rises, the heating capacity of this adjustment can be calculated to obtain the heating adjustment efficiency. Correspondingly, if the opening is decreased during this adjustment, even if the temperature drops, the cooling capacity of this adjustment can be calculated to obtain the cooling adjustment efficiency.

[0084] Through the heating regulation efficiency and cooling regulation efficiency of each adjustment in a stage, the heating capacity and cooling capacity of this stage, that is, the heating stage efficiency and the cooling stage efficiency, can be calculated. Furthermore, through the heating regulation efficiency and cooling regulation efficiency of each stage in a cycle, the heating capacity and cooling capacity of the radiator thermostatic valve in this cycle can be calculated and used as the heating performance data and cooling performance data of the radiator thermostatic valve at the current moment.

[0085] Optional, see Figure 3 As shown in the schematic diagram of the relationship between the temperature change rate and the opening degree, it can be seen that there is a corresponding relationship between the temperature change rate and the opening degree of the radiator thermostatic valve, based on which the temperature change capacity of the radiator thermostatic valve can be determined. Figure 3 A means that when the opening of the radiator thermostatic valve is in this part, the temperature will drop; B means that when the opening of the radiator thermostatic valve is in this part, the temperature will remain unchanged; C means that when the opening of the radiator thermostatic valve is in this part, the temperature will rise. Here, point B will change with factors such as radiator parameters and ambient temperature. In addition, Figure 3 Only one possible corresponding relationship is shown, and the actual corresponding relationship may not be a straight line, and can be actually determined and calculated according to the radiator thermostatic valve used.

[0086] This embodiment obtains the temperature increase regulation efficiency and the temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in the previous cycle before the current moment, which can be: first obtain the opening regulation data of each adjustment of the radiator thermostatic valve in the previous cycle before the current moment; wherein the opening regulation data includes the opening change of the radiator thermostatic valve, and the corresponding temperature change and regulation time of the environment where the radiator is located; for each adjustment to increase the opening, determine the temperature increase regulation efficiency corresponding to the adjustment according to the opening change of the adjustment, and the corresponding temperature change and regulation time of the environment where the radiator is located; for each adjustment to reduce the opening, determine the temperature decrease regulation efficiency corresponding to the adjustment according to the opening change of the adjustment, and the corresponding temperature change and regulation time of the environment where the radiator is located.

[0087] In this embodiment, each time the radiator thermostatic valve is adjusted, its opening changes, and the corresponding temperature also changes. Therefore, the temperature change caused by the opening change of the radiator thermostatic valve can be counted.

[0088] Here, the adjustment can be divided into two categories according to the direction of the opening change, namely, the adjustment of increasing the opening and the adjustment of decreasing the opening. Among them, increasing the opening will increase the temperature, which can correspondingly show the heating capacity of the radiator thermostatic valve, that is, the heating regulation efficiency of this adjustment can be calculated; reducing the opening will reduce the temperature, which can correspondingly show the cooling capacity of the radiator thermostatic valve, that is, the cooling regulation efficiency of this adjustment can be calculated.

[0089] Optionally, you can use an expression: Calculate the temperature regulation efficiency corresponding to each temperature regulation, and according to the expression: Calculate the cooling efficiency corresponding to each cooling regulation. r1 represents the heating regulation efficiency, ΔT represents the temperature change, Δt represents the regulation time, ΔV represents the opening change of the radiator thermostatic valve, C f1 represents the cooling regulation efficiency, Indicates the rate of temperature rise or temperature drop, that is, the rate of temperature change.

[0090] Optionally, each stage in the cycle includes a first target period and a second target period; and the interval corresponding to the target temperature of the radiator thermostatic valve includes a first temperature interval and a second temperature interval.

[0091] In this embodiment, the heating stage efficiency and the cooling stage efficiency of each stage are determined according to the heating regulation efficiency and the cooling regulation efficiency of each stage in the cycle, which can be:

[0092] Step 1: for each stage in the cycle, according to the heating regulation efficiency and cooling regulation efficiency in the first target time period in the stage, determine the first average heating regulation efficiency and the first average cooling regulation efficiency in the first target time period in the stage.

[0093] Step 2: Determine a second average heating regulation efficiency and a second average cooling regulation efficiency in the second target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in the second target period in the stage.

[0094] In this embodiment, considering that the use of the radiator is easily affected by the external environment, a stage can be divided, and the period when the surrounding environment is stable is taken as the first target period, and the period when there are more external interferences in the surrounding environment is taken as the second target period, so that different weights can be assigned to accurately calculate the heating stage efficiency and the cooling stage efficiency corresponding to the stage.

[0095] Here, the first average heating regulation efficiency and the first average cooling regulation efficiency in the first target period, and the second average heating regulation efficiency and the second average cooling regulation efficiency in the second target period may be calculated by using average values.

[0096] Step three: determine a third average heating regulation efficiency and a third average cooling regulation efficiency corresponding to the first temperature interval in this stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the first temperature interval in this stage.

[0097] Step 4: Determine a fourth average heating regulation efficiency and a fourth average cooling regulation efficiency corresponding to the second temperature interval in this stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the second temperature interval in this stage.

[0098] In this embodiment, taking into account the commonly used temperature setting range of the radiator thermostatic valve, the target temperature set in a stage can be divided, with the main set temperature range as the first temperature interval and the remaining temperature range as the second temperature interval, thereby assigning different weights to accurately calculate the heating stage efficiency and the cooling stage efficiency corresponding to the stage.

[0099] Here, the third average heating regulation efficiency and the third average cooling regulation efficiency corresponding to the first temperature range, and the fourth average heating regulation efficiency and the fourth average cooling regulation efficiency corresponding to the second temperature range can also be calculated by average values.

[0100] Step five: determining the temperature rise stage efficiency of this stage based on the preset first weight coefficient, the first average temperature rise regulation efficiency, the second average temperature rise regulation efficiency, the third average temperature rise regulation efficiency and the fourth average temperature rise regulation efficiency.

[0101] Step six, determining the cooling stage efficiency of this stage based on the preset second weight coefficient, the first average cooling regulation efficiency, the second average cooling regulation efficiency, the third average cooling regulation efficiency and the fourth average cooling regulation efficiency.

[0102] In this embodiment, the preset first weight coefficient and the second weight coefficient are used to calculate the efficiency of the heating stage and the efficiency of the cooling stage respectively for the heating and cooling situations.

[0103] Here, the working environment of the first target period is more stable, and the first temperature range is the main set temperature range. Therefore, the weights of these two categories can be larger. That is, the weight coefficient of the first average temperature regulation efficiency is greater than the weight coefficient of the second average temperature regulation efficiency; the weight coefficient of the third average temperature regulation efficiency is greater than the weight coefficient of the fourth average temperature regulation efficiency. And the sum of the four weight coefficients is 1.

[0104] Correspondingly, the weight coefficient of the first average cooling regulation efficiency is greater than the weight coefficient of the second average cooling regulation efficiency, and the weight coefficient of the third average cooling regulation efficiency is greater than the weight coefficient of the fourth average cooling regulation efficiency. Moreover, the sum of the four weight coefficients is 1.

[0105] In addition, the first weight coefficient and the second weight coefficient may be the same or different.

[0106] For example, a cycle may be 7 days, i.e. 7*24 hours, and a stage may be one day, i.e. 24 hours. The first target period may be 23:00-7:00, the second target period may be the remaining period, i.e. 7:00-23:00, the first temperature range may be 18°C-25°C, and the second temperature range may be other temperature ranges.

[0107] Here, the first weight coefficient is the same as the second weight coefficient, the weight coefficient corresponding to the first target period is 40%, the weight coefficient corresponding to the second target period is 20%, the weight coefficient corresponding to the first temperature interval is 30%, and the weight coefficient corresponding to the second temperature interval is 10%.

[0108] Assuming that the radiator thermostatic valve increases its opening 200 times and decreases its opening 300 times in a day, the temperature increase regulation efficiency and the temperature decrease regulation efficiency can be 200 each.

[0109] The heating regulation efficiency and cooling regulation efficiency corresponding to the first target period are extracted from the above data, and the average values ​​are calculated respectively, so as to obtain the first average heating regulation efficiency and the first average cooling regulation efficiency of the first target period. The second average heating regulation efficiency, the second average cooling regulation efficiency, the third average heating regulation efficiency, the third average cooling regulation efficiency, the fourth average heating regulation efficiency and the fourth average cooling regulation efficiency are obtained by extracting and calculating the data in the same way.

[0110] Assuming that the first average temperature rise regulation efficiency is 100, the second average temperature rise regulation efficiency is 90, the third average temperature rise regulation efficiency is 110, and the fourth average temperature rise regulation efficiency is 80, then a weighted calculation can be performed to obtain 100*40%+90*20%+110*30%+80*10%=99, then it can be determined that the temperature rise stage efficiency of this stage is 99.

[0111] In addition, multiple stages within a cycle can be divided according to the current time. For example, if a cycle is 7 days, a stage is 24 hours, and the current time is 8:00, then the previous cycle of the current time can be from 8:00 seven days ago to 8:00 at the current time, and each stage within the cycle can also be divided at 8:00. Alternatively, it can also be divided according to fixed time. For example, if the current time is 8:00 on the 9th, then the previous cycle of the current time can be from 0:00 on the 2nd to 24:00 on the 8th, and each stage within the cycle can be divided at 0:00.

[0112] In one embodiment, if the difference between the current temperature and the target temperature is greater than a preset difference, the heat sink may be controlled at the maximum power.

[0113] In addition, the radiator may also have antifreeze protection and high temperature protection. In addition, in this embodiment, a temperature control abnormality protection mechanism may be provided. When the opening adjustment direction of the radiator thermostatic valve is opposite to the direction of the difference, it indicates that the temperature control may be abnormal. The temperature control abnormality protection mechanism may be activated to detect or recalculate the adjustment opening.

[0114] The above describes the process of obtaining the temperature-changing performance data of the radiator thermostatic valve at the current moment. The following will continue to describe the process of determining the integral amount in the PID control model.

[0115] In some embodiments, the integral amount in the PID control model is determined based on the difference, variable temperature performance data, expected temperature adjustment time and PID parameters. The expected opening of the radiator thermostatic valve is first determined based on the difference, variable temperature performance data and expected temperature adjustment time; and then the integral amount in the PID control model is determined based on the PID parameters and the expected opening.

[0116] In this embodiment, the expected opening is the opening required for the radiator thermostatic valve to compensate for the difference within the expected temperature adjustment time under the temperature change performance data at the current moment.

[0117] The integral amount is the parameter multiplied by the integral coefficient in the PID control model. Therefore, the PID parameters and the expected opening can be used to reverse the integral amount, find the appropriate integral amount, reduce the accumulation process of the integral amount, and reduce the adjustment time of the radiator thermostatic valve, thereby improving the control effect.

[0118] Optionally, this embodiment determines the expected opening of the radiator thermostatic valve based on the difference, variable temperature performance data and expected temperature adjustment time. The temperature difference change rate can be determined based on the ratio of the difference and the expected temperature adjustment time; the expected opening of the radiator thermostatic valve can be determined based on the temperature difference change rate and the ratio of the variable temperature performance data.

[0119] In this embodiment, the temperature difference change rate corresponding to the difference that needs to be compensated within the expected temperature adjustment time can be determined first, and then the expected opening corresponding to the required temperature difference change rate can be determined based on the temperature change performance data of the radiator thermostatic valve.

[0120] In addition, the above steps may also be performed simultaneously, that is, the expected opening degree may be directly calculated using the difference, the temperature change performance data and the expected temperature adjustment time.

[0121] For example, according to the expression: Calculate the desired opening of the radiator thermostatic valve. Where, V i represents the expected opening of the radiator thermostatic valve corresponding to the current time i, ΔT i Represents the difference corresponding to the current time i, Δt i represents the expected temperature adjustment time corresponding to the current time i, C birepresents the temperature change performance data corresponding to the current moment i, Indicates the temperature difference change rate corresponding to the current moment i.

[0122] Optionally, this embodiment determines the integral amount in the PID control model based on the PID parameters and the expected opening, and the integral coefficient in the PID parameters is first obtained; and then the integral amount in the PID control model is determined according to the ratio of the expected opening and the integral coefficient.

[0123] In this embodiment, the desired opening degree that has been obtained can be used to reversely calculate the integral amount, accurately obtain the corresponding integral amount, save the process and time of accumulating the integral amount from 0, and ensure that the temperature heating process is fast and the constant temperature process is stable.

[0124] Here, we can use the expression: Calculate the integral in the PID control model. In the formula, δ i represents the integral corresponding to the current moment i, K i Indicates the integral coefficient in PID parameters.

[0125] Optionally, when the radiator is first used, the initial value of the integral is 0. Since the integral is cumulative, after one adjustment, the integral at the last adjustment is the initial value of the integral for this adjustment. The integral is then calculated using the method in the above embodiment, and the calculated integral is added to the initial value to obtain the integral in PID control.

[0126] That is, according to the expression: Calculate the integral in the PID control model. In the formula, δ 0 It represents the initial value of the integral amount corresponding to the current moment i, that is, the integral amount at the last adjustment at the current moment.

[0127] In addition, when the target temperature of the radiator changes, the integral amount at the last adjustment can be used directly, or the initial value of the integral amount can be re-determined based on the integral amount at the last adjustment and the change in the target temperature. Among them, the change coefficient can be determined based on the change in the target temperature, and the initial value of the integral amount can be updated using the change coefficient.

[0128] In some embodiments, see Figure 4 The structural diagram of the fuzzy control model shown in FIG. 1 determines the PID parameters of the PID control model according to the difference, the error change rate and the preset fuzzy control model, which can be:

[0129] Step 1: perform fuzzy calculation on the difference and error change rate, map the difference and error change rate to the domain, and obtain the fuzzy set values ​​corresponding to the difference and error change rate.

[0130] In this embodiment, since the input difference and error change rate, the ranges of the output proportional coefficient, integral coefficient and differential coefficient are different, the input can be mapped to the domain for better unified processing.

[0131] Here, when performing fuzzification, it is necessary to initialize the fuzzification first, which can include determining the domain and the membership function. The process of determining the domain is as follows:

[0132] You can first set the range of the domain. For example, the range of the domain can be [-3, 3] or [-1, 1]. It can be determined based on the data situation.

[0133] After determining the scope of the domain, the domain can be fuzzily classified, that is, divided.

[0134] Assuming the range of the domain is [-3, 3], the domain can be divided into 5 equal parts, namely [-3, -2], [-2, -1], [-1, 0], [0, 1], [1, 2], [2, 3]. And each endpoint is graded, specifically: -3 corresponds to NB (negative large), -2 corresponds to NM (negative medium), -1 corresponds to NS (negative small), 0 corresponds to ZO (zero), 1 corresponds to PS (positive small), 2 corresponds to PM (positive medium), and 3 corresponds to PB (positive large).

[0135] Afterwards, the difference value and the error change rate can be mapped to the domain according to the range corresponding to the difference value and the range corresponding to the error change rate, respectively.

[0136] For example, the input difference range is [-10, 10], and the difference is 8. Then the mapped value is 2.4, which is in the interval [2, 3]. The point is between the center and the maximum.

[0137] Step 2: Calculate the membership corresponding to the difference and the error change rate according to the membership function. Here, the membership function can use the triangle membership function.

[0138] In this embodiment, the degree of membership is also a probability, and the difference value mapped to the domain value will correspond to different levels, and the corresponding value of each level is the probability that the difference value belongs to that level, that is, the corresponding degree of membership. Correspondingly, the error change rate mapped to the domain value will also correspond to different levels, so that the degree of membership corresponding to the error change rate can be obtained.

[0139] See also Figure 5 The schematic diagram of the membership function in the fuzzy control model shown in Figure 1 shows that the horizontal axis represents the domain and the vertical axis represents the membership. Assuming that the value of the difference after mapping is 2.4, the corresponding PM value is 0.6 and the PB value is 0.4, that is, the probability that the difference belongs to PM is 0.6 and the probability that it belongs to PB is 0.4.

[0140] Step 3, according to the preset fuzzy rule table, and the membership degree corresponding to the difference and the error change rate is matched to obtain the output result of the fuzzy control. Among them, the fuzzy rule table can be established according to the experimental test data. Since the main purpose of this embodiment is to determine the PID parameters in the PID control model, a fuzzy rule table of the proportional coefficient, integral coefficient and differential coefficient in the PID parameters can be established.

[0141] In this embodiment, the membership degrees corresponding to the difference and the error change rate can be matched pairwise to obtain multiple combinations. By looking up the table for each combination, the membership degrees of the proportional coefficient, integral coefficient and differential coefficient corresponding to each combination can be obtained, thereby obtaining the output result of the fuzzy control.

[0142] For example, the input difference is 8, the error change rate is -12, the range of the difference is [-10, 10], and the range of the error change rate is [-20, 20]. Then, through fuzzification, the membership of the difference is 0.6 (PM) and 0.4 (PB), and the membership of the error change rate is 0.8 (NM) and 0.2 (NS).

[0143] Taking the proportional coefficient as an example, the membership of the difference and the error change rate can be combined in pairs, and a table can be looked up to obtain the inference relationship between the difference, error change rate and proportional coefficient as shown in Table 1 below:

[0144] Table 1 Inference relationship table of difference, error change rate and proportional coefficient

[0145] Difference membership Error change rate membership Proportional coefficient PM(0.6) NM(0.8) ZO PM(0.6) NS(0.2) NS PB(0.4) NM(0.8) ZO PB(0.4) NS(0.2) NM

[0146] The membership degree corresponding to the proportional coefficient obtained in Table 1 can also be used to obtain the membership degree of the integral coefficient and the differential coefficient, thereby obtaining the output result of the fuzzy control.

[0147] Step 4: Defuzzify the output result to obtain the output value. Here, the membership function of the fuzzy output can be used to perform weighted summation calculation to obtain a clear output value.

[0148] In this embodiment, according to the output result of fuzzy control, weighted sum calculation is performed to calculate the expected values ​​of the proportional coefficient, integral coefficient and differential coefficient. Then, according to the determined range of the proportional coefficient, integral coefficient and differential coefficient, and the interval mapping formula, the calculated expected values ​​of the proportional coefficient, integral coefficient and differential coefficient are mapped to the corresponding intervals, respectively, so that a clear output value can be obtained.

[0149] For example, the inference relationship obtained from Table 1 can be used to calculate the proportionality coefficient, and the specific formula is as follows:

[0150] 0.6(PM)×0.8(NM)=0.48(ZO);

[0151] 0.6(PM)×0.2(NS)=0.12(NS);

[0152] 0.4(PB)×0.8(NM)=0.32(ZO);

[0153] 0.4(PB)×0.2(NS)=0.08(NM).

[0154] Then the membership degrees of the proportional coefficients can be obtained as 0.8 (ZO), 0.12 (NS) and 0.08 (NM). Correspondingly, the integral coefficients and differential coefficients can also be calculated according to the above steps.

[0155] Since the value of ZO has been determined to be 0, the value of NS to be -1, and the value of NM to be -2 when the domain is divided as above, then E(Kp)=0.8×0+0.12×(-1)+0.08×(-2)=-0.28.

[0156] Then, the expected values ​​of the obtained proportional coefficient, integral coefficient and differential coefficient are mapped to obtain the output values ​​of the proportional coefficient, integral coefficient and differential coefficient.

[0157] Here, since the proportional coefficient, integral coefficient and differential coefficient are increments, the intervals of input and output must be determined when the fuzzification is initialized for interval mapping.

[0158] Step 5: Calculate the updated PID parameters according to the output values. Here, the calculated output values ​​are the increments of the proportional coefficient, integral coefficient and differential coefficient in the PID parameters.

[0159] In a feasible embodiment, the membership function in the fuzzy control model is as follows: Figure 5 As shown, the horizontal axis represents the domain, the vertical axis represents the degree of membership, the fuzzy rule table of the proportional coefficient is shown in Table 2, the fuzzy rule table of the integral coefficient is shown in Table 3, and the fuzzy rule table of the differential coefficient is shown in Table 4.

[0160] Table 2 Fuzzy rules table of proportional coefficient

[0161]

[0162] Table 3 Fuzzy rule table of integral coefficient

[0163]

[0164]

[0165] Table 4 Fuzzy rule table of differential coefficients

[0166]

[0167] In the above table, NB means large negative, NM means medium negative, NS means small negative, ZO means zero, PS means small positive, PM means medium positive, and PB means large positive.

[0168] Here, the differential coefficient in the PID control model can be set to 0. Accordingly, the differential coefficient can be omitted when calculating the fuzzy control model.

[0169] Assume that the target temperature of the radiator thermostatic valve is 25°C, and the current temperature collected is 20°C, then the difference is 5°C. After calculation by the fuzzy control model, it can be obtained that the proportional coefficient is 2.0, the integral coefficient is 0.1, and the initial value of the integral is 0. Here, the differential coefficient is assumed to be 0. The temperature rise performance data in the variable temperature performance data in the past cycle is 0.0032°C / (min*%), and the expected temperature adjustment time at the current moment is 30min, then the expected opening is 52.08%. Correspondingly, it can be calculated that the integral amount is 52.08% / 0.1=5.208. Then the integral value can be directly set to 5.208, without the need to accumulate from 0 to 5.208 continuously, which can save time and speed up the heating process.

[0170] In addition, see Figure 6 The control effect diagram of the radiator thermostatic valve predictive control method shown in the figure, Figure 6 The horizontal axis is time and the vertical axis is temperature. The following tests were conducted: the ambient temperature was 10℃ and the set temperature was 22℃; the ambient temperature was 10℃ and the set temperature was 20℃; the ambient temperature was -10℃ and the set temperature was 22℃; and the ambient temperature was -10℃ and the set temperature was 15℃. Figure 6 It can be seen that the radiator thermostatic valve predictive control method provided in this embodiment can control the radiator thermostat to make the room temperature comfortable, the control effect is stable, and the control effect can be maintained within ±1°C of the set target temperature. The control temperature rises quickly and the output control can be performed at the maximum power of the radiator. In addition, Figure 6 There is also a situation where the ambient temperature is 10℃ and the set temperature is 15℃. This process is mainly to transition between different test situations. Its goal is to lower the indoor temperature to facilitate subsequent tests. It is not an actual test of the ambient temperature of 10℃ and the set temperature of 15℃.

[0171] By comparing the current temperature of the environment where the radiator is located at the current moment with the preset target temperature, the embodiment of the present invention can obtain the corresponding difference and error change rate, so as to perform temperature adjustment later; the PID parameters of the PID control model are determined by the difference, the error change rate and the preset fuzzy control model, and the PID parameters can be used to perform PID control on the radiator thermostatic valve to ensure the stability of valve control, reduce the phenomenon of over-adjustment and oscillation, and extend the service life of the motor; the PID control model can be predictively adjusted by the difference, the temperature change performance data of the radiator thermostatic valve at the current moment, the expected temperature adjustment time and the PID parameters, and the integral amount in the PID control model can be determined to reduce the process of continuous integration, thereby reducing the time of temperature increase adjustment and temperature decrease adjustment; and then the adjustment opening of the radiator thermostatic valve is determined by the integral amount, the PID parameters and the PID control model, and the radiator thermostatic valve is controlled to adjust to the adjustment opening, so that the opening of the radiator thermostatic valve can be adjusted timely and accurately, and the process of continuous cumulative adjustment of the opening can be reduced, thereby improving the real-time response and robustness of the opening of the radiator thermostatic valve and improving the control effect. In addition, the method provided by the present invention can adapt to different environments and different conditions, has strong adaptability, fast real-time response, can also reduce overregulation and oscillation in the adjustment process, has stable control effect, strong robustness, and is energy-saving and efficient; it can extend the battery life, and the overall battery life can be maintained for more than 4 years, thereby extending the service life of the thermostat.

[0172] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0173] The following is an embodiment of the device of the present invention. For details not described in detail therein, reference may be made to the corresponding method embodiment described above.

[0174] Figure 7 The schematic diagram of the structure of the radiator thermostatic valve predictive control device provided by the embodiment of the present invention is shown. For the convenience of explanation, only the part related to the embodiment of the present invention is shown, which is described in detail as follows:

[0175] like Figure 7 As shown, the radiator thermostatic valve predictive control device 70 includes:

[0176] The acquisition module 71 is used to acquire the current temperature of the environment where the radiator is located at the current moment, and determine the temperature difference and error change rate according to the current temperature and the preset target temperature;

[0177] A first determination module 72 is used to determine the PID parameters of the PID control model according to the difference, the error change rate and the preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve;

[0178] The acquisition module 73 is used to obtain the temperature change performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time;

[0179] A second determination module 74 is used to determine the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameters;

[0180] The control module 75 is used to determine the adjustment opening of the radiator thermostatic valve based on the integral amount, the PID parameters and the PID control model, and control the radiator thermostatic valve to adjust the opening based on the adjustment opening.

[0181] In a possible implementation, the second determining module 74 is specifically configured to:

[0182] Determine the desired opening of the radiator thermostatic valve based on the difference, variable temperature performance data and desired temperature adjustment time;

[0183] Based on the PID parameters and the desired opening, the integral amount in the PID control model is determined.

[0184] In a possible implementation, the second determining module 74 is specifically configured to:

[0185] Determine the temperature difference change rate based on the ratio of the difference value to the expected temperature adjustment time;

[0186] Determine the desired opening of the radiator thermostatic valve based on the temperature difference change rate and the temperature change performance data ratio.

[0187] In a possible implementation, the second determining module 74 is specifically configured to:

[0188] Get the integral coefficient in PID parameters;

[0189] The integral amount in the PID control model is determined based on the ratio of the desired opening and the integral coefficient.

[0190] In a possible implementation, the temperature change performance data includes temperature increase performance data and temperature decrease performance data;

[0191] The acquisition module 73 is specifically used for:

[0192] Obtaining the temperature increase regulation efficiency and the temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in a cycle before the current moment, and obtaining the expected temperature adjustment time of the radiator thermostatic valve at the current moment;

[0193] According to the heating regulation efficiency and cooling regulation efficiency of each stage in the cycle, the heating stage efficiency and cooling stage efficiency of each stage are determined respectively;

[0194] Based on the heating stage efficiency of each stage, the heating performance data of the radiator thermostatic valve at the current moment is determined, and based on the cooling stage efficiency of each stage, the cooling performance data of the radiator thermostatic valve at the current moment is determined.

[0195] In a possible implementation, each stage in the cycle includes a first target period and a second target period; the interval corresponding to the target temperature of the radiator thermostatic valve includes a first temperature interval and a second temperature interval;

[0196] The acquisition module 73 is specifically used for:

[0197] For each stage in the cycle, according to the heating regulation efficiency and cooling regulation efficiency in the first target period in the stage, determine the first average heating regulation efficiency and the first average cooling regulation efficiency in the first target period in the stage;

[0198] Determine a second average heating regulation efficiency and a second average cooling regulation efficiency in the second target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in the second target period in the stage;

[0199] Determine a third average heating regulation efficiency and a third average cooling regulation efficiency corresponding to the first temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the first temperature interval in the stage;

[0200] Determine a fourth average heating regulation efficiency and a fourth average cooling regulation efficiency corresponding to the second temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the second temperature interval in the stage;

[0201] Determine the temperature rise stage efficiency of the stage based on the preset first weight coefficient, the first average temperature rise regulation efficiency, the second average temperature rise regulation efficiency, the third average temperature rise regulation efficiency and the fourth average temperature rise regulation efficiency;

[0202] The cooling stage efficiency of the stage is determined based on the preset second weight coefficient, the first average cooling regulation efficiency, the second average cooling regulation efficiency, the third average cooling regulation efficiency and the fourth average cooling regulation efficiency.

[0203] In a possible implementation, the acquisition module 73 is specifically used to:

[0204] Obtaining the opening adjustment data of each adjustment of the radiator thermostatic valve in the previous cycle at the current moment; wherein the opening adjustment data includes the opening change of the radiator thermostatic valve, and the temperature change and adjustment time of the corresponding radiator environment;

[0205] For each adjustment of increasing the opening, the temperature increase adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time;

[0206] For each adjustment to reduce the opening, the cooling adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time.

[0207] Figure 8 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 8 As shown, the electronic device 80 of this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, the steps in the above-mentioned radiator thermostatic valve predictive control method embodiments are implemented, such as Figure 1 Alternatively, when the processor 81 executes the computer program 83, the functions of each module in the above-mentioned device embodiments are realized, for example, Figure 7 The functions of the modules 71 to 75 are shown.

[0208] Exemplarily, the computer program 83 may be divided into one or more modules / units, one or more modules / units are stored in the memory 82 and executed by the processor 81 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 83 in the electronic device 80. For example, the computer program 83 may be divided into Figure 7 Modules 71 to 75 are shown.

[0209] The electronic device 80 may include, but is not limited to, a processor 81 and a memory 82. Those skilled in the art will appreciate that Figure 8 This is only an example of the electronic device 80 and does not constitute a limitation of the electronic device 80. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0210] The processor 81 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0211] The memory 82 may be an internal storage unit of the electronic device 80, such as a hard disk or memory of the electronic device 80. The memory 82 may also be an external storage device of the electronic device 80, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 80. Further, the memory 82 may also include both an internal storage unit of the electronic device 80 and an external storage device. The memory 82 is used to store computer programs and other programs and data required by the electronic device. The memory 82 may also be used to temporarily store data that has been output or is to be output.

[0212] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0213] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0214] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0215] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0216] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0217] In addition, each functional unit in each embodiment of the present invention 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0218] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0219] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A predictive control method for a radiator thermostatic valve, characterized in that: include: Collect the current temperature of the environment where the radiator is located at the current moment, and determine the temperature difference and error change rate according to the current temperature and the preset target temperature; Determine the PID parameters of the PID control model according to the difference, the error change rate and a preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve; Obtain the temperature change performance data of the radiator thermostatic valve at the current moment, as well as the expected temperature adjustment time; Determine the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter; Based on the integral amount, the PID parameter and the PID control model, the adjustment opening of the radiator thermostatic valve is determined, and based on the adjustment opening, the radiator thermostatic valve is controlled to adjust the opening.

2. The radiator thermostatic valve predictive control method according to claim 1, characterized in that: Determining the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter includes: Determining the expected opening of the radiator thermostatic valve according to the difference, the temperature change performance data and the expected temperature adjustment time; Based on the PID parameters and the desired opening degree, an integral amount in a PID control model is determined.

3. The radiator thermostatic valve predictive control method according to claim 2, characterized in that: Determining the expected opening of the radiator thermostatic valve according to the difference, the temperature change performance data and the expected temperature adjustment time includes: Determining a temperature difference change rate according to a ratio of the difference to the expected temperature adjustment time; The desired opening degree of the radiator thermostatic valve is determined according to the temperature difference change rate and the temperature change performance data ratio.

4. The radiator thermostatic valve predictive control method according to claim 2, characterized in that: Based on the PID parameters and the expected opening, determining the integral amount in the PID control model includes: Obtaining the integral coefficient in the PID parameters; The integral amount in the PID control model is determined according to the ratio of the expected opening and the integral coefficient.

5. The radiator thermostatic valve predictive control method according to any one of claims 1 to 4, characterized in that: The temperature change performance data includes temperature rise performance data and temperature drop performance data; The step of obtaining the temperature changing performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time includes: Obtaining the temperature increase regulation efficiency and the temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in a cycle before the current moment, and obtaining the expected temperature adjustment time of the radiator thermostatic valve at the current moment; According to the heating regulation efficiency and cooling regulation efficiency of each stage in the cycle, respectively determine the heating stage efficiency and cooling stage efficiency of each stage; Based on the heating stage efficiency of each stage, the heating performance data of the radiator thermostatic valve at the current moment is determined, and based on the cooling stage efficiency of each stage, the cooling performance data of the radiator thermostatic valve at the current moment is determined.

6. The radiator thermostatic valve predictive control method according to claim 5, characterized in that: Each stage in the cycle includes a first target period and a second target period; the interval corresponding to the target temperature of the radiator thermostatic valve includes a first temperature interval and a second temperature interval; According to the heating regulation efficiency and cooling regulation efficiency of each stage in the cycle, the heating stage efficiency and cooling stage efficiency of each stage are determined respectively, including: For each stage in the cycle, determining a first average heating regulation efficiency and a first average cooling regulation efficiency in a first target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in a first target period in the stage; Determine a second average heating regulation efficiency and a second average cooling regulation efficiency in the second target period in the stage according to the heating regulation efficiency and the cooling regulation efficiency in the second target period in the stage; Determine a third average heating regulation efficiency and a third average cooling regulation efficiency corresponding to the first temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the first temperature interval in the stage; Determine a fourth average heating regulation efficiency and a fourth average cooling regulation efficiency corresponding to the second temperature interval in the stage according to the heating regulation efficiency and the cooling regulation efficiency corresponding to the second temperature interval in the stage; Determine the temperature rise stage efficiency of the stage based on a preset first weight coefficient, the first average temperature rise regulation efficiency, the second average temperature rise regulation efficiency, the third average temperature rise regulation efficiency and the fourth average temperature rise regulation efficiency; The cooling stage efficiency of this stage is determined based on a preset second weight coefficient, the first average cooling regulation efficiency, the second average cooling regulation efficiency, the third average cooling regulation efficiency and the fourth average cooling regulation efficiency.

7. The radiator thermostatic valve predictive control method according to claim 5, characterized in that: Obtain the temperature increase regulation efficiency and temperature decrease regulation efficiency of each adjustment of the radiator thermostatic valve in the previous cycle at the current moment, including: Acquire the opening adjustment data of each adjustment of the radiator thermostatic valve in the previous cycle at the current moment; wherein the opening adjustment data includes the opening change of the radiator thermostatic valve, and the temperature change and adjustment time of the environment where the corresponding radiator is located; For each adjustment of increasing the opening, the temperature increase adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time; For each adjustment to reduce the opening, the cooling adjustment efficiency corresponding to the adjustment is determined according to the change in the opening of the adjustment, the change in the temperature of the environment where the radiator is located, and the adjustment time.

8. A predictive control device for a radiator thermostatic valve, characterized in that: include: The acquisition module is used to acquire the current temperature of the environment where the radiator is located at the current moment, and determine the temperature difference and error change rate according to the current temperature and the preset target temperature; A first determination module, used to determine the PID parameters of the PID control model according to the difference, the error change rate and a preset fuzzy control model; wherein the PID control model is used to determine the adjustment opening of the radiator thermostatic valve; An acquisition module is used to obtain the temperature change performance data of the radiator thermostatic valve at the current moment and the expected temperature adjustment time; A second determination module is used to determine the integral amount in the PID control model according to the difference, the temperature change performance data, the expected temperature adjustment time and the PID parameter; A control module is used to determine the adjustment opening of the radiator thermostatic valve based on the integral amount, the PID parameter and the PID control model, and control the radiator thermostatic valve to adjust the opening based on the adjustment opening.

9. An electronic device comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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