Control method of temperature control equipment, controller, system and temperature controller

Abstract

The invention discloses a control method of temperature control equipment, a controller, a system and a temperature controller, and the method comprises the steps: carrying out the body temperature detection of a temperature control object, and obtaining the actual body temperature corresponding to the current moment; determining a target temperature control mode based on the actual body temperature and the target body temperature corresponding to the current moment; based on the target temperature control mode, target water temperature corresponding to the temperature control equipment is determined; based on the target water temperature corresponding to the temperature control equipment, target control voltage corresponding to the temperature control equipment and target control duration corresponding to the target control voltage are determined; based on the target control voltage and the target control duration corresponding to the target control voltage, the temperature control device is controlled to conduct temperature regulation and control on the temperature control object, the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature. According to the method, the temperature control object can be controlled to reach the target body temperature without acquiring environment parameters, the overshoot and imbalance risks of the temperature control object caused by environment changes are avoided, and the method has high robustness.

Description

Technical Field

[0001] The present invention relates to the technical field of temperature control, and in particular to a control method, a controller, a system and a temperature controller for temperature control equipment. Background Art

[0002] Currently, temperature control devices are used in a variety of scenarios to achieve temperature control of the temperature control object by reasonably controlling the temperature control device. For example, in medical scenarios, the temperature control object is usually a patient, and it is usually necessary to control the temperature control device to control the temperature of the patient after surgery so that the patient reaches the target body temperature and produces a better postoperative recovery effect.

[0003] When using existing control methods to control the temperature of a temperature-controlled object, the temperature of the temperature-controlled object is greatly affected by environmental parameters. If the environmental parameters change greatly, the temperature control of the temperature-controlled object will have the risk of overshoot and misadjustment. Therefore, the existing control methods for temperature-controlled devices have poor robustness. How to improve the robustness of the control of temperature-controlled devices to further improve the robustness of the temperature control of the temperature-controlled object is a technical problem that needs to be solved urgently. Summary of the invention

[0004] Embodiments of the present invention provide a control method, a controller, a system and a temperature controller for a temperature control device to solve the technical problem of how to improve the robustness of the control of the temperature control device to further improve the robustness of the temperature control of the temperature control object.

[0005] A method for controlling a temperature control device, comprising: Detect the body temperature of the temperature-controlled object and obtain the actual body temperature corresponding to the current moment; Based on the actual body temperature and the target body temperature corresponding to the current moment, determine the target temperature control mode that the temperature control device needs to enter; Based on the target temperature control mode, determining a target water temperature corresponding to the temperature control device; Based on the target water temperature corresponding to the temperature control device, determining a target control voltage corresponding to the temperature control device and a target control duration corresponding to the target control voltage; Based on the target control voltage and the target control time corresponding to the target control voltage, the temperature control device is controlled to perform temperature regulation on the temperature control object so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature.

[0006] Preferably, before obtaining the actual body temperature corresponding to the current moment, the control method of the temperature control device further includes: Acquire the initial body temperature of the temperature-controlled object, and set the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature of the temperature-controlled object; Determining an initial temperature control mode according to the initial body temperature and the target body temperature; Processing the initial body temperature and the body temperature control integral coefficient to determine an initial integral value; Processing the body temperature upper limit value and the body temperature control integral coefficient to determine the integral upper limit value; The body temperature lower limit value and the body temperature control integral coefficient are processed to determine the integral lower limit value.

[0007] Preferably, determining the target temperature control mode that the temperature control device needs to enter based on the actual body temperature and the target body temperature corresponding to the current moment includes: Determine the body temperature difference corresponding to the current moment based on the actual body temperature corresponding to the current moment and the target body temperature; Integrate all body temperature differences within a preset time period to determine the body temperature deviation integral; Based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral, determine the target temperature control mode that the temperature control device needs to be controlled to enter.

[0008] Preferably, the determining of the target temperature control mode based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral includes: When the current temperature control mode is the heating mode, if the body temperature difference is not within a first preset difference range, or the body temperature deviation integral is less than an initial integral value, the target temperature control mode is determined to be the cooling mode, and the first preset difference range is a normal range of the body temperature difference corresponding to the heating mode; When the current temperature control mode is the heating mode, if the body temperature difference is within a first preset difference range and the body temperature deviation integral is not less than an initial integral value, determining that the target temperature control mode is the heating mode; When the current temperature control mode is the cooling mode, if the body temperature difference is not within the second preset difference range, or the body temperature deviation integral is greater than the initial integral value, it is determined that the target temperature control mode is the heating mode, and the second preset difference range is the normal range of the body temperature difference corresponding to the cooling mode; When the current temperature control mode is the cooling mode, if the body temperature difference is within a second preset difference range and the body temperature deviation integral is not greater than an initial integral value, it is determined that the target temperature control mode is the cooling mode.

[0009] Preferably, after determining the target temperature control mode that needs to be controlled to enter the temperature control device based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral, the control method of the temperature control device further includes: When the target temperature control mode is the cooling mode, if the body temperature deviation integral is less than the integral lower limit value, the integral lower limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the cooling mode; When the target temperature control mode is the heating mode, if the body temperature deviation integral is greater than an integral upper limit value, the integral upper limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the heating mode.

[0010] Preferably, determining the target water temperature corresponding to the temperature control device based on the target temperature control mode includes: Obtain the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, and the body temperature deviation integral within a preset time period; The body temperature difference corresponding to the current moment is corrected by using the body temperature control proportional coefficient corresponding to the target temperature control mode to determine a first water temperature correction value; The body temperature deviation integral is corrected by using the body temperature control integral coefficient corresponding to the target temperature control mode to determine a second water temperature correction value; determining the first water temperature according to the second water temperature correction value and the initial integral value; Obtaining a first target difference between the body temperature difference at the current moment and the body temperature difference at the previous moment, correcting the first target difference using the body temperature control differential coefficient corresponding to the target temperature control mode, and determining a third water temperature correction value; A target water temperature corresponding to the temperature control device is determined according to the first water temperature correction value, the first water temperature, and the third water temperature correction value.

[0011] Preferably, determining a target control voltage corresponding to the temperature control device and a target control duration corresponding to the target control voltage based on a target water temperature corresponding to the temperature control device includes: Obtaining the water temperature deviation at the current moment, the water temperature deviation at the previous moment, and the integral of the water temperature deviation within a preset time period, wherein the water temperature deviation is the deviation between the measured water temperature and the target water temperature; The water temperature deviation at the current moment is corrected by using the water temperature control proportional coefficient to determine the first voltage value; The water temperature deviation integral within the preset time period is corrected by using a water temperature control integral coefficient to determine a second voltage value; Obtaining a second target difference between the water temperature deviation at the current moment and the water temperature deviation at the previous moment, correcting the second target difference using a water temperature control differential coefficient, and determining a third voltage value; determining a target control voltage of the temperature control device according to the first voltage value, the second voltage value, and the third voltage value; A target voltage ratio is determined according to the target control voltage and the rated voltage, and the preset temperature control time is corrected using the target voltage ratio to determine the target control time of the temperature control device.

[0012] A controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the temperature control device when executing the computer program.

[0013] A control system for a temperature control device comprises a temperature control device and the above-mentioned controller, wherein the controller is connected to the temperature control device and is used to control the operation of the temperature control device so that the actual water temperature of the temperature control device reaches a target water temperature, thereby making the actual body temperature of the temperature control object reach the target body temperature.

[0014] A temperature controller comprises the control system of the above-mentioned temperature control device.

[0015] The control method, controller, system and temperature controller of the temperature control device can reasonably determine the target temperature control mode according to the actual body temperature and target body temperature corresponding to the current moment according to the actual situation of the temperature control object. According to the target water temperature corresponding to the temperature control device, the target control voltage corresponding to the temperature control device and the target control time corresponding to the target control voltage are determined. Based on the target control voltage and the target control time corresponding to the target control voltage, the temperature control device is controlled to perform temperature control on the temperature control object so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature. This method can determine the target control voltage and the target control time without acquiring and processing environmental parameters. Based on the target control voltage and the target control time, the temperature control object is controlled to reach the target body temperature, avoiding the risk of overshoot and misadjustment of the temperature control object caused by environmental changes, and has strong robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 is a flow chart of a control method of a temperature control device in one embodiment of the present invention; Figure 2 is another flow chart of a method for controlling a temperature control device in one embodiment of the present invention; Figure 3 is another flow chart of a method for controlling a temperature control device in one embodiment of the present invention; Figure 4 is another flow chart of a method for controlling a temperature control device in one embodiment of the present invention; Figure 5 is another flow chart of a method for controlling a temperature control device in one embodiment of the present invention; Figure 6 is another flow chart of a method for controlling a temperature control device in one embodiment of the present invention; Figure 7 is a schematic diagram of a controller in one embodiment of the present invention; Figure 8 It is a water temperature control proportional coefficient test adjustment diagram corresponding to the temperature control device in one embodiment of the present invention; Fig. 9 It is a water temperature control integral coefficient test adjustment diagram corresponding to the temperature control device in one embodiment of the present invention; Fig.10 It is an image of the actual water temperature and the target water temperature of the temperature control device during the test process after the water temperature control integral coefficient and the water temperature control proportional coefficient are tested and adjusted in one embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The control method of the temperature control device provided by the embodiment of the present invention is that the temperature control device is connected to the controller, and the controller controls the temperature control device to achieve the purpose of improving the robustness of the control of the temperature control device, thereby improving the robustness of the temperature control of the temperature control object.

[0020] The temperature control device provided by the embodiment of the present invention includes a temperature detection module, a voltage output module and a water temperature adjustment module. The temperature detection module, the voltage output module and the water temperature adjustment module are respectively connected to the controller. Among them, the temperature detection module is respectively connected to the temperature control object and the water temperature adjustment module during operation, and is used to detect the actual body temperature of the temperature control object and the water temperature corresponding to the water temperature adjustment module in real time, and transmit the actual body temperature and water temperature detected in real time to the controller. The controller determines the target water temperature that the water temperature adjustment module should reach in real time according to the actual body temperature detected in real time and the target body temperature corresponding to the temperature control object, and determines the voltage and duration that the voltage output module needs to output according to the target water temperature that the water temperature adjustment module should reach, and controls the voltage output module to work with the voltage and duration that needs to be output. It can be understood that the voltage output module is connected to the water temperature adjustment module to control the water temperature corresponding to the water temperature adjustment module. The water temperature adjustment module acts on the temperature control object, and the action mode includes but is not limited to being connected to the temperature control object. When the voltage output module is operating at the required output voltage and duration, the water temperature of the water temperature adjustment module is adjusted to reach the target water temperature, so that the water temperature adjustment module acts on the temperature control object to control the actual body temperature of the temperature control object to reach the target body temperature. In this embodiment, the on-board controller dynamically adjusts the voltage and duration output by the voltage output module according to the water temperature of the water temperature adjustment module monitored in real time, so as to control the actual body temperature of the temperature control object to reach the target body temperature, thereby achieving the purpose of controlling the body temperature of the temperature control object. In this embodiment, the temperature detection module includes but is not limited to a body temperature sensor and a water temperature sensor. The water temperature adjustment module includes but is not limited to a water blanket and an ice cap that can act on the temperature control object to adjust the actual body temperature of the temperature control object.

[0021] In one embodiment, if Figure 1 As shown, a control method for a temperature control device is provided, and the method is applied in Figure 7 The controller in the example is used to illustrate the process, including the following steps: S101: Detect the body temperature of the temperature-controlled object to obtain the actual body temperature corresponding to the current moment; S102: Determine a target temperature control mode that the temperature control device needs to enter based on the actual body temperature and the target body temperature corresponding to the current moment; S103: Determine a target water temperature corresponding to the temperature control device based on the target temperature control mode; S104: determining a target control voltage corresponding to the temperature control device and a target control time corresponding to the target control voltage based on a target water temperature corresponding to the temperature control device; S105: Based on the target control voltage and the target control time corresponding to the target control voltage, control the temperature control device to perform temperature control on the temperature control object so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature.

[0022] The temperature control object refers to an object that needs to be temperature controlled and adjusted, including but not limited to humans, other animals and plants. The actual body temperature refers to the body temperature of the temperature control object obtained by real-time temperature detection of the temperature control object.

[0023] As an example, in step S101, the controller obtains the actual body temperature of the temperature-controlled object at the current moment obtained by detecting the temperature-controlled object in real time. In this example, the body temperature of the temperature-controlled object can be detected in real time by the temperature detection module of the temperature-controlled device. The temperature detection module of the temperature-controlled device sends the actual body temperature detected in real time by the temperature-controlled object to the controller, and the controller obtains the actual body temperature of the temperature-controlled object at each current moment. In this example, the actual body temperature of the temperature-controlled object is obtained so that the temperature of the temperature-controlled object can be reasonably controlled according to the actual body temperature of the temperature-controlled object.

[0024] Among them, the target body temperature refers to the body temperature that the temperature control object needs to reach. The target body temperature can be set by the technician in the application scenario of the temperature control device according to the temperature control object, or it can be obtained by querying the target body temperature corresponding to the temperature control object pre-stored in the system database. It can be understood that for different temperature control objects, the target body temperature to be achieved is not the same. For example, the target body temperature required by the human body is around 36.8°C. The target temperature control mode refers to the mode that the temperature control device needs to be controlled to enter so that the temperature control device can control the body temperature of the temperature control object, including cooling mode and heating mode. Among them, the cooling mode refers to the mode in which the water temperature in the temperature control device is cooled because the actual body temperature of the temperature control object is higher than the target body temperature, so as to achieve the cooling of the temperature control object. The heating mode refers to the mode in which the water temperature in the temperature control device is heated because the actual body temperature of the temperature control object is lower than the target body temperature, so as to achieve the heating of the temperature control object.

[0025] As an example, in step S102, the controller compares and analyzes the actual body temperature and the target body temperature corresponding to the current moment, and determines the target temperature control mode that the temperature control device needs to enter according to the actual body temperature and the target body temperature. For example, when the controller determines that the actual body temperature is lower than the target body temperature, the controller determines that the target temperature control mode of the temperature control device is determined to be the heating mode. When the actual body temperature is higher than the target body temperature, the controller determines that the target temperature control mode of the temperature control device is determined to be the cooling mode. For another example, when the controller determines that the actual body temperature is lower than the target body temperature for a duration greater than a certain duration, the controller determines that the target temperature control mode of the temperature control device is the heating mode. When the actual body temperature is higher than the target body temperature for a duration greater than a certain duration, the controller determines that the target temperature control mode of the temperature control device is the cooling mode. In this example, according to the actual body temperature and the target body temperature corresponding to the current moment, the target temperature control mode of the temperature control device can be reasonably determined so that the temperature control object can reach the corresponding target body temperature.

[0026] The target water temperature refers to the water temperature that can make the temperature-controlled object reach the target body temperature.

[0027] As an example, in step S103, the controller obtains the actual body temperature of the temperature control object in the target temperature control mode, uses a preset body temperature control algorithm to process the body temperature difference between the actual body temperature of the temperature control object and the target body temperature, and determines the target water temperature that needs to be set for the temperature control device. In this example, the preset body temperature control algorithm includes but is not limited to a PID (proportion integration differentiation) control algorithm. Understandably, the water temperature adjustment module in the temperature control device acts on the temperature control object, controls the water temperature of the water temperature adjustment module in the temperature control device to reach the target water temperature, and the water temperature adjustment module acts on the temperature control object through the target water temperature, so that the actual body temperature of the temperature control object can reach the target body temperature. In this example, the water temperature adjustment module includes a water blanket and / or an ice cap that can act on the temperature control object.

[0028] The target control voltage refers to the output voltage of the temperature control device used to control the temperature control device to reach the target water temperature. The target control duration refers to the duration of controlling the target control voltage output.

[0029] As an example, in step S104, after determining the target water temperature corresponding to the temperature control device, the controller uses a preset water temperature control algorithm to determine the target control voltage corresponding to the temperature control device and the target control duration corresponding to the target control voltage, so as to control the temperature control device to work under the target control duration, so that the temperature control device reaches the target water temperature. The preset water temperature control algorithm includes but is not limited to the PID (proportion integration differentiation) control algorithm. It can be understood that when the temperature control device works with the target control voltage and the target control duration, the water temperature corresponding to the temperature control device can be increased to reach the target water temperature. In this example, according to the target water temperature corresponding to the temperature control device, the target control voltage corresponding to the temperature control device and the target control duration corresponding to the target control voltage are determined. This method can determine the target control voltage and the target control duration without acquiring and processing the environmental parameters, is not affected by the environment, avoids the risk of overshoot and imbalance of the temperature control object due to changes in the environment, and has strong robustness.

[0030] As an example, in step S105, after determining the target control voltage corresponding to the temperature control device and the target control time corresponding to the target control voltage, the controller controls the temperature control device to work based on the target control voltage and the target control time corresponding to the target control voltage, so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature, thereby realizing temperature control of the temperature control object. It can be understood that the voltage output module of the temperature control device outputs the target control voltage according to the target control time, so that the water temperature of the water temperature adjustment module of the temperature control device can reach the target water temperature. When the water temperature adjustment module of the temperature control device acts on the temperature control object, it can affect the actual body temperature of the temperature control object, so that the temperature control object reaches the target body temperature, thereby realizing the temperature control of the temperature control object. This method can realize the temperature control of the temperature control object without complicated operations, which is relatively convenient. This method can control the temperature control object to reach the target body temperature without obtaining environmental parameters, avoiding the risk of overshoot and misadjustment of the temperature control object due to environmental changes, and has strong robustness.

[0031] In this embodiment, based on the actual body temperature and target body temperature corresponding to the current moment, the target temperature control mode can be reasonably determined according to the actual situation of the temperature control object. According to the target water temperature corresponding to the temperature control device, the target control voltage corresponding to the temperature control device and the target control time corresponding to the target control voltage are determined. Based on the target control voltage and the target control time corresponding to the target control voltage, the temperature control device is controlled to perform temperature control on the temperature control object so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature. This method does not need to obtain and process environmental parameters to determine the target control voltage and target control time. Based on the target control voltage and target control time, the temperature control object is controlled to reach the target body temperature, avoiding the risk of overshoot and undershoot of the temperature control object caused by environmental changes, and has strong robustness.

[0032] In one embodiment, if Figure 2 As shown, before step S101, that is, before obtaining the actual body temperature corresponding to the current moment, the control method of the temperature control device further includes: S201: Acquire the initial body temperature of the temperature-controlled object, and set the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature of the temperature-controlled object; S202: Determine an initial temperature control mode according to the initial body temperature and the target body temperature; S203: Processing the initial body temperature and the body temperature control integral coefficient to determine an initial integral value; S204: Processing the upper limit value of body temperature and the body temperature control integral coefficient to determine the upper limit value of integral; S205: Process the body temperature lower limit value and the body temperature control integral coefficient to determine the integral lower limit value.

[0033] The upper limit of body temperature refers to the upper limit of body temperature corresponding to the temperature control object, and the lower limit of body temperature refers to the lower limit of body temperature corresponding to the temperature control object.

[0034] As an example, in step S201, the controller obtains the initial body temperature of the temperature-controlled object, and sets the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature of the temperature-controlled object. In this example, the controller determines the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature according to the type of the temperature-controlled object. For example, the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature corresponding to humans and plants are not the same. It can be understood that when determining the target temperature control mode of the temperature control device, the initial integral value of the temperature control object needs to be used as a reference indicator, and the initial integral value is determined by the initial body temperature of the temperature control object. Therefore, the initial body temperature of the temperature control object is obtained to reasonably determine the initial integral value. In order to ensure the normal operation of the temperature control device under the target temperature control mode, it is necessary to control the body temperature deviation integral under the target temperature control mode not to exceed the limit. Therefore, it is necessary to determine the integral upper limit value and the integral lower limit value of the temperature control object as a reference indicator for whether the body temperature deviation integral exceeds the limit. Therefore, it is necessary to obtain the body temperature upper limit value and the body temperature lower limit value of the temperature control object to determine the integral upper limit value and the integral lower limit value according to the body temperature upper limit value and the body temperature lower limit value.

[0035] The initial body temperature refers to the body temperature of the temperature-controlled object detected when the temperature control device detects the body temperature of the temperature-controlled object for the first time.

[0036] As an example, in step S202, the controller compares and analyzes the initial body temperature and the target body temperature to determine the initial temperature control mode. For example, when the controller determines that the initial body temperature is greater than the target body temperature, the controller determines that the initial temperature control mode is a cooling mode. When the controller determines that the initial body temperature is not greater than the target body temperature, the controller determines that the initial temperature control mode is a heating mode. For another example, when the controller determines that the duration of the initial body temperature greater than the target body temperature is greater than the first preset duration, the controller determines that the initial temperature control mode is a cooling mode. When the controller determines that the duration of the initial body temperature not greater than the target body temperature is greater than the second preset duration, the controller determines that the initial temperature control mode is a heating mode. Among them, the first preset duration refers to the preset duration for judging the duration of the initial body temperature greater than the target body temperature. The second preset duration refers to the preset duration for judging the duration of the initial body temperature not greater than the target body temperature. The first preset duration and the second preset duration may be the same or different.

[0037] The temperature control integral coefficient refers to the integral coefficient used to control the temperature of the temperature control object obtained by testing the temperature control device in advance. The initial integral value refers to the integral value corresponding to the initial temperature of the temperature control object.

[0038] As an example, in step S203, the controller performs ratio processing on the initial body temperature and the body temperature control integral coefficient to determine the initial integral value. In this example, the initial body temperature is startBobyTemp, the body temperature control integral coefficient is btKi, and the initial integral value bobyTemIntegralInit is = .

[0039] As an example, in step S204, the controller performs ratio processing on the upper limit value of body temperature and the integral coefficient of body temperature control to determine the upper limit value of integral. In this example, the upper limit value of body temperature is MaxBobyTemp, the integral coefficient of body temperature control is btKi, and the upper limit value of integral bobyTemHotControlInMax is bobyTemHotControlInMax= .

[0040] As an example, in step S205, the controller performs ratio processing on the lower limit of body temperature and the integral coefficient of body temperature control to determine the lower limit of integral. In this example, the lower limit of body temperature is MinBobyTemp, the integral coefficient of body temperature control is btKi, and the lower limit of integral is bobyTemHotControlInMin is bobyTemHotControlInMin= .

[0041] In this embodiment, the initial temperature control mode, initial integral value, integral upper limit value and integral lower limit value are determined according to the initial body temperature of the temperature control object, the target body temperature of the temperature control object, the upper limit value and the lower limit value of the body temperature, and the body temperature control integral coefficient, so as to ensure that the temperature control device works normally under the target temperature control mode according to the initial temperature control mode, initial integral value, integral upper limit value and integral lower limit value, and improve the robustness of the control of the temperature control device.

[0042] In one embodiment, if Figure 3 As shown, step S102, that is, determining the target temperature control mode that the temperature control device needs to enter based on the actual body temperature and the target body temperature corresponding to the current moment, includes: S301: Determine the body temperature difference corresponding to the current moment based on the actual body temperature and the target body temperature corresponding to the current moment; S302: Integrate all body temperature differences within a preset time period to determine a body temperature deviation integral; S303: Determine the target temperature control mode that the temperature control device needs to enter based on the current temperature control mode, the body temperature difference corresponding to the current moment, and / or the body temperature deviation integral.

[0043] Among them, the body temperature difference refers to the difference between the target body temperature and the actual body temperature.

[0044] As an example, in step S301, the controller performs difference processing on the actual body temperature corresponding to the current moment and the target body temperature to determine the body temperature difference corresponding to the current moment. The actual body temperature The difference is determined as the body temperature difference ,Right now = - .

[0045] The preset time period refers to the time period between a moment before the current moment and the current moment. For example, the preset time period may be the time period between the moment when the temperature control device first detects the body temperature of the temperature control object and the current moment.

[0046] As an example, in step S302, the controller integrates all body temperature differences within a preset time period to determine the body temperature deviation integral. , where t is the time, i is the start time of the preset time period, j is the current time, and [i, j] constitutes the preset time period. is the body temperature deviation integral.

[0047] The current temperature control mode refers to the mode in which the temperature control device controls the temperature of the temperature control object at the current moment. The current temperature control mode includes cooling mode and heating mode.

[0048] As an example, in step S303, the controller determines the target temperature control mode that the temperature control device needs to enter according to the current temperature control mode, the body temperature difference and / or the value of the body temperature deviation integral. For example, the controller adjusts the current temperature control mode of the temperature control device to the target temperature control mode according to whether the body temperature difference and / or the body temperature deviation integral are within a preset normal range.

[0049] In this embodiment, the body temperature difference and the body temperature deviation integral are obtained, and the target temperature control mode that the temperature control device needs to enter is determined based on the current temperature control mode, the body temperature difference and / or the body temperature deviation integral, so that the body temperature of the temperature control object can be reasonably adjusted under the target temperature control mode.

[0050] In one embodiment, step S303, i.e., determining the target temperature control mode based on the current temperature control mode, the body temperature difference corresponding to the current moment, and / or the body temperature deviation integral, includes: S3031: When the current temperature control mode is the heating mode, if the body temperature difference is not within the first preset difference range, or the body temperature deviation integral is less than the initial integral value, determining that the target temperature control mode is the cooling mode, and the first preset difference range is the normal range of the body temperature difference corresponding to the heating mode; S3032: When the current temperature control mode is the heating mode, if the body temperature difference is within a first preset difference range and the body temperature deviation integral is not less than an initial integral value, determining that the target temperature control mode is the heating mode; S3033: When the current temperature control mode is the cooling mode, if the body temperature difference is not within the second preset difference range, or the body temperature deviation integral is greater than the initial integral value, determining that the target temperature control mode is the heating mode, and the second preset difference range is the normal range of the body temperature difference corresponding to the cooling mode; S3034: When the current temperature control mode is the cooling mode, if the body temperature difference is within a second preset difference range and the body temperature deviation integral is not greater than the initial integral value, then determining that the target temperature control mode is the cooling mode.

[0051] The first preset difference range is the normal range of body temperature difference corresponding to the heating mode, which is used to determine whether the temperature control device needs to be controlled to switch modes. In this example, the initial integral value provides a reference for whether to switch the temperature control mode.

[0052] As an example, in step S3031, when the controller determines that the current temperature control mode is the heating mode, it further determines that the body temperature difference is not within the first preset difference range and the body temperature deviation integral is not less than the initial integral value, or the body temperature difference is within the first preset difference range and the body temperature deviation integral is less than the initial integral value, or the body temperature difference is not within the first preset difference range and the body temperature deviation integral is less than the initial integral value. At this time, it is determined that the target temperature control mode is the cooling mode, that is, the heating mode of the temperature control device is converted to the cooling mode of the temperature control device. In this example, the first preset difference range is [-0.2, a], where a is the difference between the target body temperature and the initial body temperature in the heating mode, and a>-0.2. When the controller is in heating mode, the body temperature difference is not within [-0.2, a] and the body temperature deviation integral is not less than the initial integral value, or the body temperature difference is within [-0.2, a] and the body temperature deviation integral is less than the initial integral value, or the body temperature difference is not within [-0.2, a] and the body temperature deviation integral is less than the initial integral value, the heating mode is converted to cooling mode, and the target temperature control mode is determined to be cooling mode.

[0053] Understandably, due to differences in body temperature = - ,in, is the target body temperature, is the actual body temperature. In the heating mode, if the body temperature difference is not within the first preset difference range (for example, [-0.2, a]), it means that the actual body temperature of the temperature-controlled object exceeds the target body temperature by a certain range, and the heating mode needs to be switched to the cooling mode so that the actual body temperature of the temperature-controlled object meets the target body temperature requirement. For example, if the target body temperature is 36.5°C, the actual body temperature is 37°C, the body temperature difference is -0.5°C, which is less than -0.2, and the body temperature difference is not within the first preset difference range [-0.2, a]. The actual body temperature exceeds the target body temperature by a certain range. The heating mode needs to be switched to the cooling mode to cool the temperature-controlled object so that the actual temperature of the temperature-controlled object remains within the first preset difference range corresponding to the target body temperature. Alternatively, in the heating mode, the initial body temperature of the temperature-controlled object is lower than the target body temperature, and the temperature-controlled object needs to be controlled to rise in temperature so that the actual body temperature of the temperature-controlled object reaches the target body temperature. During the temperature-raising process of the temperature-controlled object, the body temperature difference at each moment are greater than 0, then the body temperature deviation integral corresponding to each moment The actual body temperature of the temperature-controlled object exceeds the target body temperature, which will lead to a temperature difference within a period of time. Less than 0, which makes the temperature deviation integral Gradually decreases. If the body temperature deviation integral is less than the initial integral value, it indicates that the actual body temperature of the temperature-controlled object exceeds a certain range of the target body temperature, and the heating mode needs to be converted to the cooling mode so that the actual body temperature of the temperature-controlled object meets the target body temperature requirements.

[0054] As an example, in step S3032, when the controller determines that the current temperature control mode is the heating mode, it further determines that the body temperature difference is within the first preset difference range, and the body temperature deviation integral is not less than the initial integral value. At this time, it is determined that the target temperature control mode is still the heating mode. In this example, the first preset difference range is [-0.2, a], where a is the difference between the target body temperature and the initial body temperature in the heating mode. In the heating mode, the controller determines that the body temperature difference is within [-0.2, a], and the body temperature deviation integral is not less than the initial integral value, and determines that the target temperature control mode is still the heating mode.

[0055] Understandably, due to differences in body temperature = - ,in, is the target body temperature, is the actual body temperature. In the heating mode, if the body temperature difference is within the first preset difference range (for example, [-0.2, a]), it indicates that the actual body temperature of the temperature-controlled object is within a certain range corresponding to the target body temperature. For example, if the initial body temperature is 35.5°C and the target body temperature is 36.5°C, then a=1°C. If the actual body temperature is 36.6°C and the body temperature difference is 0.1°C, which is greater than -0.2 and less than 1°C, it is determined that the body temperature difference is within the first preset difference range [-0.2, a], and the actual body temperature does not exceed the range corresponding to the target body temperature. In addition, in the heating mode, the initial body temperature of the temperature-controlled object is lower than the target body temperature, and the temperature-controlled object needs to be controlled to rise in temperature so that the actual body temperature of the temperature-controlled object reaches the target body temperature. During the temperature-raising process of the temperature-controlled object, the body temperature difference at each moment are greater than 0, then the body temperature deviation integral corresponding to each moment are not less than the initial integral value. If the temperature deviation integral If the temperature difference is within the first preset difference range and the temperature deviation integral is not less than the initial integral value, it indicates that the actual body temperature of the temperature-controlled object is within a certain range corresponding to the target body temperature. Therefore, if the body temperature difference is within the first preset difference range and the body temperature deviation integral is not less than the initial integral value, it indicates that the actual body temperature of the temperature-controlled object at the current moment meets the target body temperature requirement, and the target temperature control mode needs to be maintained as the heating mode so that the actual body temperature of the temperature-controlled object is within a certain range corresponding to the target body temperature and meets the target body temperature requirement.

[0056] Among them, the second preset difference range is the normal range of body temperature difference corresponding to the cooling mode, which is used to determine whether it is necessary to control the temperature control device to perform mode conversion.

[0057] As an example, in step S3033, when the current temperature control mode is the cooling mode, the controller further determines that the body temperature difference is not within the second preset difference range and the body temperature deviation integral is not greater than the initial integral value, or the body temperature difference is within the second preset difference range and the body temperature deviation integral is greater than the initial integral value, or the body temperature difference is not within the second preset difference range and the body temperature deviation integral is greater than the initial integral value, and determines that the target temperature control mode is the heating mode, that is, the cooling mode of the temperature control device is converted to the heating mode of the temperature control device. In this example, the second preset difference range is [b, 0.2], where b is the difference between the target body temperature and the initial body temperature in the cooling mode, and b < 0.2. In the cooling mode, the controller converts the cooling mode to the heating mode if the body temperature difference is not within [b, 0.2] and the body temperature deviation integral is not greater than the initial integral value, or the body temperature difference is within [b, 0.2] and the body temperature deviation integral is greater than the initial integral value, or the body temperature difference is not within [b, 0.2] and the body temperature deviation integral is greater than the initial integral value, and the body temperature difference is not within [b, 0.2] and the body temperature deviation integral is greater than the initial integral value. The target temperature control mode is determined to be the heating mode.

[0058] Understandably, due to differences in body temperature = - ,in, is the target body temperature, is the actual body temperature. In the heating mode, if the body temperature difference is not within the second preset difference range (for example, [b, 0.2]), it indicates that the actual body temperature of the temperature-controlled object is lower than the target body temperature by a certain range, and the cooling mode needs to be switched to the heating mode so that the actual body temperature of the temperature-controlled object meets the target body temperature requirement. For example, if the target body temperature is 36.5°C, the actual body temperature is 35.8°C, the body temperature difference is 0.7°C, which is greater than 0.2, the body temperature difference is not within the second preset difference range [b, 0.2], and the actual body temperature is lower than the target body temperature by a certain range. The cooling mode needs to be switched to the heating mode to control the temperature of the temperature-controlled object to increase the temperature so that the actual temperature of the temperature-controlled object remains within the second preset difference range corresponding to the target body temperature. Alternatively, in the cooling mode, the initial body temperature of the temperature-controlled object is higher than the target body temperature, and the temperature-controlled object needs to be controlled to cool down so that the actual body temperature of the temperature-controlled object reaches the target body temperature. During the cooling process of the temperature-controlled object, the body temperature difference at each moment are not greater than 0, then the body temperature deviation integral corresponding to each moment Gradually decreases, the corresponding body temperature deviation integral at each moment The initial integral value is not greater than the initial integral value. If the actual body temperature of the temperature-controlled object is lower than the target body temperature, it will cause a temperature difference over a period of time. Greater than 0, thus making the temperature deviation integral Gradually increases, if the temperature deviation integral If the value is greater than the initial integral value, it indicates that the actual body temperature of the temperature-controlled object is lower than the target body temperature by a certain range, and the cooling mode needs to be converted to the heating mode so that the actual body temperature of the temperature-controlled object meets the target body temperature requirement.

[0059] As an example, in step S3034, when the controller determines that the current temperature control mode is the cooling mode, it further determines that the body temperature difference is within the second preset difference range, and when the body temperature deviation integral is not greater than the initial integral value, it determines that the target temperature control mode is the cooling mode, that is, the cooling mode is maintained. In this example, the second preset difference range is [b, 0.2], where b is the difference between the target body temperature and the initial body temperature in the cooling mode. In the cooling mode, when the controller determines that the body temperature difference is within [b, 0.2], or the body temperature deviation integral is greater than the initial integral value, the cooling mode is maintained.

[0060] Understandably, due to differences in body temperature = - ,in, is the target body temperature, is the actual body temperature. In cooling mode, if the body temperature difference is within the second preset difference range (for example, [b, 0.2]), it indicates that the actual body temperature of the temperature-controlled object is within a certain range of the target body temperature. For example, if the initial body temperature is 37°C and the target body temperature is 36.5°C, then b=-0.5°C. If the actual body temperature is 36.6°C and the body temperature difference is -0.1°C, which is greater than -0.5 and less than 0.2°C, it is determined that the body temperature difference is within the second preset difference range [b, 0.2], and the actual body temperature does not exceed the range corresponding to the target body temperature. In addition, in cooling mode, the initial body temperature of the temperature-controlled object is higher than the target body temperature, and the temperature-controlled object needs to be controlled to cool down so that the actual body temperature of the temperature-controlled object reaches the target body temperature. During the cooling process of the temperature-controlled object, the body temperature difference at each moment are not greater than 0, then the body temperature deviation integral corresponding to each moment are not greater than the initial integral value. If the temperature deviation integral If the actual body temperature does not exceed the second preset difference range corresponding to the target body temperature, and the body temperature deviation integral is not greater than the initial integral value, it indicates that the actual body temperature of the temperature-controlled object is within a certain range of the target body temperature. Therefore, when the actual body temperature does not exceed the second preset difference range corresponding to the target body temperature, and the body temperature deviation integral is not greater than the initial integral value, the cooling mode needs to be maintained so that the actual body temperature of the temperature-controlled object meets the normal range required by the target body temperature.

[0061] In this embodiment, according to whether the body temperature difference is within the corresponding difference range under the current temperature control mode, and / or the relationship between the body temperature deviation integral and the initial integral value, the current temperature control mode is adjusted to determine the target temperature control mode. This method takes the body temperature difference and the body temperature deviation integral into consideration and can reasonably determine the target temperature control mode of the temperature control device.

[0062] In one embodiment, if Figure 4 As shown, after step S303, that is, after determining the target temperature control mode that needs to be controlled to enter the temperature control device based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral, the control method of the temperature control device further includes: S401: When the target temperature control mode is the cooling mode, if the body temperature deviation integral is less than the integral lower limit, the integral lower limit is determined as the body temperature deviation integral, so that the temperature control device maintains the cooling mode; S402: When the target temperature control mode is the heating mode, if the body temperature deviation integral is greater than the integral upper limit value, the integral upper limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the heating mode.

[0063] The integral lower limit value refers to the lower limit value of the body temperature deviation integral in the cooling mode.

[0064] As an example, in step S401, when the controller determines that the target temperature control mode is the cooling mode, it monitors the body temperature deviation integral at each moment in the cooling mode in real time, compares the body temperature deviation integral at each moment with the integral lower limit value, and if the body temperature deviation integral is less than the integral lower limit value, the integral lower limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the cooling mode. It can be understood that in the cooling mode of the temperature control device, the target body temperature is less than the actual body temperature of the temperature control object, and the body temperature deviation integral gradually decreases. In order to prevent the body temperature deviation from exceeding the limit, resulting in the temperature control device being unable to control the body temperature of the temperature control object in the cooling mode, therefore, when it is determined that the body temperature deviation integral is less than the integral lower limit value, the integral lower limit value is determined as the body temperature deviation integral.

[0065] The integral upper limit value refers to the upper limit value of the body temperature deviation integral in the heating mode.

[0066] As an example, in step S402, when the controller determines that the target temperature control mode is the heating mode, it monitors the body temperature deviation integral at each moment in the heating mode in real time, compares the body temperature deviation integral at each moment with the integral upper limit value, and if the body temperature deviation integral is greater than the integral upper limit value, the integral upper limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the heating mode. It can be understood that in the heating mode of the temperature control device, the target body temperature is greater than the actual body temperature of the temperature control object, and the body temperature deviation integral gradually increases. In order to prevent the body temperature deviation from exceeding the limit, resulting in the temperature control device being unable to control the body temperature of the temperature control object in the heating mode, therefore, when it is determined that the body temperature deviation integral is greater than the integral upper limit value, the integral upper limit value is determined as the body temperature deviation integral.

[0067] In this embodiment, under the target temperature control mode, the body temperature deviation integral under the target temperature control mode is monitored according to the integral upper limit value or the integral lower limit value to avoid the body temperature deviation integral exceeding the limit and ensure the normal operation of the temperature control device under the target temperature control mode.

[0068] In one embodiment, if Figure 5 As shown, step S103, i.e., determining the target water temperature corresponding to the temperature control device based on the target temperature control mode, includes: S501: Obtaining the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, and the body temperature deviation integral within a preset time period; S502: Correcting the body temperature difference corresponding to the current moment using the body temperature control proportional coefficient corresponding to the target temperature control mode to determine a first water temperature correction value; S503: Correcting the body temperature deviation integral using the body temperature control integral coefficient corresponding to the target temperature control mode to determine a second water temperature correction value; S504: determining the first water temperature according to the second water temperature correction value and the initial integral value; S505: obtaining a first target difference between the body temperature difference at the current moment and the body temperature difference at the previous moment, and correcting the first target difference using a body temperature control differential coefficient corresponding to the target temperature control mode to determine a third water temperature correction value; S506: Determine a target water temperature corresponding to the temperature control device in the target temperature control mode according to the first water temperature correction value, the first water temperature, and the third water temperature correction value.

[0069] As an example, in step S501, the controller obtains the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, and the body temperature deviation integral within the preset time period in the target temperature control mode. In this example, the preset time period is the time period between a moment before the current moment and the current moment. Among them, the moment before the current moment includes any moment between the moment when the temperature control object is first detected and the current moment. For example, the controller obtains the body temperature difference corresponding to each moment between the moment when the temperature control object is first detected and the current moment, integrates all the obtained body temperature differences, and determines the body temperature deviation integral within the preset time period.

[0070] The body temperature control proportional coefficient refers to the proportional coefficient used to control the body temperature of the temperature-controlled object obtained by testing the temperature control device in advance. The first water temperature correction value refers to the water temperature value corresponding to the temperature control device determined according to the body temperature difference at the current moment.

[0071] As an example, in step S502, the controller uses the body temperature control proportional coefficient btKp corresponding to the target temperature control mode to correct the body temperature difference bobyTemErr corresponding to the current moment, and obtains a first water temperature correction value of btKp*bobyTemErr.

[0072] The second water temperature correction value refers to the water temperature value corresponding to the temperature control device determined according to the body temperature deviation integral.

[0073] As an example, in step S503, the controller uses the body temperature control integral coefficient btKi corresponding to the target temperature control mode to correct the body temperature deviation integral bobyTemIntergral, and determines that the second water temperature correction value is btKi*bobyTemIntergral.

[0074] The first water temperature refers to the water temperature corresponding to the temperature control device determined after optimizing the second water temperature correction value; As an example, in step S504, the controller determines the sum of the second water temperature correction value btKi*bobyTemIntergral and the initial integral value bobyTemIntegralInit as the first water temperature, that is, the first water temperature is (btKi*bobyTemIntergral+bobyTemIntegralInit).

[0075] The first target difference refers to the difference between the body temperature difference at the current moment and the body temperature difference at the previous moment. The body temperature control differential coefficient refers to the differential coefficient used to control the body temperature of the temperature control object obtained by testing the temperature control device in advance. The third water temperature correction value refers to the water temperature value corresponding to the temperature control device determined according to the first target difference.

[0076] As an example, in step S505, the controller performs difference processing on the body temperature difference bobyTemErr at the current moment and the body temperature difference bobyTemErrLast at the previous moment to obtain a first target difference (bobyTemErr-bobyTemErrLast), and uses the body temperature control differential coefficient btKd corresponding to the target temperature control mode to correct the first target difference (bobyTemErr-bobyTemErrLast) to determine a third water temperature correction value, and the third water temperature correction value is btKd*(bobyTemErr-bobyTemErrLast).

[0077] As an example, in step S506, the controller sums the first water temperature correction value btKp*bobyTemErr, the first water temperature (btKi*bobyTemIntergral+bobyTemIntegralInit) and the third water temperature correction value btKd*(bobyTemErr-bobyTemErrLast) to determine the target water temperature setWaterTemp. The target water temperature is =btKp*bobyTemErr+(btKi*bobyTemIntergral+bobyTemIntegralInit)+btKd*(bobyTemErr-bobyTemErrLast).

[0078] It is understandable that the initial body temperature of the controlled object has an impact on the target water temperature acting on the temperature control object. Different initial body temperatures may require the water temperature adjustment module (for example, an ice blanket and / or ice cap) in the temperature control device to reach different target water temperatures. Taking into account the initial integral value corresponding to the initial body temperature, the target water temperature acting on the temperature control object can be accurately determined.

[0079] In this embodiment, the target water temperature corresponding to the temperature control device is determined based on the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, the body temperature deviation integral within a preset time period, and the initial integral value under the target control mode. By comprehensively considering the influence of the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, the body temperature deviation integral within a preset time period, and the initial integral value on the target water temperature, the target water temperature of the temperature control device under the target temperature control mode can be reasonably determined.

[0080] In one embodiment, if Figure 6 As shown, step S104, i.e., determining a target control voltage corresponding to the temperature control device and a target control duration corresponding to the target control voltage based on the target water temperature corresponding to the temperature control device, includes: S601: Obtain the water temperature deviation at the current moment, the water temperature deviation at the previous moment, and the integral of the water temperature deviation in a preset time period, where the water temperature deviation is the deviation between the measured water temperature and the target water temperature; S602: Correcting the water temperature deviation at the current moment using the water temperature control proportional coefficient to determine a first voltage value; S603: Correcting the integral of the water temperature deviation within a preset time period using a water temperature control integral coefficient to determine a second voltage value; S604: obtaining a second target difference between the water temperature deviation at the current moment and the water temperature deviation at the previous moment, correcting the second target difference using a water temperature control differential coefficient, and determining a third voltage value; S605: Determine a target control voltage of the temperature control device according to the first voltage value, the second voltage value, and the third voltage value; S606: Determine a target voltage ratio according to the target control voltage and the rated voltage, use the target voltage ratio to correct the preset temperature control time, and determine the target control time of the temperature control device.

[0081] The actual water temperature refers to the water temperature actually applied to the temperature controlled object by the temperature control device. The water temperature deviation integral refers to the integral value obtained by integrating the water temperature deviation within a preset time period.

[0082] As an example, in step S601, the controller monitors the water temperature value of the temperature control device at each moment within the preset time period in the target temperature control mode, obtains multiple actual water temperatures actualWaterTemp, and performs difference processing on the target water temperature setWaterTemp and the actual water temperature actualWaterTemp corresponding to each moment to obtain the water temperature deviation (setWaterTemp) between the target water temperature and the actual water temperature. actualWaterTemp), the water temperature deviation within a preset time period (setWaterTemp actualWaterTemp) to determine the water temperature deviation integral corresponding to the preset time period. The water temperature deviation integral is: integrate = . The water temperature deviation includes the water temperature deviation Err at the current moment and the water temperature deviation errLast at the previous moment. The preset time period is the time period between the moment before the current moment and the current moment. [i, j] is the preset time period, where i is the moment before the current moment within the preset time period (the start time of the preset time period), and j is the current moment (the end time of the preset time period).

[0083] The water temperature control proportional coefficient refers to a proportional coefficient obtained by testing the temperature control device in advance and used to control the temperature control device to reach the target water temperature. The first voltage value refers to a voltage value to be output determined according to the water temperature deviation at the current moment.

[0084] As an example, in step S602, the controller uses the water temperature control proportional coefficient Kp to correct the water temperature deviation err at the current moment to determine the first voltage value Kp*err.

[0085] The water temperature control integral coefficient refers to an integral coefficient obtained by testing the temperature control device in advance and used to control the temperature control device to reach the target water temperature.

[0086] As an example, in step S603, the controller uses the water temperature control integral coefficient Ki to correct the water temperature deviation integral integrate within the preset time period to determine the second voltage value Ki*integrate.

[0087] The water temperature control differential coefficient refers to the differential coefficient obtained by testing the temperature control device in advance and used to control the temperature control device to reach the target water temperature. The second target difference refers to the difference between the water temperature deviation at the current moment and the water temperature deviation at the previous moment. The third voltage value refers to the voltage value that the temperature control device needs to output determined according to the second target difference.

[0088] As an example, in step S604, the controller performs difference processing on the water temperature deviation err at the current moment and the water temperature deviation errLast at the previous moment, and determines that the second target difference is (err errLast), using the water temperature control differential coefficient Kd to the second target difference (err errLast) to perform correction processing and determine the third voltage value to be Kd*(err errLast).

[0089] As an example, in step S605, the controller converts the first voltage value Kp*err, the second voltage value Ki*integrate and the third voltage value Kd*(err errLast) and value processing are performed to determine the target control voltage outVol of the temperature control device as: outVol=Kp*err+Ki*integrate+Kd*(err errLast) The target voltage ratio refers to the ratio between the target control voltage and the rated voltage. The preset temperature control duration refers to the duration for which the preset temperature control device controls the temperature of the temperature control object, and is used as a reference value for duration adjustment.

[0090] As an example, in step S606, the controller determines the ratio of the target control voltage outVol to the rated voltage p , the ratio Determined as the target voltage ratio, using the target voltage ratio Correct the preset temperature control time T to determine the target control time of the temperature control equipment .

[0091] In this embodiment, the target control voltage of the temperature control device and the target control time corresponding to the target control voltage are determined so that the temperature control device can be controlled to output the target control voltage within the target control time, so that the temperature control device can reach the target water temperature under the control of the target control voltage, so that the temperature control object can reach the target body temperature under the action of the target water temperature.

[0092] In this embodiment, the water temperature control proportional coefficient Kp is used to process the water temperature deviation at the current moment, the water temperature control integral coefficient Ki is used to correct the water temperature deviation integral, and the water temperature control differential coefficient Kd is used to correct the difference between the water temperature deviation at the current moment and the water temperature deviation at the previous moment, so as to further determine the target control voltage and target control time of the temperature control device, so that when the temperature control device works under the target control voltage and target control time, the actual water temperature of the temperature control device reaches the target water temperature.

[0093] In this embodiment, during the test of the temperature control device, (1) the water temperature control proportional coefficient Kp of the temperature control device is first tested and adjusted. The specific test adjustment method is: turn on the temperature control device, control the water temperature control integral coefficient Ki to 0, and control the water temperature control differential coefficient Kd to 0, obtain the actual water temperature change during the operation of the temperature control device, and compare and analyze the actual water temperature with the target water temperature. If the difference is large, adjust the initial water temperature control proportional coefficient of the temperature control device until the difference between the actual water temperature and the target water temperature is within the preset range, and the actual water temperature is relatively stable. The water temperature control proportional coefficient of the temperature control device at this time is determined as the water temperature control proportional coefficient Kp obtained by the test adjustment. Figure 8 As shown, this is the test adjustment diagram of the water temperature control proportional coefficient corresponding to the temperature control equipment. The horizontal straight line represents the target water temperature during the debugging process, and the curve represents the actual water temperature corresponding to the temperature control equipment during the adjustment of the water temperature control proportional coefficient. When the actual water temperature approaches the target water temperature and is stable, it is determined that the test adjustment of the water temperature control proportional coefficient is completed.

[0094] (2) Test and adjust the water temperature control integral coefficient Ki. The specific test and adjustment method is: turn on the temperature control device, control the water temperature control differential coefficient Kd to 0, Kp is the adjusted water temperature control proportional coefficient, obtain the actual water temperature change during the operation of the temperature control device, compare and analyze the actual water temperature with the target water temperature. If the difference is large, adjust the initial water temperature control integral coefficient of the temperature control device until the difference between the actual water temperature and the target water temperature is within the preset range and the actual water temperature is relatively stable. The water temperature control integral coefficient of the temperature control device at this time is determined as the water temperature control integral coefficient Ki obtained by the test adjustment. Fig. 9 As shown, this is the test adjustment diagram of the water temperature control integral coefficient corresponding to the temperature control equipment. The horizontal straight line represents the target water temperature during the debugging process, and the curve represents the actual water temperature corresponding to the temperature control equipment during the adjustment of the water temperature control proportional coefficient. When the actual water temperature approaches the target water temperature and is stable, it is determined that the test adjustment of the water temperature control integral coefficient is completed.

[0095] (3) The water temperature control integral coefficient of the temperature control device is the water temperature control integral coefficient Ki obtained by test adjustment, and the water temperature control proportional coefficient of the temperature control device is the water temperature control proportional coefficient Kp obtained by test adjustment. Turn on the temperature control device, obtain the actual water temperature change during the operation of the temperature control device, and compare and analyze the actual water temperature with the target water temperature. If the difference is large, repeat the above steps (1) and (2) to adjust the water temperature control integral coefficient Ki and the water temperature control proportional coefficient Kp. If the difference is small, fine-tune the initial water temperature control differential coefficient to obtain the water temperature control differential coefficient Kd after test adjustment. Fig.10 As shown in the figure, after the water temperature control integral coefficient and water temperature control proportional coefficient test are adjusted, the actual water temperature and target water temperature of the temperature control device during the test are shown in the figure. Fig.10 It can be seen that the difference between the actual water temperature and the target water temperature is small, which means that there is no need to adjust the water temperature control integral coefficient and the water temperature control proportional coefficient again. At this time, the water temperature control differential coefficient is fine-tuned.

[0096] In this embodiment, the body temperature control proportional coefficient btKp, the body temperature control integral coefficient btKi and the body temperature control differential coefficient btKd are respectively used to process the body temperature difference of the temperature control object, the body temperature deviation integral and the difference between the body temperature difference at the current moment and the body temperature difference at the previous moment, and determine the target water temperature required to control the temperature control object to reach the target body temperature. It can be understood that the water temperature adjustment module (ice blanket and / or ice cap) of the temperature control device acts on the temperature control object, and after the water temperature adjustment module reaches the target water temperature, under the action of the water temperature adjustment module with the target water temperature, the actual body temperature of the temperature control object gradually reaches the target body temperature.

[0097] In this embodiment, during the test of the temperature control device, (4) firstly, the temperature control proportional coefficient btKp of the temperature control device is tested and adjusted. The specific test and adjustment method is: turn on the temperature control device, control the temperature control integral coefficient btKi to 0, and control the temperature control differential coefficient btKd to 0, obtain the actual temperature change of the temperature control object during the operation of the temperature control device, compare and analyze the actual body temperature with the target body temperature, and if the difference is large, adjust the initial temperature control proportional coefficient of the temperature control device until the difference between the actual body temperature and the target body temperature is within the preset range, and the actual body temperature is relatively stable, and determine the temperature control proportional coefficient of the temperature control device at this time as the temperature control proportional coefficient btKp obtained by the test adjustment. In this embodiment, when testing and adjusting the temperature control device, the temperature control object used can be a plant or an animal for experiment.

[0098] (5) Test and adjust the body temperature control integral coefficient btKi. The specific test and adjustment method is: turn on the temperature control device, control the body temperature control differential coefficient btKd to 0, btKp is the adjusted body temperature control proportional coefficient, obtain the actual body temperature change of the temperature controlled object during the operation of the temperature control device, compare and analyze the actual body temperature with the target body temperature, if the difference is large, adjust the initial body temperature control integral coefficient of the temperature control device until the difference between the actual body temperature and the target body temperature is within the preset range and the actual body temperature is relatively stable, and determine the body temperature control integral coefficient of the temperature control device at this time as the body temperature control integral coefficient btKi obtained by test adjustment.

[0099] (6) The temperature control integral coefficient of the temperature control device is the temperature control integral coefficient btKi obtained by test adjustment, and the temperature control proportional coefficient of the temperature control device is the temperature control proportional coefficient btKp obtained by test adjustment. The temperature control device is turned on to obtain the actual temperature change of the temperature controlled object during the operation of the temperature control device. The actual body temperature is compared and analyzed with the target body temperature. If the difference is large, repeat the above steps (4) and (5) to adjust the temperature control integral coefficient btKi and the temperature control proportional coefficient btKp. If the difference is small, fine-tune the initial temperature control differential coefficient to obtain the temperature control differential coefficient btKd after test adjustment.

[0100] 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.

[0101] In one embodiment, if Figure 7 As shown, a controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method of the temperature control device in the above embodiment is implemented, for example Figure 1 S101-S105 as shown, or Figures 2 to 6 To avoid repetition, it will not be described here.

[0102] In one embodiment, a control system for a temperature control device is provided, including a temperature control device and the above-mentioned controller, wherein the controller is connected to the temperature control device and is used to control the operation of the temperature control device so that the actual water temperature of the temperature control device reaches the target water temperature, thereby making the actual body temperature of the temperature controlled object reach the target body temperature.

[0103] In one embodiment, a temperature controller is provided, comprising a control system of the above-mentioned temperature control device.

[0104] Those skilled in the art 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. In actual applications, the above-mentioned functions can be distributed and 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.

[0105] The embodiments described above 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 all be included in the protection scope of the present invention.

Claims

1. A control method for a temperature control device, characterized in that: include: Detect the body temperature of the temperature-controlled object and obtain the actual body temperature corresponding to the current moment; Based on the actual body temperature and the target body temperature corresponding to the current moment, determine the target temperature control mode that the temperature control device needs to enter; Based on the target temperature control mode, determining a target water temperature corresponding to the temperature control device; Based on the target water temperature corresponding to the temperature control device, determining a target control voltage corresponding to the temperature control device and a target control duration corresponding to the target control voltage; Based on the target control voltage and the target control time corresponding to the target control voltage, the temperature control device is controlled to perform temperature regulation on the temperature control object so that the actual water temperature of the temperature control device reaches the target water temperature, and then the actual body temperature of the temperature control object reaches the target body temperature.

2. The control method of the temperature control device according to claim 1, characterized in that: Before obtaining the actual body temperature corresponding to the current moment, the control method of the temperature control device further includes: Acquire the initial body temperature of the temperature-controlled object, and set the target body temperature, the upper limit value of the body temperature, and the lower limit value of the body temperature of the temperature-controlled object; Determining an initial temperature control mode according to the initial body temperature and the target body temperature; Processing the initial body temperature and the body temperature control integral coefficient to determine an initial integral value; Processing the body temperature upper limit value and the body temperature control integral coefficient to determine the integral upper limit value; The body temperature lower limit value and the body temperature control integral coefficient are processed to determine the integral lower limit value.

3. The control method of the temperature control device according to claim 2, characterized in that: The determining of the target temperature control mode to be entered by the temperature control device based on the actual body temperature and the target body temperature corresponding to the current moment includes: Determine the body temperature difference corresponding to the current moment based on the actual body temperature corresponding to the current moment and the target body temperature; Integrate all body temperature differences within a preset time period to determine the body temperature deviation integral; Based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral, determine the target temperature control mode that the temperature control device needs to be controlled to enter.

4. The control method of the temperature control device according to claim 3, characterized in that: The determining of the target temperature control mode based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral includes: When the current temperature control mode is the heating mode, if the body temperature difference is not within a first preset difference range, or the body temperature deviation integral is less than an initial integral value, the target temperature control mode is determined to be the cooling mode, and the first preset difference range is a normal range of the body temperature difference corresponding to the heating mode; When the current temperature control mode is the heating mode, if the body temperature difference is within a first preset difference range and the body temperature deviation integral is not less than an initial integral value, determining that the target temperature control mode is the heating mode; When the current temperature control mode is the cooling mode, if the body temperature difference is not within the second preset difference range, or the body temperature deviation integral is greater than the initial integral value, it is determined that the target temperature control mode is the heating mode, and the second preset difference range is the normal range of the body temperature difference corresponding to the cooling mode; When the current temperature control mode is the cooling mode, if the body temperature difference is within a second preset difference range and the body temperature deviation integral is not greater than an initial integral value, it is determined that the target temperature control mode is the cooling mode.

5. The control method of the temperature control device according to claim 3, characterized in that: After determining the target temperature control mode that needs to be controlled to enter the temperature control device based on the current temperature control mode, the body temperature difference corresponding to the current moment and / or the body temperature deviation integral, the control method of the temperature control device further includes: When the target temperature control mode is the cooling mode, if the body temperature deviation integral is less than the integral lower limit value, the integral lower limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the cooling mode; When the target temperature control mode is the heating mode, if the body temperature deviation integral is greater than an integral upper limit value, the integral upper limit value is determined as the body temperature deviation integral, so that the temperature control device maintains the heating mode.

6. The control method of the temperature control device according to claim 1, characterized in that: The determining, based on the target temperature control mode, a target water temperature corresponding to the temperature control device includes: Obtain the body temperature difference corresponding to the current moment, the body temperature difference corresponding to the previous moment, and the body temperature deviation integral within a preset time period; The body temperature difference corresponding to the current moment is corrected by using the body temperature control proportional coefficient corresponding to the target temperature control mode to determine a first water temperature correction value; The body temperature deviation integral is corrected by using the body temperature control integral coefficient corresponding to the target temperature control mode to determine a second water temperature correction value; determining the first water temperature according to the second water temperature correction value and the initial integral value; Obtaining a first target difference between the body temperature difference at the current moment and the body temperature difference at the previous moment, correcting the first target difference using the body temperature control differential coefficient corresponding to the target temperature control mode, and determining a third water temperature correction value; A target water temperature corresponding to the temperature control device is determined according to the first water temperature correction value, the first water temperature, and the third water temperature correction value.

7. The control method of the temperature control device according to claim 1, characterized in that: The determining, based on the target water temperature corresponding to the temperature control device, a target control voltage corresponding to the temperature control device and a target control duration corresponding to the target control voltage, comprises: Obtaining the water temperature deviation at the current moment, the water temperature deviation at the previous moment, and the integral of the water temperature deviation within a preset time period, wherein the water temperature deviation is the deviation between the measured water temperature and the target water temperature; The water temperature deviation at the current moment is corrected by using the water temperature control proportional coefficient to determine the first voltage value; The water temperature deviation integral within the preset time period is corrected by using a water temperature control integral coefficient to determine a second voltage value; Obtaining a second target difference between the water temperature deviation at the current moment and the water temperature deviation at the previous moment, correcting the second target difference using a water temperature control differential coefficient, and determining a third voltage value; determining a target control voltage of the temperature control device according to the first voltage value, the second voltage value, and the third voltage value; A target voltage ratio is determined according to the target control voltage and the rated voltage, and the preset temperature control time is corrected using the target voltage ratio to determine the target control time of the temperature control device.

8. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the control method of the temperature control device according to any one of claims 1 to 7 is implemented.

9. A control system for a temperature control device, comprising a temperature control device and the controller of claim 8, characterized in that: The controller is connected to the temperature control device and is used to control the operation of the temperature control device so that the actual water temperature of the temperature control device reaches the target water temperature, thereby making the actual body temperature of the temperature control object reach the target body temperature.

10. A temperature controller, characterized in that: A control system comprising the temperature control device according to claim 9.

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