Stirling cryocooler temperature control method and device, cryocooler equipment and medium

Abstract

The invention provides a Stirling cryocooler temperature control method and device, cryocooler equipment and a medium, and the method comprises the steps that under the condition that the real-time environment temperature of a Stirling cryocooler is smaller than or equal to a first temperature threshold value, the temperature of the Stirling cryocooler is controlled according to the target control temperature, the real-time environment temperature and the pulse width modulation parameter of the cryocooler; calculating to obtain a target integral item component corresponding to the pulse width modulation period; and the Stirling cryocooler is controlled to be cooled according to a target integration algorithm until the real-time environment temperature of the Stirling cryocooler is smaller than or equal to a second temperature threshold value, the target integration algorithm comprises the target integration item component, and the second temperature threshold value is smaller than the first temperature threshold value. According to the method, the integration algorithm in the temperature control step of the Stirling cryocooler is improved, the target integration item component is adjusted in real time, desaturation cooling control of the Stirling cryocooler is achieved, and the cooling overshoot phenomenon can be effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of refrigerator temperature control, and in particular to a Stirling refrigerator temperature control method, device, refrigerator equipment and medium. Background Art

[0002] As a deep-cryogenic refrigeration device, the Stirling refrigerator is often used to provide a working environment for high-precision chips or to provide superconducting conditions for low-temperature equipment. In addition, the Stirling refrigerator is widely used in various fields due to its miniaturization, fast cooling speed and wide cooling range.

[0003] At present, most Stirling refrigerators have the problem of overshoot when cooling. For example, the target temperature of the refrigerator is 77 Kelvin (K). Due to the inertia of the motor and the refrigerator transmission mechanism itself, the refrigerator will not immediately maintain the temperature control point of 77K (-196.15 degrees Celsius (℃)) when reaching the target temperature, but will overshoot to around 75K (-198.15 degrees Celsius (℃)), or even lower. At this time, it is necessary to reduce the motor speed under the intervention of the PID control algorithm and return the temperature to 77K to gradually balance. In this reciprocating process of overshoot-reheating, the actual cooling time of the refrigerator will be extended, and the control accuracy of the refrigerator will be affected, which in turn affects the normal operation of the back-end application. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a Stirling refrigerator temperature control method, device, refrigerator equipment and medium that can effectively eliminate static errors and prevent the Stirling refrigerator from overshooting. The specific scheme is as follows: In a first aspect, the present application provides a Stirling refrigerator temperature control method, comprising: When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, a target integral term component corresponding to the pulse width modulation period is calculated according to the target control temperature, the real-time ambient temperature and the pulse width modulation parameter of the refrigerator; The Stirling refrigerator is controlled to cool down according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0005] According to a specific implementation of the present application, the pulse width modulation parameters of the refrigerator include a target calculation domain, a reference comparison value and a target comparison value; the method further includes: Before the Stirling refrigerator starts to perform the temperature reduction control step, a target control temperature, an initial ambient temperature, a circuit operation parameter and the target comparison value are obtained, wherein the target control temperature is the end temperature of the temperature reduction control step, the initial ambient temperature is the starting temperature of the temperature reduction control step, the circuit operation parameters include the counting frequency of the main control chip, the pulse width modulation wave frequency of the driving circuit and the main frequency division coefficient, and the target comparison value is the comparison value corresponding to the pulse width modulation wave when the real-time ambient temperature of the Stirling refrigerator is equal to the second temperature threshold; Calculate the reference comparison value corresponding to the pulse width modulation wave according to the circuit operation parameters; The target calculation domain is calculated according to the target control temperature and the initial ambient temperature.

[0006] According to a specific implementation of the present application, the target integral term component corresponding to the pulse width modulation period is calculated based on the target temperature, the real-time ambient temperature and the pulse width modulation parameter of the refrigerator, including: Calculate the desaturation value corresponding to the current pulse width modulation cycle according to the real-time ambient temperature of the current pulse width modulation cycle, the real-time ambient temperature of the previous pulse width modulation cycle, the target calculation domain, the reference comparison value and the target comparison value; The accumulated decrease value of the integral term of the current pulse width modulation cycle is calculated according to the desaturation value corresponding to the current pulse width modulation cycle and the desaturation value corresponding to the historical pulse width modulation cycle, wherein the historical pulse width modulation cycle is all pulse width modulation cycles before the current pulse width modulation cycle after the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold; The target integral term component is calculated according to the target comparison value and the cumulative decrease value of the integral term of the current pulse width modulation period.

[0007] According to a specific implementation of the present application, the method further includes: Before the Stirling refrigerator starts to execute the temperature reduction control step, obtaining a target time domain corresponding to the temperature reduction control step; The target time domain is divided according to the pulse width modulation wave period of the Stirling refrigerator to obtain a plurality of pulse width modulation periods.

[0008] According to a specific implementation of the present application, the method further includes: When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, the Stirling refrigerator is controlled to cool down according to a preset integral algorithm, wherein the preset integral algorithm is different from the target integral algorithm.

[0009] According to a specific implementation of the present application, the method further includes: When the real-time ambient temperature of the Stirling refrigerator is greater than the first temperature threshold, the refrigerator is controlled to cool down according to a preset integral algorithm, wherein the preset integral algorithm is different from the target integral algorithm.

[0010] According to a specific implementation of the present application, the preset integration algorithm is a PID control algorithm.

[0011] In a second aspect, the present application provides a Stirling refrigerator temperature control device, comprising: A calculation module, configured to calculate a target integral term component corresponding to a pulse width modulation period according to a target control temperature, a real-time ambient temperature and a pulse width modulation parameter of the refrigerator when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold; A control module is used to control the temperature of the Stirling refrigerator to drop according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0012] In a third aspect, the present application provides a refrigerator device, the refrigerator device comprising: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the Stirling refrigerator temperature control method described in the first aspect.

[0013] In a fourth aspect, the present application further provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the Stirling refrigerator temperature control method described in the first aspect.

[0014] In summary, the present application provides a Stirling refrigerator temperature control method, device, refrigerator equipment and medium, including: when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold, according to the target control temperature, the real-time ambient temperature and the refrigerator pulse width modulation parameter, the target integral term component corresponding to the pulse width modulation period is calculated; according to the target integral algorithm, the Stirling refrigerator is controlled to cool down until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold. The present application improves the integral algorithm in the temperature control step of the Stirling refrigerator, and realizes the desaturation cooling control of the Stirling refrigerator by adjusting the target integral term component in real time, which can effectively prevent the cooling overshoot phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of a process flow of a Stirling refrigerator temperature control method provided in an embodiment of the present application; Figure 2 Another schematic diagram of a process flow of a Stirling refrigerator temperature control method provided in an embodiment of the present application; Figure 3 A schematic diagram of the steps for calculating the target integral term component provided in an embodiment of the present application; Figure 4 A schematic diagram of the effect of using the temperature control algorithm in the related technology to achieve the temperature control of the Stirling refrigerator; Figure 5 A schematic diagram of the effect of using the Stirling refrigerator temperature control method provided in the embodiment of the present application to achieve the temperature reduction control of the Stirling refrigerator; Figure 6 A schematic diagram of a module of a Stirling refrigerator temperature control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0018] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0019] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0020] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0021] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0022] refer to Figure 1 The present application embodiment provides a Stirling refrigerator temperature control method, which is described by taking the method applied to a refrigerator device as an example, and includes the following steps: S101, when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold, a target integral term component corresponding to a pulse width modulation period is calculated according to a target control temperature, the real-time ambient temperature and a pulse width modulation parameter of the refrigerator.

[0023] S102, controlling the Stirling refrigerator to cool down according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes a target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0024] In actual application, the type of refrigerator equipment can be replaced according to the needs of actual application scenarios. This embodiment takes a Stirling refrigerator as an example for explanation. A Stirling refrigerator (ST refrigerator for short) is a thermodynamic cycle mechanical refrigerator driven by electricity.

[0025] In this embodiment, when the Stirling refrigerator performs the cooling control step, it includes at least two steps, the first step is to control the cooling of the Stirling refrigerator according to the target integral algorithm, and the second step is to control the cooling of the Stirling refrigerator according to the preset integral algorithm. Among them, the target integral algorithm is an incremental PID control algorithm in which the integral term component is updated in real time according to the change of the ambient temperature. The preset integral algorithm can be a conventional PID control algorithm.

[0026] In the specific application process, the process of using conventional PID control algorithm to control the Stirling refrigerator to perform temperature control can refer to the specific implementation method in the relevant technology. In the present embodiment, when the internal controller of the Stirling refrigerator detects that the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, it starts to control the Stirling refrigerator to cool down according to the target integral algorithm. It should be noted that the Stirling refrigerator in the present embodiment is internally configured with a corresponding temperature monitoring unit, such as a temperature monitoring circuit or a temperature sensing element, for collecting the real-time ambient temperature inside the Stirling refrigerator. The temperature monitoring unit is connected to the controller, and the type and setting position of the temperature monitoring unit can be configured according to the needs of the actual application scenario.

[0027] In the process of controlling the cooling of the Stirling refrigerator according to the target integral algorithm, the target integral term component needs to be calculated in each pulse width modulation cycle according to the target control temperature of the Stirling refrigerator, the real-time ambient temperature and the pulse width modulation parameters of the refrigerator. Among them, the target control temperature is the end temperature of the cooling control step, and the real-time ambient temperature is the real-time coke temperature value of the Stirling refrigerator in the current pulse width modulation cycle. The pulse width modulation parameters of the refrigerator include a target calculation domain, a reference comparison value and a target comparison value. Among them, the target calculation domain is the difference between the initial ambient temperature and the target control temperature. The initial ambient temperature is the starting temperature of the cooling control step. The reference comparison value is the reference comparison value corresponding to the pulse width modulation wave of the Stirling refrigerator during the pulse width modulation process. The target comparison value is the comparison value corresponding to the pulse width modulation wave when the real-time ambient temperature of the Stirling refrigerator is equal to the second temperature threshold.

[0028] In this embodiment, the target integral term component can ensure that the Stirling refrigerator will not generate static errors at different ambient temperatures when performing the cooling control step. By limiting the cooling amplitude of each pulse width modulation cycle, the integral desaturation in the PID control process can be effectively achieved, thereby avoiding the temperature overshoot phenomenon of the Stirling refrigerator.

[0029] In this embodiment, by setting a first temperature threshold close to the target control temperature, it can be ensured that when the Stirling refrigerator approaches the target control temperature in the temperature reduction control step, the target integral algorithm is enabled to control the Stirling refrigerator to reduce the temperature. It should be noted that the first temperature threshold is greater than the target control temperature. The specific value of the first temperature threshold can be determined according to the specific value of the target control temperature in the actual application scenario and the requirements of the temperature reduction control step.

[0030] In this embodiment, the temperature reduction control step also includes a temperature control error range. After the temperature of the Stirling refrigerator is reduced to within the temperature control error range, the target integral algorithm is switched to a preset integral algorithm, which can effectively ensure that the refrigerator maintains temperature control stability and eliminates static errors under the main effects of the integral link and the differential link. The second temperature threshold belongs to the temperature control error range. Optionally, the second temperature threshold is the starting temperature point of the temperature control error range. The second temperature threshold can be set to any temperature point within the temperature control error range, and the specific value of the second temperature threshold can be set according to the needs of the actual application scenario.

[0031] In actual application, when the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, the Stirling refrigerator can be controlled to cool down according to the preset integral algorithm. When the real-time ambient temperature of the Stirling refrigerator is greater than the first temperature threshold, the refrigerator can be controlled to cool down according to the preset integral algorithm.

[0032] In summary, the present embodiment provides a Stirling refrigerator temperature control method. When the real-time ambient temperature of the Stirling refrigerator is greater than the first temperature threshold, the refrigerator is controlled to cool down according to a preset integral algorithm. At the beginning of the Stirling refrigerator cooling control step, the Stirling refrigerator can be controlled to cool down at full speed, thereby effectively shortening the duration of the cooling control step, that is, reducing the cooling time of the refrigerator. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, the refrigerator is controlled to cool down according to the target integral algorithm, and the motor speed can be slowly reduced under the desaturation integral effect, so that the refrigerator ambient temperature is smoothly reduced to the target control temperature. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, the refrigerator is controlled to cool down according to the preset integral algorithm, which can ensure the cooling stability of the Stirling refrigerator and eliminate static errors.

[0033] According to a specific implementation of the embodiment of the present application, Figure 2 As shown, the Stirling refrigerator temperature control method also includes: S201, before the Stirling refrigerator starts to execute the cooling control step, the target control temperature, the initial ambient temperature, the circuit operation parameters and the target comparison value are obtained, wherein the circuit operation parameters include the counting frequency of the main control chip, the pulse width modulation wave frequency of the driving circuit and the main frequency division coefficient.

[0034] In this embodiment, the controller can obtain the target control temperature through the temperature monitoring unit, the circuit monitoring unit and the drive monitoring unit connected by communication. , Initial ambient temperature , the counting frequency of the main control chip , the carrier frequency of the SPWM wave of the driving circuit , main frequency division coefficient psc , and the target comparison value .

[0035] S202, calculating and obtaining a reference comparison value corresponding to the pulse width modulation wave according to the circuit operation parameters.

[0036] In this embodiment, the calculation formula of the reference comparison value is: ,in, is the counting frequency of the main control chip, is the carrier frequency of the SPWM wave of the driving circuit, It is known that the specific values ​​of the circuit parameters can be determined according to the actual type of Stirling refrigerator and circuit settings in the actual application scenario.

[0037] S203, calculating a target calculation domain according to the target control temperature and the initial ambient temperature.

[0038] In this embodiment, the calculation formula of the target calculation domain is: in, is the temperature variation range, is the initial ambient temperature, Control temperature for your target.

[0039] According to a specific implementation of the embodiment of the present application, Figure 3 As shown, according to the target temperature, the real-time ambient temperature and the pulse width modulation parameters of the refrigerator, the target integral term component corresponding to the pulse width modulation period is calculated, including: S301, calculating a desaturation value corresponding to the current pulse width modulation cycle according to the real-time ambient temperature of the current pulse width modulation cycle, the real-time ambient temperature of the previous pulse width modulation cycle, the target calculation domain, the reference comparison value and the target comparison value.

[0040] In this embodiment, the reference comparison value corresponding to the pulse width modulation wave can be used as the maximum value of the integral term in the target integral algorithm to ensure that the refrigerator will not generate static errors at any working environment temperature during the temperature reduction control process.

[0041] In this embodiment, the maximum value of the integral term in the target integral algorithm is in, is the maximum value of the integral term, is the counting frequency of the main control chip, is the carrier frequency of the SPWM wave of the driving circuit, Main frequency division coefficient.

[0042] The calculation formula for the desaturation value corresponding to the current pulse width modulation period is: in, is the desaturation value corresponding to the current pulse width modulation cycle, is the real-time ambient temperature of the current PWM cycle, is the real-time ambient temperature of the previous PWM cycle, is the target computational domain, is the maximum value of the integral term, is the target comparison value, that is, the comparison value corresponding to the pulse width modulation wave when the real-time ambient temperature of the Stirling refrigerator is equal to the second temperature threshold, , Is a positive integer.

[0043] Specifically, in the first PWM cycle, .

[0044] S302, calculating the cumulative reduction value of the integral term of the current pulse width modulation cycle according to the desaturation value corresponding to the current pulse width modulation cycle and the desaturation value corresponding to the historical pulse width modulation cycle, wherein the historical pulse width modulation cycle is all pulse width modulation cycles before the current pulse width modulation cycle after the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold.

[0045] In this embodiment, the calculation formula of the cumulative reduction value of the integral term is: in, For the The cumulative decrease value of the integral term of the cycle, For the The desaturation value of the cycle, To control the temperature for the target, For the Cycle real-time ambient temperature.

[0046] In this embodiment, the cumulative reduction value of the integral term will change adaptively with the change of the pulse width modulation cycle and the change of the real-time ambient temperature, and because , , and All are fixed values. The target integral algorithm in this embodiment will not produce static errors when adjusting the refrigerator temperature.

[0047] S303, calculating a target integral term component according to the target comparison value and the cumulative decrease value of the integral term of the current pulse width modulation period.

[0048] In this embodiment, the calculation formula of the target integral term component is: It should be noted that the target integral component of the first pulse width modulation cycle is , in order to achieve Gradually reduce to control process.

[0049] According to a specific implementation of the embodiment of the present application, the Stirling refrigerator temperature control method further includes: Before the Stirling refrigerator starts to execute the temperature reduction control step, a target time domain corresponding to the temperature reduction control step is obtained. The target time domain is divided according to the pulse width modulation wave cycle of the Stirling refrigerator to obtain multiple pulse width modulation cycles.

[0050] In this embodiment, the target time domain of the temperature reduction control step is divided based on the SPWM carrier cycle of the Stirling refrigerator drive circuit. It should be noted that the target time domain of the temperature reduction control step is the overall control time required for the ambient temperature of the Stirling refrigerator to decrease from the initial ambient temperature to the target ambient temperature.

[0051] In a specific implementation, when the temperature reduction control method in the related art is used to control the temperature reduction of the Stirling refrigerator, an overshoot phenomenon will occur at the temperature control point, that is, the target control temperature position, and the integral limit will change nonlinearly, such as Figure 4 When the temperature control method of the Stirling refrigerator provided in this embodiment is used to control the temperature of the Stirling refrigerator, the temperature reduction process can be accurately controlled at the target control temperature (temperature control point), thereby effectively preventing the Stirling refrigerator from overshooting. Figure 5The temperature control method of the Stirling refrigerator provided in this embodiment can realize the linear change process of integral limit, ensure the smooth cooling of the Stirling refrigerator, and prevent static errors from occurring during the cooling control process, effectively solving the problems of overshoot, long cooling time, and static errors after stabilization of the Stirling refrigerator.

[0052] Based on the same inventive concept, the embodiment of the present application also provides a Stirling refrigerator temperature control device for implementing the Stirling refrigerator temperature control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more Stirling refrigerator temperature control device embodiments provided below can refer to the limitations of the Stirling refrigerator temperature control method above, and will not be repeated here.

[0053] In one embodiment, reference Figure 6 This embodiment further provides a Stirling refrigerator temperature control device 600, comprising: a calculation module 610 and a control module 620, wherein: A calculation module 610 is used to calculate a target integral term component corresponding to a pulse width modulation period according to a target control temperature, a real-time ambient temperature and a pulse width modulation parameter of the refrigerator when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold; The control module 620 is used to control the temperature of the Stirling refrigerator to decrease according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0054] In summary, the present embodiment provides a Stirling refrigerator temperature control device. When the real-time ambient temperature of the Stirling refrigerator is greater than the first temperature threshold, the refrigerator is controlled to cool down according to a preset integral algorithm. At the beginning of the Stirling refrigerator cooling control step, the Stirling refrigerator can be controlled to cool down at full speed, thereby effectively shortening the duration of the cooling control step, that is, reducing the cooling time of the refrigerator. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, the refrigerator is controlled to cool down according to the target integral algorithm, and the motor speed can be slowly reduced under the desaturation integral effect, so that the refrigerator ambient temperature is smoothly reduced to the target control temperature. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, the refrigerator is controlled to cool down according to the preset integral algorithm, which can ensure the cooling stability of the Stirling refrigerator and eliminate static errors.

[0055] In addition, the present application also provides a refrigerator device, the refrigerator device comprising: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the Stirling refrigerator temperature control method in the aforementioned method embodiment.

[0056] An embodiment of the present application also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the Stirling refrigerator temperature control method in the aforementioned method embodiment.

[0057] It should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0058] In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0059] The computer-readable medium may be included in the refrigerator device; or may exist independently without being assembled into the refrigerator device.

[0060] The computer-readable medium carries one or more programs. When the one or more programs are executed by the refrigerator device, the refrigerator device: when the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, calculate the target integral item component corresponding to the pulse width modulation period according to the target control temperature, the real-time ambient temperature and the refrigerator pulse width modulation parameter; control the Stirling refrigerator to cool down according to the target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, wherein the target integral algorithm includes the target integral item component, and the second temperature threshold is less than the first temperature threshold.

[0061] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0062] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A Stirling refrigerator temperature control method, characterized in that: include: When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, a target integral term component corresponding to the pulse width modulation period is calculated according to the target control temperature, the real-time ambient temperature and the pulse width modulation parameter of the refrigerator; The Stirling refrigerator is controlled to cool down according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

2. The method according to claim 1, characterized in that The refrigerator pulse width modulation parameters include a target calculation domain, a reference comparison value and a target comparison value; the method further includes: Before the Stirling refrigerator starts to perform the temperature reduction control step, a target control temperature, an initial ambient temperature, a circuit operation parameter and the target comparison value are obtained, wherein the target control temperature is the end temperature of the temperature reduction control step, the initial ambient temperature is the starting temperature of the temperature reduction control step, the circuit operation parameters include the counting frequency of the main control chip, the pulse width modulation wave frequency of the driving circuit and the main frequency division coefficient, and the target comparison value is the comparison value corresponding to the pulse width modulation wave when the real-time ambient temperature of the Stirling refrigerator is equal to the second temperature threshold; Calculate the reference comparison value corresponding to the pulse width modulation wave according to the circuit operation parameters; The target calculation domain is calculated according to the target control temperature and the initial ambient temperature.

3. The method according to claim 2, characterized in that According to the target temperature, the real-time ambient temperature and the pulse width modulation parameter of the refrigerator, a target integral term component corresponding to the pulse width modulation period is calculated, including: Calculate the desaturation value corresponding to the current pulse width modulation cycle according to the real-time ambient temperature of the current pulse width modulation cycle, the real-time ambient temperature of the previous pulse width modulation cycle, the target calculation domain, the reference comparison value and the target comparison value; The accumulated decrease value of the integral term of the current pulse width modulation cycle is calculated according to the desaturation value corresponding to the current pulse width modulation cycle and the desaturation value corresponding to the historical pulse width modulation cycle, wherein the historical pulse width modulation cycle is all pulse width modulation cycles before the current pulse width modulation cycle after the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold; The target integral term component is calculated according to the target comparison value and the cumulative decrease value of the integral term of the current pulse width modulation period.

4. The method according to claim 3, characterized in that The method further comprises: Before the Stirling refrigerator starts to execute the temperature reduction control step, obtaining a target time domain corresponding to the temperature reduction control step; The target time domain is divided according to the pulse width modulation wave period of the Stirling refrigerator to obtain a plurality of pulse width modulation periods.

5. The method according to claim 1, characterized in that The method further comprises: When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the second temperature threshold, the Stirling refrigerator is controlled to cool down according to a preset integral algorithm, wherein the preset integral algorithm is different from the target integral algorithm.

6. The method according to claim 1, characterized in that The method further comprises: When the real-time ambient temperature of the Stirling refrigerator is greater than the first temperature threshold, the refrigerator is controlled to cool down according to a preset integral algorithm, wherein the preset integral algorithm is different from the target integral algorithm.

7. The method according to claim 5 or 6, characterized in that: The preset integration algorithm is a PID control algorithm.

8. A temperature control device for a Stirling refrigerator, characterized in that: include: A calculation module, configured to calculate a target integral term component corresponding to a pulse width modulation period according to a target control temperature, a real-time ambient temperature and a pulse width modulation parameter of the refrigerator when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold; A control module is used to control the temperature of the Stirling refrigerator to drop according to a target integral algorithm until the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, wherein the target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

9. A refrigerator device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the Stirling refrigerator temperature control method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the Stirling refrigerator temperature control method according to any one of claims 1 to 7.

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