Stirling chiller temperature control methods, devices, chiller equipment and media

Abstract

This invention provides a method, apparatus, refrigeration equipment, and medium for temperature control of a Stirling refrigerator. The method includes: when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold, calculating a target integral term component corresponding to the pulse width modulation period based on a target control temperature, the real-time ambient temperature, and the refrigerator's pulse width modulation parameters; 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 the target integral term component, and the second temperature threshold is less than the first temperature threshold. This application improves the integral algorithm in the temperature control steps of the Stirling refrigerator by adjusting the target integral term component in real time, thereby achieving desaturation cooling control of the Stirling refrigerator and effectively preventing overshoot during cooling.

Description

Technical Field

[0001] This invention relates to the field of temperature control technology for refrigeration machines, and in particular to a method, apparatus, refrigeration equipment, and medium for temperature control of a Stirling refrigeration machine. Background Technology

[0002] Stirling refrigerators, as a type of cryogenic refrigeration equipment, are often used to provide a working environment for high-precision chips or to provide superconducting conditions for cryogenic equipment. In addition, Stirling refrigerators are widely used in various fields due to their miniaturization, fast cooling speed, and low cooling range.

[0003] Currently, most Stirling refrigerators suffer from overshoot during cooling. For example, if the target temperature is 77 Kelvin (K), due to the inertia of the motor and the refrigerator's transmission mechanism, the refrigerator will not immediately maintain the temperature control point of 77K (-196.15 degrees Celsius) upon reaching the target temperature. Instead, it will overshoot to around 75K (-198.15 degrees Celsius) or even lower. At this point, the motor speed needs to be reduced with the intervention of a PID control algorithm to gradually restore the temperature to 77K and achieve equilibrium. In this cycle of overshoot and temperature recovery, the actual cooling time of the refrigerator is prolonged, and the control accuracy of the refrigerator is affected, which in turn affects the normal operation of downstream applications. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a method, apparatus, refrigeration equipment, and medium for controlling the temperature of a Stirling refrigerator that can effectively eliminate static errors and prevent overshoot during cooling. The specific solution is as follows:

[0005] In a first aspect, this application provides a method for temperature control of a Stirling refrigerator, comprising:

[0006] When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, the target integral term component corresponding to the pulse width modulation period is calculated based on the target control temperature, the real-time ambient temperature, and the pulse width modulation parameters of the refrigerator.

[0007] The Stirling refrigerator is controlled 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. The target integral algorithm includes the target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0008] According to one specific embodiment of this 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:

[0009] Before the Stirling refrigerator starts executing the cooling control step, the target control temperature, the initial ambient temperature, the circuit operating parameters, and the target comparison value are acquired. The target control temperature is the end temperature of the cooling control step, the initial ambient temperature is the start temperature of the cooling control step, the circuit operating parameters include the counting frequency of the main control chip, the pulse width modulation wave frequency of the drive 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.

[0010] The reference comparison value corresponding to the pulse width modulation wave is calculated based on the circuit operating parameters.

[0011] The target calculation domain is calculated based on the target control temperature and the initial ambient temperature.

[0012] According to a specific embodiment of this application, the step of calculating the target integral term component corresponding to the pulse width modulation period based on the target temperature, the real-time ambient temperature, and the pulse width modulation parameters of the refrigerator includes:

[0013] The desaturation value corresponding to the current pulse width modulation cycle is calculated based on 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.

[0014] Based on the desaturation value corresponding to the current pulse width modulation period and the desaturation value corresponding to the historical pulse width modulation period, the cumulative decrease value of the integral term of the current pulse width modulation period is calculated. The historical pulse width modulation period is all pulse width modulation periods before the current pulse width modulation period after the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold.

[0015] The target integral term component is calculated based on the target comparison value and the cumulative decrease in the integral term of the current pulse width modulation period.

[0016] According to one specific embodiment of this application, the method further includes:

[0017] Before the Stirling refrigerator starts executing the cooling control step, the target time domain corresponding to the cooling control step is obtained;

[0018] The target time domain is divided according to the pulse width modulation wave period of the Stirling refrigerator to obtain multiple pulse width modulation periods.

[0019] According to one specific embodiment of this application, the method further includes:

[0020] 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.

[0021] According to one specific embodiment of this application, the method further includes:

[0022] 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.

[0023] According to one specific embodiment of this application, the preset integral algorithm is a PID control algorithm.

[0024] Secondly, this application provides a temperature control device for a Stirling refrigerator, comprising:

[0025] The calculation module is used to calculate the target integral term component corresponding to the pulse width modulation period based on the target control temperature, the real-time ambient temperature and the pulse width modulation parameters of the Stirling refrigerator when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold.

[0026] The control module is used to 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 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.

[0027] Thirdly, this application provides a refrigeration equipment, which includes:

[0028] At least one processor; and,

[0029] The memory is communicatively connected to the at least one processor; wherein,

[0030] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the Stirling refrigerator temperature control method described in the first aspect.

[0031] Fourthly, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the Stirling refrigerator temperature control method described in the first aspect.

[0032] In summary, this application provides a method, apparatus, refrigeration equipment, and medium for temperature control of a Stirling refrigerator, comprising: when the real-time ambient temperature of the Stirling refrigerator is less than or equal to a first temperature threshold, calculating a target integral term component corresponding to the pulse width modulation period based on a target control temperature, the real-time ambient temperature, and the refrigerator's pulse width modulation parameters; 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 the target integral term component, and the second temperature threshold is less than the first temperature threshold. This application improves the integral algorithm in the temperature control steps of the Stirling refrigerator by adjusting the target integral term component in real time, thereby achieving desaturation cooling control of the Stirling refrigerator and effectively preventing overshoot during cooling. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic flowchart illustrating the temperature control method for a Stirling refrigerator provided in an embodiment of this application;

[0035] Figure 2 This is another schematic flowchart of the Stirling refrigerator temperature control method provided in the embodiments of this application;

[0036] Figure 3 A flowchart illustrating the steps for calculating the components of the target integral term provided in this application embodiment;

[0037] Figure 4 This is a schematic diagram illustrating the effect of using temperature control algorithms in related technologies to achieve cooling control of a Stirling refrigerator.

[0038] Figure 5 This is a schematic diagram illustrating the effect of using the Stirling refrigerator temperature control method provided in the embodiments of this application to achieve the cooling control of the Stirling refrigerator;

[0039] Figure 6 A schematic diagram of a Stirling refrigerator temperature control device provided in an embodiment of this application. Detailed Implementation

[0040] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0041] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] It should be noted that the following description covers various aspects of embodiments within the scope of the appended claims. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0043] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0045] refer to Figure 1 This application provides a method for temperature control of a Stirling refrigerator, which will be described using an example of its application in a refrigeration unit. The method includes the following steps:

[0046] S101, when the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, the target integral term component corresponding to the pulse width modulation period is calculated based on the target control temperature, the real-time ambient temperature and the pulse width modulation parameters of the refrigerator.

[0047] S102, 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 a target integral term component, and the second temperature threshold is less than the first temperature threshold.

[0048] In practical applications, the type of refrigeration equipment can be replaced according to the needs of the actual application scenario. This embodiment uses a Stirling refrigeration machine as an example for illustration. A Stirling refrigeration machine (ST refrigerator) is a mechanical refrigeration machine with a thermodynamic cycle driven by electricity.

[0049] In this embodiment, the Stirling refrigerator performs at least two steps when executing the cooling control step. The first step is to control the Stirling refrigerator to cool down according to a target integral algorithm, and the second step is to control the Stirling refrigerator to cool down according to a preset integral algorithm. The target integral algorithm is an incremental PID control algorithm in which the integral term is updated in real time according to changes in ambient temperature. The preset integral algorithm can be a conventional PID control algorithm.

[0050] In practical applications, the process of using conventional PID control algorithms to control the Stirling refrigerator for cooling can be referenced from specific implementation methods in related technologies. In this 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 a first temperature threshold, it begins to control the Stirling refrigerator to cool down according to the target integral algorithm. It should be noted that the Stirling refrigerator in this embodiment is equipped 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 location of the temperature monitoring unit can be configured according to the needs of the actual application scenario.

[0051] In the process of controlling the Stirling refrigerator to cool down using the target integral algorithm, the target integral term component needs to be calculated in each pulse width modulation cycle based on the target control temperature of the Stirling refrigerator, the real-time ambient temperature, and the refrigerator's pulse width modulation parameters. The target control temperature is the endpoint temperature of the cooling control step, and the real-time ambient temperature is the real-time joule temperature of the Stirling refrigerator in the current pulse width modulation cycle. The refrigerator's pulse width modulation parameters include a target calculation domain, a reference comparison value, and a target comparison value. 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 equals the second temperature threshold.

[0052] In this embodiment, the target integral term component can ensure that the Stirling refrigerator will not generate static error under different ambient temperatures when performing the cooling control step. By limiting the cooling amplitude of each pulse width modulation cycle, integral desaturation in the PID control process can be effectively achieved, thereby avoiding temperature overshoot in the Stirling refrigerator.

[0053] In this embodiment, by setting a first temperature threshold close to the target control temperature, it can be ensured that the Stirling refrigerator will activate the target integral algorithm to control the cooling process when the temperature approaches the target control temperature during the cooling control step. 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 based on the specific value of the target control temperature in the actual application scenario and the requirements of the cooling control step.

[0054] In this embodiment, the cooling control step also includes a temperature control error range. After the temperature of the Stirling refrigerator drops to within the temperature control error range, the target integral algorithm is switched to a preset integral algorithm. This effectively ensures that the refrigerator maintains temperature control stability and eliminates static errors under the main effects of the integral and derivative components. The second temperature threshold is within 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.

[0055] In practical applications, the Stirling refrigerator can be cooled according to a preset integral algorithm when the real-time ambient temperature is less than or equal to a second temperature threshold. It can also be cooled according to a preset integral algorithm when the real-time ambient temperature is greater than a first temperature threshold.

[0056] In summary, this embodiment provides a Stirling refrigerator temperature control method. When the real-time ambient temperature of the Stirling refrigerator is greater than a first temperature threshold, controlling the refrigerator to cool down according to a preset integral algorithm allows for full-speed cooling at the beginning of the cooling control step, effectively shortening the duration of the cooling control step and reducing the refrigerator's cooling time. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, controlling the refrigerator to cool down according to a target integral algorithm allows for a gradual reduction in motor speed under desaturation integral action, causing the ambient temperature to decrease smoothly to the target control temperature. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, controlling the refrigerator to cool down according to a preset integral algorithm ensures the cooling stability of the Stirling refrigerator and eliminates static errors.

[0057] According to a specific implementation of the embodiments of this application, such as Figure 2 As shown, the temperature control method for Stirling refrigerators also includes:

[0058] S201, before the Stirling refrigerator starts executing the cooling control step, acquires the target control temperature, initial ambient temperature, circuit operating parameters, and target comparison value. The circuit operating parameters include the counting frequency of the main control chip, the pulse width modulation wave frequency of the drive circuit, and the main frequency division coefficient.

[0059] In this embodiment, the controller can acquire the target control temperature through the temperature monitoring unit, circuit monitoring unit, and drive monitoring unit connected via communication. Initial ambient temperature The counting frequency of the main control chip The carrier frequency of the SPWM wave in the drive circuit , frequency division coefficient psc and target comparison value .

[0060] S202 calculates the reference comparison value corresponding to the pulse width modulation wave based on the circuit operating parameters.

[0061] In this embodiment, the formula for calculating the reference comparison value is as follows: ,in, The counting frequency of the main control chip, The carrier frequency of the SPWM wave in the drive circuit. This is the main frequency division factor. It should be noted that the specific values ​​of the circuit parameters can be determined based on the actual type of Stirling refrigerator and the circuit settings in the specific application scenario.

[0062] S203, the target calculation domain is calculated based on the target control temperature and the initial ambient temperature.

[0063] In this embodiment, the calculation formula for the target computational domain is:

[0064]

[0065] in, For the range of temperature changes, The initial ambient temperature, To control the temperature for the target.

[0066] According to a specific implementation of the embodiments of this application, such as Figure 3 As shown, based on the target temperature, real-time ambient temperature, and chiller pulse width modulation parameters, the target integral term component corresponding to the pulse width modulation period is calculated, including:

[0067] S301, based on 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, calculate the desaturation value corresponding to the current pulse width modulation cycle.

[0068] 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 error under any working ambient temperature during the cooling control process.

[0069] In this embodiment, the maximum value of the integration term in the target integration algorithm is

[0070]

[0071] in, The maximum value of the integral term. The counting frequency of the main control chip, The carrier frequency of the SPWM wave in the drive circuit. It is the main frequency division coefficient.

[0072] The formula for calculating the desaturation value corresponding to the current pulse width modulation period is:

[0073]

[0074] in, This is the desaturation value corresponding to the current pulse width modulation period. This represents the real-time ambient temperature during the current pulse width modulation period. This is the real-time ambient temperature of the previous pulse width modulation cycle. For the target computational domain, The maximum value of the integral term. 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 equals the second temperature threshold. , It is a positive integer.

[0075] Specifically, in the first pulse width modulation cycle, .

[0076] S302, based on the desaturation value corresponding to the current pulse width modulation period and the desaturation value corresponding to the historical pulse width modulation period, calculate the cumulative decrease value of the integral term of the current pulse width modulation period. The historical pulse width modulation period is all pulse width modulation periods before the current pulse width modulation period after the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold.

[0077] In this embodiment, the formula for calculating the cumulative decrease of the integral term is:

[0078]

[0079] in, For the first The cumulative decrease of the integral term over the period. For the first Desaturation value of the period, To control the temperature to the target, For the first Real-time ambient temperature over a period of time.

[0080] In this embodiment, the cumulative decrease in the integral term adaptively changes with the pulse width modulation period and the real-time ambient temperature, and because , , and All values ​​are fixed. In this embodiment, the target integral algorithm will not generate static errors when adjusting the temperature of the chiller.

[0081] S303, calculate the target integral term component based on the target comparison value and the cumulative decrease of the integral term in the current pulse width modulation period.

[0082] In this embodiment, the formula for calculating the components of the target integral term is:

[0083]

[0084] It should be noted that the target integral term component of the first pulse width modulation cycle is: In order to achieve from Gradually reduce to The control process.

[0085] According to a specific embodiment of this application, the Stirling refrigerator temperature control method further includes:

[0086] Before the Stirling refrigerator begins executing the cooling control step, the target time domain corresponding to the cooling control step is obtained. The target time domain is divided according to the pulse width modulation wave period of the Stirling refrigerator, resulting in multiple pulse width modulation periods.

[0087] In this embodiment, the SPWM carrier period of the Stirling refrigerator drive circuit is used as the time base to divide the target time domain of the cooling control step. It should be noted that the target time domain of the cooling control step is the total control time required for the ambient temperature of the Stirling refrigerator to decrease from the initial ambient temperature to the target ambient temperature.

[0088] In a specific implementation, when using the cooling control method in related technologies to control the Stirling refrigerator to cool down, an overshoot phenomenon will occur at the control temperature point, i.e., the target control temperature position, and the integral limit will show a nonlinear change, such as... Figure 4 As shown in the figure. The Stirling refrigerator temperature control method provided in this embodiment can precisely control the cooling process at the target control temperature (temperature control point) when controlling the Stirling refrigerator to cool down, thereby effectively preventing overshoot during cooling. Figure 5 As shown. Furthermore, the Stirling refrigerator temperature control method provided in this embodiment can achieve a linear change process with integral limiting, ensuring that the Stirling refrigerator cools down smoothly without static errors during the cooling control process. This effectively solves the problems of overshoot, long cooling time, and static errors after stabilization that exist in Stirling refrigerators.

[0089] Based on the same inventive concept, this application also provides a Stirling refrigerator temperature control device for implementing the Stirling refrigerator temperature control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more Stirling refrigerator temperature control device embodiments provided below can be found in the limitations of the Stirling refrigerator temperature control method described above, and will not be repeated here.

[0090] In one embodiment, reference Figure 6 This embodiment also provides a Stirling refrigerator temperature control device 600, including: a calculation module 610 and a control module 620, wherein:

[0091] The calculation module 610 is used to calculate the target integral term component corresponding to the pulse width modulation period based on the target control temperature, the real-time ambient temperature and the pulse width modulation parameters of the Stirling refrigerator when the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold.

[0092] The control module 620 is used to 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 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.

[0093] In summary, this embodiment provides a Stirling refrigerator temperature control device. When the real-time ambient temperature of the Stirling refrigerator is greater than a first temperature threshold, controlling the refrigerator to cool down according to a preset integral algorithm allows for full-speed cooling at the beginning of the cooling control step, effectively shortening the duration of the cooling control step and reducing the refrigerator's cooling time. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to the first temperature threshold, controlling the refrigerator to cool down according to a target integral algorithm allows for a gradual reduction in motor speed under desaturation integral action, causing the ambient temperature to decrease smoothly to the target control temperature. When the real-time ambient temperature of the Stirling refrigerator is less than or equal to a second temperature threshold, controlling the refrigerator to cool down according to a preset integral algorithm ensures the cooling stability of the Stirling refrigerator and eliminates static errors.

[0094] In addition, this application embodiment also provides a refrigeration equipment, the refrigeration equipment including:

[0095] At least one processor; and,

[0096] The memory is communicatively connected to the at least one processor; wherein,

[0097] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the Stirling refrigerator temperature control method in the foregoing method embodiments.

[0098] This application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the Stirling refrigerator temperature control method in the foregoing method embodiments.

[0099] It should be noted that the computer-readable medium described above in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0100] In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0101] The aforementioned computer-readable medium may be included in the aforementioned refrigeration equipment; or it may exist independently and not assembled into the refrigeration equipment.

[0102] The aforementioned computer-readable medium carries one or more programs. When the aforementioned one or more programs are executed by the refrigeration equipment, the refrigeration equipment: when the real-time ambient temperature of the Stirling refrigeration machine is less than or equal to a first temperature threshold, calculates the target integral term component corresponding to the pulse width modulation period based on the target control temperature, the real-time ambient temperature, and the pulse width modulation parameters of the refrigeration machine; and controls the Stirling refrigeration machine to cool down according to the target integral algorithm until the real-time ambient temperature of the Stirling refrigeration machine 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.

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0104] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of temperature control for a Stirling cryocooler, characterised by, The method comprises the following steps: In the case that 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, a real-time ambient temperature and a refrigerator pulse width modulation parameter; 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 comprises the target integral term component, and the second temperature threshold is less than the first temperature threshold; The refrigerator pulse width modulation parameter comprises a target calculation domain, a reference comparison value and a target comparison value; the method further comprises the following steps: Before the Stirling refrigerator starts to perform the cooling 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 cooling control step, the initial ambient temperature is the starting temperature of the cooling control step, the circuit operation parameter comprises a count frequency of a master control chip, a pulse width modulation wave frequency of a driving circuit and a main frequency division coefficient, and the target comparison value is a comparison value corresponding to a pulse width modulation wave when the real-time ambient temperature of the Stirling refrigerator is equal to the second temperature threshold; The reference comparison value corresponding to the pulse width modulation wave is calculated according to the circuit operation parameter; The target calculation domain is calculated according to the target control temperature and the initial ambient temperature; The 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 refrigerator pulse width modulation parameter, comprising the following steps: A desaturation value corresponding to the current pulse width modulation period is calculated according to a real-time ambient temperature of the current pulse width modulation period, a real-time ambient temperature of a previous pulse width modulation period, the target calculation domain, the reference comparison value and the target comparison value; An integral term cumulative reduction value of the current pulse width modulation period is calculated according to the desaturation value corresponding to the current pulse width modulation period and desaturation values corresponding to historical pulse width modulation periods, wherein the historical pulse width modulation period is all the pulse width modulation periods before the current pulse width modulation period 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 integral term cumulative reduction value of the current pulse width modulation period.

2. The method of claim 1, wherein, The method further comprises the following steps: Before the Stirling refrigerator starts to perform the cooling control step, a target time domain corresponding to the cooling control step is obtained; The target time domain is divided into a plurality of pulse width modulation periods according to the pulse width modulation wave period of the Stirling refrigerator.

3. The method of claim 1, wherein, The method further comprises the following steps: In the case that 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.

4. The method of claim 1, wherein, The method further comprises the following steps: In a case where 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.

5. The method according to claim 3 or 4, characterized in that, The preset integral algorithm is a PID control algorithm.

6. A Stirling cryocooler temperature control apparatus using the Stirling cryocooler temperature control method according to any one of claims 1 to 5, characterized by The Stirling refrigerator temperature control method comprises the following steps: calculating, in a case where 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 according to a target control temperature, a real-time ambient temperature, and a refrigerator pulse width modulation parameter; controlling, according to a target integral algorithm, the Stirling refrigerator 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 comprises the target integral term component, and the second temperature threshold is less than the first temperature threshold.

7. A chiller apparatus characterized by, The Stirling refrigerator temperature control method comprises the following steps: at least one processor; and a memory connected in communication with 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 to enable the at least one processor to perform the Stirling refrigerator temperature control method of any one of the preceding claims 1-5.

8. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores computer instructions for causing the computer to perform the Stirling refrigerator temperature control method of any one of the preceding claims 1-5.

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