Water temperature control method and coffee machine

Abstract

The invention relates to a water temperature control method and a coffee machine, and relates to the technical field of electrical control. Through the compound control method combining feedforward control and improved active-disturbance-rejection control, the temperature adjusting time can be effectively shortened, and the anti-interference performance of water temperature control of the coffee machine is enhanced. Meanwhile, a feed-forward gain table updating method is provided, when the coffee machine is continuously used for multiple times, the feed-forward gain coefficient can be rapidly determined through the feed-forward gain table, the adjustment time is further shortened, the overshoot is reduced, and the water temperature control performance of the coffee machine is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of electrical control technology, and in particular to a water temperature control method and a coffee machine. Background Art

[0002] An important factor affecting coffee quality is water temperature. The water temperature will directly affect the extraction process of coffee, and then affect the flavor, aroma and taste of coffee. Too high a temperature will cause the bitter substances in coffee to be released quickly, making the coffee taste too bitter. It will also accelerate the evaporation of volatile aromatic substances in coffee, causing the aroma of coffee to weaken. Too low a temperature will cause the flavor substances in coffee to be unable to be fully released, and the coffee taste will appear light and lack of layers. It will also make the acidic substances in coffee more easily released, causing the coffee to taste sour. Therefore, the ideal water temperature range is usually between 90℃ and 96℃, and the specific water temperature should be adjusted according to the degree of roasting of the coffee beans and personal taste preferences.

[0003] With the development of smart home technology, coffee machines have gradually become a common household appliance, but existing coffee machines cannot meet people's personalized taste needs. One important reason is that the control of water temperature is not accurate and fast enough. Summary of the invention

[0004] Based on this, it is necessary to provide a water temperature control method and a coffee machine to address the above technical problems, which can accurately and quickly adjust the water temperature and improve the quality of coffee.

[0005] In a first aspect, the present application provides a water temperature control method applicable to a coffee machine. The method comprises:

[0006] Collect equipment parameters and water temperature monitoring data of the temperature regulating device; water temperature monitoring data includes real-time water inlet temperature;

[0007] According to the set temperature, equipment parameters and water temperature monitoring data, the control quantity of the feedforward controller and the control quantity of the active disturbance rejection controller are obtained;

[0008] The power of the temperature regulating device is controlled according to the control amount of the active disturbance rejection controller;

[0009] The feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature is obtained according to the control quantity of the feedforward controller, and the feedforward gain coefficient is saved in the feedforward gain table.

[0010] In one embodiment, the device parameters include resistance, heating / cooling efficiency, real-time voltage, and real-time water flow;

[0011] Obtaining the control quantity of the feedforward controller includes:

[0012] The control quantity of the feedforward controller is obtained according to the resistance, heating / cooling efficiency, real-time voltage, real-time water flow, and the temperature difference between the set temperature and the real-time water inlet temperature.

[0013] In one embodiment, the active disturbance rejection controller includes a linear extended observer and a linear state error feedback.

[0014] In one embodiment, obtaining the control quantity of the active disturbance rejection controller includes:

[0015] The linear expansion observer is combined with the mathematical model of the temperature control device to construct the state equation, which is discretized to obtain the total disturbance.

[0016] The linear state error feedback is used to perform disturbance compensation on the control quantity of the feedforward controller according to the total disturbance quantity, and the control quantity of the anti-disturbance controller is obtained.

[0017] In one embodiment, performing power control on the temperature adjustment device according to the control amount of the active disturbance rejection controller includes:

[0018] Determine the target control quantity according to the control quantity and the control quantity variation coefficient of the active disturbance rejection controller, and perform power control according to the target control quantity;

[0019] Among them, the control quantity variation coefficient is related to the real-time resistance of the temperature regulating device.

[0020] In one embodiment, obtaining a feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control amount of the feedforward controller includes:

[0021] Determine the feedforward gain coefficient according to the control quantity and the control quantity variation coefficient of the feedforward controller;

[0022] Among them, the control quantity variation coefficient is related to the real-time resistance of the temperature regulating device.

[0023] In a second aspect, the present application also provides a water temperature control system suitable for a coffee machine. The system comprises:

[0024] The data acquisition module is used to collect the equipment parameters of the temperature regulating device and the water temperature monitoring data; the water temperature monitoring data includes the real-time inlet water temperature;

[0025] A feedforward and anti-disturbance control module is used to obtain the control quantity of the feedforward controller and the control quantity of the anti-disturbance control controller according to the set temperature, equipment parameters and water temperature monitoring data;

[0026] An output module, used for performing power control on the temperature regulating device according to the control amount of the active disturbance rejection controller;

[0027] The feedforward gain updating module is used to obtain the feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control quantity of the feedforward controller, and save the feedforward gain coefficient in the feedforward gain table.

[0028] In a third aspect, the present application further provides a coffee machine, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the water temperature control method when executing the computer program.

[0029] In a fourth aspect, the present application further provides a readable storage medium, which is applicable to a coffee machine, wherein the readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the water temperature control method are implemented.

[0030] In a fifth aspect, the present application further provides a computer program product, applicable to a coffee machine. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps in the water temperature control method are implemented.

[0031] The above-mentioned water temperature control method and coffee machine collect equipment parameters and water temperature monitoring data of the temperature regulating device; the water temperature monitoring data includes the real-time water inlet temperature; according to the set temperature, equipment parameters and water temperature monitoring data, the control quantity of the feedforward controller and the control quantity of the anti-disturbance control controller are obtained; the power of the temperature regulating device is controlled according to the control quantity of the anti-disturbance control controller; the feedforward gain corresponding to the temperature difference between the real-time water inlet temperature and the set temperature is obtained according to the control quantity of the feedforward controller, and the feedforward gain is saved in the feedforward gain table. The composite control method combining feedforward control and improved anti-disturbance control can effectively shorten the temperature adjustment time and enhance the anti-interference ability of the water temperature control of the coffee machine. At the same time, a feedforward gain table update method is given. When the coffee machine is used for multiple times in a row, the feedforward gain coefficient can be quickly determined through the feedforward gain table, which further shortens the adjustment time and reduces the overshoot, greatly improving the water temperature control performance of the coffee machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic flow chart of a water temperature control method in one embodiment;

[0033] Figure 2 A schematic diagram of a process flow of active disturbance rejection control in one embodiment;

[0034] Figure 3 The complete process of water temperature control in one embodiment Figure 1 ;

[0035] Figure 4 The complete process of water temperature control in one embodiment Figure 2 ;

[0036] Figure 5FIG. 4 is a control flow chart of a coffee machine in one embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] The embodiment of the present application provides a water temperature control method for the existing coffee machine, which is suitable for the problems of long temperature adjustment time, easy overshoot and easy interference in the temperature control of the coffee machine. Figure 1 As shown, the following steps are included:

[0039] Step 102, collecting equipment parameters of the temperature regulating device and water temperature monitoring data; the water temperature monitoring data includes real-time inlet water temperature.

[0040] The temperature regulating device includes at least one of a heater and a refrigerator, and the water temperature monitoring data is collected and acquired through an NTC (Negative Temperature Coefficient) temperature sensing element. A certain amount of water is added during the coffee extraction process, and the real-time water input data here is the real-time water temperature added during the coffee making process.

[0041] Step 104, obtaining the control quantity of the feedforward controller and the control quantity of the active disturbance rejection controller according to the set temperature, equipment parameters and water temperature monitoring data.

[0042] The set temperature refers to the extraction temperature preset according to the user's personalized taste. The set temperature can be set manually by the user, or it can be the recommended temperature pre-stored in the coffee machine storage module, or it can be the temperature adaptively adjusted according to the user's preferences (learning the user's preferences through each user feedback on their satisfaction with the coffee).

[0043] This embodiment combines a feedforward controller with an auto-disturbance rejection controller, using the feedforward controller to predict future output changes based on known system models or input changes, making adjustments in advance to reduce output errors; the auto-disturbance rejection controller estimates and compensates for all dynamic and external disturbances in the system in real time to improve the robustness of the system; in practical applications, the coordination between the feedforward controller and the auto-disturbance rejection controller is optimized by designing a suitable coordination mechanism to ensure that the two work together to achieve the best control effect. Therefore, the combination of the feedforward controller and the auto-disturbance rejection controller can not only improve the accuracy and response speed of the control system, but also significantly enhance its robustness to external disturbances and internal parameter changes.

[0044] Step 106: Power control of the temperature adjustment device is performed according to the control variable of the active disturbance rejection controller.

[0045] The control quantity of the ADRC is based on the control quantity of the feedforward controller, and a total disturbance estimate is given. Disturbance compensation is performed according to the total disturbance estimate and the control quantity of the feedforward controller to achieve accurate power control.

[0046] Step 108, obtaining a feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control amount of the feedforward controller, and saving the feedforward gain coefficient in a feedforward gain table.

[0047] After the system is stable, the feedforward gain table is updated. Each time the coffee machine is used subsequently, the gain coefficient in the feedforward gain table is read and directly used for feedforward control, which can shorten the adjustment time and avoid overshoot.

[0048] In one embodiment, the equipment parameters include resistance, heating / cooling efficiency, real-time voltage, and real-time water flow; obtaining the control quantity of the feedforward controller includes: obtaining the control quantity of the feedforward controller according to the resistance, heating / cooling efficiency, real-time voltage, real-time water flow, and the temperature difference between the set temperature and the real-time water inlet temperature.

[0049] Obtain the equipment parameters of the temperature control device, including: resistance R, heating / cooling efficiency of the heater or refrigerator for water η, real-time voltage U, real-time water flow V; obtain water temperature monitoring data, including: real-time inlet water temperature Tr, set outlet water temperature Ts, real-time outlet water temperature Tc. According to the heat calculation formula Q = cmΔT, where c is the specific heat capacity of water, m is the mass of water, ΔT = T s -T r is the temperature change. The mass of water flowing through the water in Δt time is calculated as m = VΔt. The heat output of the heater / cooler to the water in Δt time is c = 4.2 × 10 3 J / (Kg·℃), then the calculation formula of the control amount percentage δ (0%~100%) of the feedforward controller is as follows:

[0050]

[0051] In the feedforward control process, the heater / cooler power is accurately controlled by adjusting the conduction angle of the thyristor to achieve control of the output temperature. The impact of real-time voltage is included in the calculation, eliminating most of the impact of voltage fluctuations on system disturbances.

[0052] The traditional technical means determines the final temperature adjustment device control amount percentage δ' based on the real-time water outlet temperature Tc and formula (1), and the calculation formula is as follows:

[0053]

[0054] The method of formula (2) can quickly determine the power of the heater / cooler, and has low requirements on the microcontroller, but the temperature control accuracy is also relatively low.

[0055] In the present application, the control quantity of the feedforward controller obtained by formula (1) is combined with the active disturbance rejection controller to achieve temperature control with higher accuracy.

[0056] In one embodiment, the active disturbance rejection controller includes a linear extended observer and a linear state error feedback.

[0057] like Figure 2 As shown, it is a schematic diagram of the structure of the ADRC. This embodiment proposes an improved scheme for the existing ADRC. The ADRC in this embodiment includes a linear extended observer (LESO, Linear Extended State Observer) and a linear state error feedback (LSEF, Linear State Error Feedback). Among them, the extended state observer, as the core component of the ADRC, can track important state variables in the system on the one hand, so as to understand the system state in real time; on the other hand, it can also compensate for the internal and external disturbances of the system model in a timely manner in the form of feedback according to the total action amount, which helps to improve the robustness of the system. The linear state error feedback uses a linear mathematical model to describe the relationship between the state of the system and the control input. The state equation and output equation of the system can be expressed by linear differential equations.

[0058] In addition, the ADRC also includes a tracking differentiator (TD), whose function is to extract the required signal according to the input characteristics of the controlled object.

[0059] In one embodiment, obtaining the control quantity of the auto-disturbance rejection controller includes: using a linear expansion observer combined with a mathematical model of a temperature control device to construct a state equation, discretizing the state equation, and obtaining a total disturbance; using a linear state error feedback to perform disturbance compensation on the control quantity of a feedforward controller according to the total disturbance, and obtaining the control quantity of the auto-disturbance rejection controller.

[0060] Specifically, the state equation is expressed as:

[0061]

[0062] Among them, u is the system input, T is the system output temperature, that is, the outlet temperature, T s is the system set temperature, a is the coefficient, b is the system gain, and d1 is the external disturbance. T1 is the set temperature T s The transition process temperature of the system in this application is specifically a temperature regulating device.

[0063] Assuming the total disturbance of the system d = aT + d1, Formula 3 can be simplified to:

[0064]

[0065] Introduce intermediate variables to discretize the state equation, and the discretized expression is:

[0066] e(k)=z1(k)-T(k)

[0067] z1(k+1)=z1(k)+τ(z2(k)-β1e(k)+bu2(k))

[0068] z2(k+1)=z2(k)-τ(β2e(k))

[0069] Among them, e(k) is the deviation at the kth sampling moment, τ is the sampling period, β1 and β2 are adjustment parameters, z1(k) is the tracking signal of T(k), and z2(k) is the total disturbance of the system.

[0070] The linear state error feedback is designed as:

[0071] e(k)=T s (k)-z1(k)

[0072] u0(k)=βe(k

[0073]

[0074] In one embodiment, power control of a temperature regulating device according to a control amount of an active disturbance rejection controller includes: determining a target control amount according to the control amount of the active disturbance rejection controller and a control amount variation coefficient, and performing power control according to the target control amount; wherein the control amount variation coefficient is related to the real-time resistance of the temperature regulating device.

[0075] The power output of the control system at time k is:

[0076]

[0077] Where P is the rated power. The heater / cooler is affected by the temperature effect during operation, and its resistance changes. Therefore, even if the operating voltage is the same during operation, the actual power will change with the change of resistance value. The actual power is:

[0078] P(k)=U (k) I (k )

[0079] If you want the system output power to be u(k)P, you can set the control variable change coefficient to Then the control volume Should be set to:

[0080]

[0081] Similarly, the control quantity u1 is transformed:

[0082]

[0083] In one embodiment, obtaining a feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control quantity of the feedforward controller includes: determining the feedforward gain coefficient according to the control quantity of the feedforward controller and the control quantity variation coefficient; wherein the control quantity variation coefficient is related to the real-time resistance of the temperature regulating device.

[0084] From formula (1), we can know that the heater / cooler power control quantity is related to the water flow rate V, the set temperature and the water inlet temperature difference T s -T r , voltage value U, and heater / cooler resistance R are related, so formula (1) is used as the feedforward gain and can be simplified to:

[0085]

[0086] where θ is the feedforward gain factor, and the heater / The actual power of the refrigerator changes with the external environment such as its own temperature. In order to eliminate the influence of the power change of the heater / cooler on the system, u3 is transformed by the control quantity transformation coefficient to obtain:

[0087]

[0088] After the system is stable, that is, the outlet water temperature is close to the set temperature and stable, the value of the system control variable u is obtained at this time, and u3 = u, u2 = 0. In this state, only feedforward control can be used to make the system work stably, and T is derived. s -T r Feedforward gain under temperature difference:

[0089]

[0090] Record different T s -T r Feedforward gain coefficient under temperature difference And save it to the feedforward gain table for subsequent call.

[0091] like Figure 3 As shown, it is a complete flow chart for realizing water temperature control and generating a feedforward gain table.

[0092] When the coffee machine is used for multiple times, the temperature of the heater or refrigerator is close to the set temperature, that is, the difference between the set temperature and the water outlet temperature is small. Read the feedforward gain table to obtain Ts -T r Feedforward gain coefficient under temperature difference make Substitute it into formula (5) and use the feedforward gain directly for feedforward control to avoid overshoot. When the real-time outlet water temperature is close to the set temperature and stabilizes, use formula (6) again to calculate the feedforward gain coefficient and update the feedforward gain coefficient to the feedforward gain table. The control process is as follows: Figure 4 shown.

[0093] This application combines a feedforward controller with an improved anti-disturbance control controller. Feedforward control can significantly improve the tracking accuracy of the system for the desired output, especially under wide-range operation or rapidly changing input conditions, and reduce sensitivity to external disturbances and parameter uncertainties, thereby improving the overall robustness of the system. Combining feedforward control with linear state error feedback can improve the dynamic performance and response speed of the system while maintaining system stability. At the same time, through the generated feedforward gain table, the feedforward gain coefficient can be quickly determined when the coffee machine is used repeatedly in succession, further shortening the adjustment time, reducing overshoot, and greatly improving the temperature control performance of the coffee machine. In addition, on the basis of anti-disturbance control, a control quantity transformation is added to take into account the real-time water flow, real-time voltage, and load temperature effects, with a short adjustment time and strong anti-interference ability.

[0094] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0095] Based on the same inventive concept, the embodiment of the present application also provides a water temperature control system for implementing the water temperature control method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more water temperature control system embodiments provided below can refer to the limitations on the water temperature control method above, and will not be repeated here.

[0096] In one embodiment, a water temperature control system is provided, comprising:

[0097] The data acquisition module is used to collect the equipment parameters of the temperature regulating device and the water temperature monitoring data; the water temperature monitoring data includes the real-time inlet water temperature;

[0098] A feedforward and anti-disturbance control module is used to obtain the control quantity of the feedforward controller and the control quantity of the anti-disturbance control controller according to the set temperature, equipment parameters and water temperature monitoring data;

[0099] An output module, used for performing power control on the temperature regulating device according to the control amount of the active disturbance rejection controller;

[0100] The feedforward gain updating module is used to obtain the feedforward gain corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control quantity of the feedforward controller, and save the feedforward gain in the feedforward gain table.

[0101] In one embodiment, the equipment parameters include resistance, heating / cooling efficiency, real-time voltage, and real-time water flow; the feedforward anti-disturbance control module is also used to obtain the control quantity of the feedforward controller based on the resistance, heating / cooling efficiency, real-time voltage, real-time water flow, and the temperature difference between the set temperature and the real-time water inlet temperature.

[0102] In one embodiment, the active disturbance rejection controller includes a linear extended observer and a linear state error feedback.

[0103] In one embodiment, the feedforward auto-disturbance rejection control module is also used to construct a state equation using a linear expansion observer combined with a mathematical model of a temperature control device, discretize the state equation, and obtain a total disturbance; use linear state error feedback to perform disturbance compensation on the control quantity of the feedforward controller according to the total disturbance, and obtain the control quantity of the auto-disturbance rejection controller.

[0104] In one embodiment, the output module is also used to determine the target control quantity according to the control quantity and the control quantity variation coefficient of the anti-disturbance control device, and perform power control according to the target control quantity; wherein the control quantity variation coefficient is related to the real-time resistance of the temperature control device.

[0105] In one embodiment, the feedforward gain update module is further used to determine the feedforward gain coefficient according to the control quantity and the control quantity variation coefficient of the feedforward controller; wherein the control quantity variation coefficient is related to the real-time resistance of the temperature adjustment device.

[0106] Each module in the water temperature control system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the coffee machine in the form of hardware, or can be stored in the memory in the coffee machine in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0107] In one embodiment, a coffee machine is provided, which includes two wireless communication modules, WiFi and Bluetooth, for connecting to a mobile device. The coffee machine also includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in all the above method embodiments are implemented.

[0108] like Figure 5 The figure shows a flow chart of a user controlling a coffee machine through a mobile terminal. Use the application on the mobile device to connect to the coffee machine via WiFi or Bluetooth. Then select or customize coffee brewing parameters such as temperature, water volume, coffee type, etc. in the application. The application sends the control command to the coffee machine via WiFi or Bluetooth. After receiving the command, the processor of the coffee machine adjusts the temperature adjustment device and the water volume adjustment component (used to control the water intake) to start brewing coffee. After the coffee machine finishes brewing, it notifies the user via WiFi or Bluetooth and displays the brewing completion status on the application. After receiving the command, the processor of the coffee machine adjusts the grinding scale value to adjust the distance between the grinding discs to achieve the coarseness adjustment of the coffee beans, and finally completes the coffee making.

[0109] In one embodiment, a readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in all the above method embodiments are implemented.

[0110] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in all the above method embodiments when executed by a processor.

[0111] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0112] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processors involved in each embodiment provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., but are not limited thereto.

[0113] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A water temperature control method, characterized in that: Applicable to a coffee machine, the method comprises: Collecting equipment parameters and water temperature monitoring data of the temperature regulating device; the water temperature monitoring data includes real-time inlet water temperature; According to the set temperature, the equipment parameters and the water temperature monitoring data, a control quantity of a feedforward controller and a control quantity of an active disturbance rejection controller are obtained; Performing power control on the temperature regulating device according to the control amount of the active disturbance rejection controller; A feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature is obtained according to the control amount of the feedforward controller, and the feedforward gain coefficient is saved in a feedforward gain table.

2. The method according to claim 1, characterized in that: The equipment parameters include resistance, heating / cooling efficiency, real-time voltage, and real-time water flow; Obtaining the control quantity of the feedforward controller includes: The control amount of the feedforward controller is obtained according to the resistance, the heating / cooling efficiency, the real-time voltage, the real-time water flow rate, and the temperature difference between the set temperature and the real-time water inlet temperature.

3. The method according to claim 1, characterized in that The active disturbance rejection controller includes a linear expansion observer and a linear state error feedback.

4. The method according to claim 3, characterized in that Obtaining the control quantity of the active disturbance rejection controller includes: Using the linear expansion observer in combination with the mathematical model of the temperature regulating device to construct a state equation, discretizing the state equation, and obtaining a total disturbance; The linear state error feedback is used to perform disturbance compensation on the control amount of the feedforward controller according to the total disturbance amount, so as to obtain the control amount of the active disturbance rejection controller.

5. The method according to claim 1, characterized in that The performing power control on the temperature regulating device according to the control amount of the active disturbance rejection controller comprises: Determine a target control amount according to the control amount and the control amount variation coefficient of the active disturbance rejection controller, and perform power control according to the target control amount; The control variable variation coefficient is related to the real-time resistance of the temperature regulating device.

6. The method according to claim 1, characterized in that The step of obtaining the feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control amount of the feedforward controller comprises: Determining the feedforward gain coefficient according to the control amount and the control amount variation coefficient of the feedforward controller; The control variable variation coefficient is related to the real-time resistance of the temperature regulating device.

7. A water temperature control system, characterized in that: Applicable to a coffee machine, the system comprises: A data acquisition module, used to collect equipment parameters and water temperature monitoring data of the temperature regulating device; the water temperature monitoring data includes real-time water inlet temperature; A feedforward and active disturbance rejection control module, used for obtaining a control quantity of a feedforward controller and a control quantity of an active disturbance rejection controller according to a set temperature, the equipment parameters and the water temperature monitoring data; An output module, used for performing power control on the temperature regulating device according to the control amount of the active disturbance rejection controller; The feedforward gain updating module is used to obtain a feedforward gain coefficient corresponding to the temperature difference between the real-time water inlet temperature and the set temperature according to the control amount of the feedforward controller, and save the feedforward gain coefficient in a feedforward gain table.

8. A coffee machine, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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