Control method and system for CDU temperature regulation actuator

Abstract

The invention provides a control method and system for a CDU temperature regulation actuator, and relates to the technical field of data center CDU system actuator control, and the method comprises the steps: obtaining the current liquid supply temperature, the set temperature and the current opening value of the actuator, determining the set opening value of the actuator, and calculating the opening difference value; and according to the comparison result of the opening difference value and the preset threshold value and the precision value, the actuator enters a fast adjustment program or a slow adjustment program. The upper limit times of fast adjustment and slow adjustment are dynamically calculated according to the difference value between the current liquid supply temperature and the set temperature instead of a fixed value, so that different thermal load working conditions are more accurately adapted. In addition, the method is also combined with a self-learning mechanism, the adjustment rate is corrected based on historical adjustment data, and the control strategy is further optimized. By means of the dynamic adjustment frequency calculation and segmented adjustment strategy, the control precision and adaptability of the actuator are remarkably improved, mechanical abrasion is reduced, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of data center CDU system actuator control, and in particular to a control method and system for a CDU temperature adjustment actuator. Background Art

[0002] As the core infrastructure of the information age, data centers are responsible for the storage, processing and transmission of massive amounts of data. Their stable operation is crucial to all areas of modern society. With the rapid development of information technology, the scale of data centers continues to expand, and the requirements for cooling systems are becoming higher and higher. As a key component of data center liquid cooling technology, the CDU (Cooling Distribution Unit) system is responsible for effectively distributing the cooling medium to each server cabinet or device to ensure that the equipment operates in a suitable temperature environment and prevent performance degradation, failures, and even equipment damage caused by overheating.

[0003] The temperature control actuator is a key component in the liquid cooling system, which is used to accurately control the flow of coolant to maintain the system operating within the set temperature range. It controls the flow of coolant by adjusting the opening of the valve, thereby achieving temperature regulation in scenarios such as data centers and industrial equipment. Existing temperature control actuators usually use PID control algorithms, which detect the deviation between the actual temperature and the set temperature through sensors, and then adjust the opening of the actuator according to the deviation. In addition, it is possible to combine proportional control, integral control, and differential control to optimize the regulation process.

[0004] In the existing control methods, the control accuracy of the actuator is affected by many factors, including improper mechanical adjustment, feedback device failure, controller problems, input signal interference, drive component wear, and failure of the protection mechanism. For example, improper mechanical limit adjustment may cause the valve to not be fully opened or closed, thereby affecting the overall control accuracy of the system. In addition, sensor failure or reduced accuracy will also cause inaccurate signals transmitted to the controller, which will cause malfunctions of the actuator. Due to the deviation between the actual control and the ideal condition, the actuator cannot always reach the set accuracy in some cases, and will be adjusted repeatedly, accelerating mechanical wear and failure. For example, wear or relaxation of the drive sleeve and synchronous belt will cause noise and transmission errors, causing problems with the actuator's response time and position control. Specifically, in the existing method, the valve position variable of each run of the adjustment program is not reasonably matched with the speed of the actuator, resulting in a fast turn correction amount greater than the deviation, so the actuator returns to the carriage for correction in a fast turn mode. For the same reason, the reverse correction amount also exceeds the deviation, and ultimately cannot be positioned. Because the software does not limit the number of fast turns, the actuator cannot terminate the current state without the arrival of a new control signal, and it keeps oscillating back and forth, causing fatigue wear of the reduction gear.

[0005] In addition, motor overheating or over-torque protection problems may also cause the actuator's control accuracy to decrease. In addition, the existing control methods have poor adaptability to different working conditions and cannot flexibly adjust the adjustment strategy according to the actual operating conditions. For example, under high thermal load, the actuator may not respond quickly to temperature changes; while under low thermal load, the actuator may make unnecessary frequent adjustments.

[0006] Research has found that by setting an upper limit on the number of adjustments, mechanical wear can be avoided to a certain extent, but this method is not suitable for all working conditions. Even under most working conditions, although mechanical wear can be reduced, it has a greater impact on the adjustment accuracy. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0008] To this end, a first aspect of the present invention provides a control method for a CDU temperature adjustment actuator.

[0009] A second aspect of the present invention provides a control system for a CDU temperature adjustment actuator.

[0010] The present invention provides a control method for a CDU temperature adjustment actuator, comprising: Obtain basic data, which includes the current liquid supply temperature, the set temperature and the current opening value of the actuator; determine the set opening value of the actuator corresponding to the set temperature according to the basic data; Calculate the opening difference between the actuator set opening value and the actuator current opening value; Compare the opening difference with a first threshold and a set accuracy value; wherein the first threshold is greater than the set accuracy value; When the opening difference is greater than a first threshold, a fast adjustment program is entered, wherein the temperature adjustment actuator rotates rapidly at a first rate during at least part of the adjustment time; After each rapid rotation is performed, the opening difference is compared with the first threshold and the set accuracy value; if the opening difference is still greater than the first threshold, the rapid rotation operation is performed again, and the number of rapid rotations is accumulated until the opening difference is less than the first threshold or the number of rapid rotations reaches the first set number, then the rapid adjustment program is exited; According to the current opening value of the actuator after exiting the quick adjustment program, the opening difference is compared with the set accuracy value; When the opening difference is greater than the set accuracy value, a slow adjustment program is entered, wherein the temperature adjustment actuator rotates slowly at a second rate during at least part of the adjustment time, and the second rate is less than the first rate; After each slow rotation, the opening difference is compared with the set accuracy value; if the opening difference is still greater than the set accuracy value, the slow rotation operation is performed again, and the number of slow rotations is accumulated until the opening difference is less than the set accuracy value or the number of slow rotations reaches the second set number, then the slow adjustment program is exited; The first set number of times and the second set number of times are calculated based on the current liquid supply temperature and the set temperature.

[0011] The control method for a CDU temperature adjustment actuator according to the above technical solution of the present invention may also have the following additional technical features: In the above technical solution, the method for calculating the first set number of times includes:

[0012] in, Indicates the first set number of times; Indicates the proportionality factor of rapid adjustment; Indicates the number of basic rapid adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

[0013] In the above technical solution, the method for calculating the second set number of times includes:

[0014] in, Indicates the second set number of times; Indicates the proportional coefficient of slow adjustment; Indicates the number of basic slow adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

[0015] In the above technical solution, the first rate is the maximum rate set by the fast adjustment program; the second rate is the maximum rate set by the slow adjustment program; The motion trajectory of each action of the temperature regulating actuator in the fast adjustment program and the slow adjustment program includes a uniform acceleration section, a uniform speed section and a uniform deceleration section; Among them, in the fast adjustment program, the uniform speed section is a trajectory section rotating at a first rate; in the slow adjustment program, the uniform speed section is a trajectory section rotating at a second rate.

[0016] The above technical solution also includes: After completing the opening adjustment of the actuator, the set first rate and second rate are corrected according to the deviation between the actuator set opening value and the actuator terminal opening value in the last N times, and the corrected first rate and second rate are used for the next opening adjustment.

[0017] In the above technical solution, the first rate correction method includes:

[0018] in, Indicates the correction result of the first rate; Indicates the first rate set this time; represents the self-learning coefficient of the first rate; Indicates the actuator final opening value of the nth adjustment among the most recent N opening adjustments; Indicates the actuator setting opening value set in the nth adjustment among the most recent N opening adjustments; The second rate correction method includes:

[0019] in, Indicates the correction result of the second rate; Indicates the second rate set this time; Indicates the self-learning coefficient of the second rate.

[0020] In the above technical solution, the standard opening range of the temperature regulating actuator is 0-90°, when the temperature regulating actuator opening is 0°, it corresponds to the fully closed state of the CDU liquid supply valve, and when the temperature regulating actuator opening is 90°, it corresponds to the fully open state of the CDU liquid supply valve; At least two limit travel switches are arranged on the temperature regulating actuator, wherein one limit travel switch is arranged at the -2.5° position and the other limit travel switch is arranged at the 92.5° position, so as to expand the actual opening range of the temperature regulating actuator to -2.5-92.5°.

[0021] In the above technical solution, the setting accuracy value ranges from 0.2 to 1°; The first threshold is M times the set accuracy value, and M is not less than 2.

[0022] The above technical solution also includes: The temperature of the motor winding inside the temperature control actuator is obtained. When the temperature of the motor winding exceeds the temperature threshold, the control system stops the motor in an interlocking manner.

[0023] The present invention also provides a control system for a CDU temperature regulating actuator, wherein the control system uses a control method as described in any one of the above technical solutions to adjust the opening of the temperature regulating actuator to control the corresponding rotation of the liquid supply valve, thereby making the liquid supply temperature of the CDU system approach the set temperature; The control system comprises: Data acquisition module, used to collect and process basic data; The precise positioning module is used to calculate the opening difference according to the basic data, compare the opening difference with the first threshold and the set accuracy value respectively, judge whether the opening difference meets the accuracy requirement according to the comparison result, and if the accuracy requirement is not met, select the fast adjustment program or the slow adjustment program according to the degree of deviation to adjust the opening of the actuator; wherein both the fast adjustment program and the slow adjustment program have an upper limit of the number of adjustments, and the upper limit of the number of adjustments is calculated according to the current liquid supply temperature and the set temperature; The self-learning module is used to correct the set first rate and second rate according to the deviation between the actuator set opening value and the actuator terminal opening value in the most recent N times after completing the opening adjustment of the actuator, and use the corrected first rate and second rate for the next opening adjustment.

[0024] In summary, due to the adoption of the above technical features, the beneficial effects of the present invention are: The control method of the present invention can automatically adjust the regulation strategy according to the deviation between the current liquid supply temperature and the set temperature by dynamically calculating the upper limit times of fast regulation and slow regulation, thereby significantly improving the control accuracy and adaptability of the temperature regulation actuator and avoiding.

[0025] First, the calculation method of the dynamic adjustment times enables the actuator to flexibly adjust the adjustment times when facing different heat loads, avoiding the problems of inaccurate temperature control and mechanical wear caused by insufficient or excessive adjustment times. Secondly, the adoption of the segmented adjustment strategy, that is, fast adjustment is used to quickly respond to large temperature deviations, and slow adjustment is used for fine adjustment, ensures that the temperature can be stably maintained within the set range, further improving the stability of the system. In addition, the introduction of the self-learning and correction mechanism enables the system to dynamically adjust the adjustment rate according to historical data, optimize the adjustment strategy, and further improve the adjustment accuracy and system adaptability. At the same time, by real-time monitoring of the deviation between the liquid supply temperature and the set temperature, the system can adjust the adjustment strategy in time and improve the response speed. Moreover, a temperature control switch is set to prevent the motor from overheating and damage, thereby enhancing the safety and reliability of the system. In general, the control method of the present invention effectively solves the problems of insufficient adjustment accuracy and mechanical wear in the prior art, improves the performance and service life of the temperature adjustment actuator, and has important practical significance for application scenarios such as data center cooling systems.

[0026] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1is a flow chart of a control method for a CDU temperature adjustment actuator according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the angle installation of a limit travel switch in one embodiment of the present invention; Figure 3 It is a schematic diagram of the valve rotation angle and the limit travel switch position in one embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0030] Refer to the following Figures 1 to 3 The control method and system for a CDU temperature adjustment actuator provided according to some embodiments of the present invention are described.

[0031] Some embodiments of the present application provide a control method for a CDU temperature adjustment actuator.

[0032] like Figure 1 As shown, the first embodiment of the present invention proposes a control method for a CDU temperature control actuator. In the CDU system, the opening of the temperature control actuator is adjusted to control the corresponding rotation of the liquid supply valve, so that the liquid supply temperature of the CDU system approaches the set temperature. The temperature control actuator shown in the present disclosure includes a servo controller, a motor, a potentiometer, a limit travel switch, a reduction gear, a temperature control switch and a wiring harness, etc.; the servo controller is provided with a central processing unit, a driver and a display for human-computer interaction. The liquid-cooled water supply temperature is compared with the target temperature, and the actuator opening is calculated using a PID algorithm. The opening signal is transmitted to the driver. The driver is connected to the motor through a wiring harness, and the valve opening is fed back through the potentiometer to realize closed-loop control. The display is used for human-computer interaction, and the operating parameters of the system are set to control the system to run automatically.

[0033] Specifically, the system monitors the water supply temperature of the liquid cooling system in real time through a temperature sensor and transmits the temperature data to the servo controller. At the same time, the set target temperature value is also input into the servo controller, which is usually set through a human-computer interactive display. After receiving the water supply temperature and the target temperature, the central processor in the servo controller performs comparison processing. Based on the deviation between the two, the PID algorithm is used to calculate the set opening value of the actuator. The PID algorithm comprehensively considers the three parameters of proportion (P), integration (I) and differentiation (D) to accurately control the opening of the actuator to ensure that the water supply temperature can quickly and stably approach the target temperature; the specific PID algorithm is well known to those skilled in the art and will not be repeated here. The calculated actuator set opening value is converted into a corresponding opening signal and then transmitted to the driver. The driver serves as a bridge between the actuator and the motor. According to the received opening signal, it sends a corresponding control instruction to the motor through the wiring harness to drive the motor to rotate. The motor starts to rotate after receiving the control instruction of the driver. The output shaft of the motor is connected to the liquid supply valve through a reduction gear. The function of the reduction gear is to reduce the high-speed rotation of the motor, thereby realizing precise control of the valve opening. The transmission ratio of the reduction gear determines the relationship between the motor speed and the valve opening, allowing the valve to accurately adjust the opening within the range of 0-90° (corresponding to the valve opening of 0-100%).

[0034] During the valve opening adjustment process, the potentiometer detects the actual opening of the actuator / valve in real time, and converts the opening value into an electrical signal and feeds it back to the servo controller. The servo controller compares the opening value fed back by the potentiometer with the set opening value to determine whether the rotation of the motor needs to be further adjusted, thereby achieving closed-loop control. This closed-loop control method can correct deviations in real time and ensure the accuracy of the valve opening.

[0035] In order to solve the problems of large mechanical wear and insufficient control accuracy in traditional control methods, the control method for a CDU temperature adjustment actuator proposed in the present disclosure includes the following steps S1-S7.

[0036] S1. Obtain basic data, which includes the current liquid supply temperature, the set temperature and the current opening value of the actuator; determine the actuator set opening value corresponding to the set temperature according to the basic data.

[0037] Specifically, the actuator setting opening value can be obtained according to the above PID algorithm. The liquid supply temperature refers to the actual temperature of the liquid in the main line of the CDU system, and the set temperature is the target temperature of the liquid in the main line of the CDU system.

[0038] S2. Calculate the opening difference between the actuator set opening value and the actuator current opening value. The opening difference is the opening value that the actuator needs to adjust.

[0039] S3. Compare the opening difference with a first threshold and a set accuracy value; wherein the first threshold is greater than the set accuracy value.

[0040] It can be understood that when the opening difference is less than the set accuracy value, it means that the current opening value of the actuator has basically reached the actuator set opening value. Even if there is a deviation, the degree of deviation meets the accuracy adjustment requirements and no further adjustment is required.

[0041] In some embodiments, the range of the set precision value is 0.2-1°; the first threshold is M times the set precision value, and M is not less than 2. In a specific embodiment, the set precision value is set to 0.5. It can be understood that when the precision value is set to 0.5°, the actual precision interval is [-0.5°, 0.5°]; the first threshold is set to three times the precision value, then the first threshold is ±1.5°. For the convenience of comparison, the absolute value of the opening difference is compared with the first threshold and the set precision value.

[0042] S4. When the opening difference is greater than a first threshold value, the temperature adjustment actuator is controlled to enter a quick adjustment program. In the quick adjustment program, the temperature adjustment actuator rotates rapidly at a first rate during at least part of the adjustment time. The first rate is the maximum rate set by the quick adjustment program.

[0043] S5. After each rapid rotation is performed, the opening difference is re-compared with the first threshold and the set accuracy value according to the updated current opening value of the actuator; if the opening difference is still greater than the first threshold, the rapid rotation operation is performed again, and the number of rapid rotations is accumulated until the opening difference is less than the first threshold or the number of rapid rotations reaches the first set number, then the quick adjustment program is exited; wherein the first set number is calculated based on the current liquid supply temperature and the set temperature.

[0044] In some embodiments, since rapid adjustment is mainly used to quickly respond to large temperature deviations, research has found that its upper limit should be positively correlated with the temperature deviation. The larger the temperature deviation, the higher the upper limit of the number of rapid adjustments allowed, to ensure that the system can quickly adjust to a range close to the target temperature.

[0045] In a specific embodiment, the method for calculating the first set number of times includes:

[0046] in, Indicates the first set number of times; Indicates the proportionality factor of rapid adjustment; Indicates the number of basic rapid adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

[0047] S6. Compare the opening difference with the set accuracy value based on the current opening value of the actuator after exiting the quick adjustment program; similarly, when the opening difference is less than the set accuracy value, it means that the current opening value of the actuator has basically reached the set opening value of the actuator. Even if there is a deviation, the degree of deviation meets the accuracy adjustment requirements and no further adjustment is required.

[0048] S7. When the opening difference is greater than the set accuracy value, the temperature adjustment actuator is controlled to enter a slow adjustment program. In the slow adjustment program, the temperature adjustment actuator rotates slowly at a second rate during at least part of the adjustment time. The second rate is the maximum rate set by the slow adjustment program, and the second rate is less than the first rate.

[0049] S8. After each slow rotation is performed, the opening difference is re-compared with the set accuracy value according to the updated current opening value of the actuator; if the opening difference is still greater than the set accuracy value, the slow rotation operation is performed again, and the number of slow rotations is accumulated until the opening difference is less than the set accuracy value or the number of slow rotations reaches the second set number, then the slow adjustment program is exited; wherein the second set number is calculated based on the current liquid supply temperature and the set temperature.

[0050] Specifically, the slow adjustment is based on the fast adjustment and is used for fine adjustment in a small range to gradually approach the target temperature. Since the influence of the slow adjustment is relatively small, the calculation of the upper limit number can be more smoothly dependent on the temperature deviation.

[0051] In some embodiments, the method for calculating the second set number of times includes:

[0052] in, Indicates the second set number of times; Indicates the proportional coefficient of slow adjustment; Indicates the number of basic slow adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

[0053] Due to the different scales of different CDU systems and the different parameters of the temperature adjustment actuators used, the proportional coefficient of the rapid adjustment in the above embodiment is and the proportionality factor of the slow adjustment , can be calibrated according to the actual system response characteristics and historical operation data. Specifically, the appropriate value can be determined through experimental methods, such as the Ziegler-Nichols method. The basic slow adjustment times and basic fast adjustment times are both set basic values, such as 3 times, 4 times, etc.

[0054] It should be noted that the fast and slow speeds referred to in the present disclosure are relative concepts, and based on the comparative relationship between the first rate and the second rate, the degree of fast and slow speeds can be clearly known without any ambiguity.

[0055] The motion trajectory of each action of the temperature adjustment actuator in the fast adjustment program and the slow adjustment program includes a uniform acceleration segment, a uniform speed segment and a uniform deceleration segment; specifically, in the fast adjustment program, the uniform acceleration segment is a travel segment where the speed is uniformly accelerated from 0 to the first rate, the uniform speed segment is a trajectory segment that rotates at the first rate, and the uniform deceleration segment is a segment where the speed is uniformly decelerated from the first rate to 0. The sum of the travels of the three segments is the total travel of a single fast adjustment action in the fast adjustment program. Similarly, in the slow adjustment program, the uniform acceleration segment is a travel segment where the speed is uniformly accelerated from 0 to the second rate, the uniform speed segment is a trajectory segment that rotates at the second rate, and the uniform deceleration segment is a segment where the speed is uniformly decelerated from the second rate to 0. The sum of the travels of the three segments is the total travel of a single slow adjustment action in the slow adjustment program. Note that the unit of the above travel is usually an angle. Among them, the acceleration of the acceleration segment and the deceleration of the deceleration segment, as well as the speed of the uniform speed segment (i.e., the first rate and the second rate) can all be set on the human-computer interaction page, among which the first rate and the second rate have a particularly obvious impact on the adjustment accuracy.

[0056] In some embodiments, after each opening adjustment is completed, self-learning can also be performed, and the self-learning method includes: After the current actuator opening adjustment is completed, the set first rate and second rate are corrected according to the deviation between the actuator set opening value and the actuator terminal opening value in the last N times, and the corrected first rate and second rate are used for the next opening adjustment. Among them, the actuator terminal opening value is the actual opening position of the actuator after the opening adjustment.

[0057] In a specific embodiment, the first rate correction method includes:

[0058] in, Indicates the correction result of the first rate; Indicates the first rate set this time; represents the self-learning coefficient of the first rate; Indicates the actuator final opening value of the nth adjustment among the most recent N opening adjustments; Indicates the actuator setting opening value set in the nth adjustment among the most recent N opening adjustments; The second rate correction method includes:

[0059] in, Indicates the correction result of the second rate; Indicates the second rate set this time; Indicates the self-learning coefficient of the second rate.

[0060] The self-learning coefficient of the first rate and the self-learning coefficient of the second rate can be the same or different. In a specific embodiment, both are 0.05. The value of N should not be too large or too small. Generally, the value of N is 3-5.

[0061] In some embodiments, self-learning also includes an initial verification process as follows: When the actuator is powered on for the first time, it needs to go through a full stroke, from 0° to 90°, and then from 90° to 0°. During this process, the servo controller will identify the driving force by collecting the power supply voltage and current of the motor, and at the same time, feedback the running speed and position of the actuator through the potentiometer, calculate the acceleration, uniform speed, and deceleration of the actuator, and calculate the driving force in combination with the current and voltage of the motor. After identifying the driving force, this value is used as the judgment standard. If it is lower than 80%, a system warning will be reported, and if it is lower than 70%, a system fault will be reported. This alarm can be used to determine whether the system is abnormal. If it exceeds 120%, a system warning will be reported, and if it exceeds 130%, a system fault will be reported. This alarm can be used to determine whether the motor and valve are normal.

[0062] When powered on for the first time, the servo controller will also give the motor a gradually increasing current until the potentiometer has position feedback, indicating that the actuator has overcome the friction and started to move. The control system records the current value and calculates the valve friction through the voltage and current.

[0063] According to the identified driving force and friction force, the influence of friction force of different actuators on system positioning is eliminated.

[0064] In the disclosed embodiment, the standard opening range of the temperature control actuator is 0-90°. When the opening of the temperature control actuator is 0° (corresponding to the electrical signal 4mA), it corresponds to the fully closed state of the CDU liquid supply valve. When the opening of the temperature control actuator is 90° (corresponding to the electrical signal 20mA), it corresponds to the fully open state of the CDU liquid supply valve.

[0065] In a specific embodiment, Figure 2 and Figure 3 As shown, at least two limit travel switches are set on the temperature control actuator, one of which is a limit travel switch CLS set at -2.5°, and the other is a limit travel switch OLS set at 92.5°, so as to expand the actual opening range of the temperature control actuator to -2.5-92.5°. When the valve opening approaches these limit positions, the limit travel switch will be triggered to cut off the power supply of the motor to prevent the valve from being opened or closed excessively, thereby playing a role in safety protection. In addition, reserving a certain margin can provide a buffer for precision adjustment.

[0066] In the present disclosure, as long as the temperature sensor fails and cannot feedback the actual water supply temperature, in order to prevent the data center from overheating, the actuator automatically runs to the maximum opening.

[0067] In some embodiments, the method further includes: obtaining the temperature of the motor winding inside the temperature regulating actuator, and when the temperature of the motor winding exceeds a temperature threshold, the control system interlocks and stops the motor to prevent the motor from overloading and burning. The temperature threshold can be set to 185°C.

[0068] Some other embodiments of the present invention further provide a control system for a CDU temperature regulating actuator, wherein the control system uses a control method as described in any of the above embodiments to adjust the opening of the temperature regulating actuator to control the corresponding rotation of the liquid supply valve, thereby making the liquid supply temperature of the CDU system approach the set temperature; The control system includes: a data acquisition module, a precise positioning module and a self-learning module.

[0069] The data acquisition module is used to collect and process basic data; the precise positioning module is used to calculate the opening difference based on the basic data, compare the opening difference with the first threshold and the set accuracy value respectively, judge whether the opening difference meets the accuracy requirement according to the comparison result, and when the accuracy requirement is not met, select the fast adjustment program or the slow adjustment program according to the degree of deviation to adjust the opening of the actuator; wherein, both the fast adjustment program and the slow adjustment program have an upper limit on the number of adjustments, which is calculated based on the current liquid supply temperature and the set temperature; the self-learning module is used to correct the set first rate and second rate according to the deviation between the actuator set opening value and the actuator terminal opening value in the last N times after completing the opening adjustment of the actuator, and use the corrected first rate and second rate for the next opening adjustment.

[0070] In one specific embodiment, refer again to Figure 1 ,The execution process of the precise positioning module is as follows: S101, determine whether the opening difference is less than the set accuracy value, if yes, exit the precise positioning unit and the adjustment is completed, otherwise proceed to the next step; S102, judging whether the opening difference is greater than the first threshold value, if yes, entering the fast adjustment procedure and proceeding to the next step, if no, entering the slow adjustment procedure in step S107; S103, the actuator is quickly adjusted once, and then proceeds to the next step; S104, judging whether the opening difference is less than the set accuracy value, if yes, exit the precise positioning unit and the adjustment is finished, otherwise proceed to the next step; S105, determine whether the actuator opening value has changed, if so, set the number of rapid rotations to 0 and return to step S101, otherwise add 1 to the number of rapid rotations and proceed to the next step; S106, determining whether the number of rapid rotations is greater than or equal to a first set number, if so, proceed to the next step, otherwise, return to step S102; S107, enter the slow adjustment program, the actuator performs slow adjustment once, and proceeds to the next step; S108, judging whether the opening difference is less than the set accuracy value, if yes, exit the precise positioning unit and the adjustment is finished, otherwise proceed to the next step; S109, determine whether the actuator opening value has changed, if so, set the slow rotation times to 0, otherwise add 1 to the slow rotation times and proceed to the next step; S110, determining whether the number of slow speed adjustment operations is greater than or equal to a second set number, otherwise returning to step S101, if so, ending the current adjustment.

[0071] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0072] Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a CDU temperature control actuator, characterized in that: include: Obtain basic data, including current liquid supply temperature, set temperature and current actuator opening value; Determine the actuator set opening value corresponding to the set temperature according to the basic data; Calculate the opening difference between the actuator set opening value and the actuator current opening value; Compare the opening difference with a first threshold and a set accuracy value; wherein the first threshold is greater than the set accuracy value; When the opening difference is greater than a first threshold, a fast adjustment program is entered, wherein the temperature adjustment actuator rotates rapidly at a first rate during at least part of the adjustment time; After each rapid rotation is performed, the opening difference is compared with the first threshold and the set accuracy value; if the opening difference is still greater than the first threshold, the rapid rotation operation is performed again, and the number of rapid rotations is accumulated until the opening difference is less than the first threshold or the number of rapid rotations reaches the first set number, then the rapid adjustment program is exited; According to the current opening value of the actuator after exiting the quick adjustment program, the opening difference is compared with the set accuracy value; When the opening difference is greater than the set accuracy value, a slow adjustment program is entered, wherein the temperature adjustment actuator rotates slowly at a second rate during at least part of the adjustment time, and the second rate is less than the first rate; After each slow rotation, the opening difference is compared with the set accuracy value; if the opening difference is still greater than the set accuracy value, the slow rotation operation is performed again, and the number of slow rotations is accumulated until the opening difference is less than the set accuracy value or the number of slow rotations reaches the second set number, then the slow adjustment program is exited; The first set number of times and the second set number of times are calculated based on the current liquid supply temperature and the set temperature.

2. The control method for a CDU temperature control actuator according to claim 1, characterized in that: The calculation method of the first set number of times includes: in, Indicates the first set number of times; Indicates the proportionality factor of rapid adjustment; Indicates the number of basic rapid adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

3. The control method for a CDU temperature control actuator according to claim 1, characterized in that: The calculation method of the second set number of times includes: in, Indicates the second set number of times; Indicates the proportional coefficient of slow adjustment; Indicates the number of basic slow adjustments; Indicates the absolute value of the difference between the current liquid supply temperature and the set temperature.

4. The control method for a CDU temperature control actuator according to claim 1, characterized in that: The first rate is the maximum rate set by the fast adjustment program; the second rate is the maximum rate set by the slow adjustment program; The motion trajectory of each action of the temperature regulating actuator in the fast adjustment program and the slow adjustment program includes a uniform acceleration section, a uniform speed section and a uniform deceleration section; Among them, in the fast adjustment program, the uniform speed section is a trajectory section rotating at a first rate; in the slow adjustment program, the uniform speed section is a trajectory section rotating at a second rate.

5. The control method for a CDU temperature adjustment actuator according to claim 4, characterized in that: Also includes: After completing the opening adjustment of the actuator, the set first rate and second rate are corrected according to the deviation between the actuator set opening value and the actuator terminal opening value in the last N times, and the corrected first rate and second rate are used for the next opening adjustment.

6. The control method for a CDU temperature adjustment actuator according to claim 5, characterized in that: The first rate correction method comprises: in, Indicates the correction result of the first rate; Indicates the first rate set this time; represents the self-learning coefficient of the first rate; Indicates the actuator final opening value of the nth adjustment among the most recent N opening adjustments; Indicates the actuator setting opening value set in the nth adjustment among the most recent N opening adjustments; The second rate correction method includes: in, Indicates the correction result of the second rate; Indicates the second rate set this time; Indicates the self-learning coefficient of the second rate.

7. The control method for a CDU temperature control actuator according to claim 1, characterized in that: The standard opening range of the temperature regulating actuator is 0-90°. When the temperature regulating actuator opening is 0°, it corresponds to the fully closed state of the CDU liquid supply valve. When the temperature regulating actuator opening is 90°, it corresponds to the fully open state of the CDU liquid supply valve. At least two limit travel switches are arranged on the temperature regulating actuator, wherein one limit travel switch is arranged at the -2.5° position and the other limit travel switch is arranged at the 92.5° position, so as to expand the actual opening range of the temperature regulating actuator to -2.5-92.5°.

8. The control method for a CDU temperature adjustment actuator according to claim 1, characterized in that: The setting accuracy value ranges from 0.2 to 1°; The first threshold is M times the set accuracy value, and M is not less than 2.

9. The control method for a CDU temperature adjustment actuator according to claim 1, characterized in that: Also includes: The temperature of the motor winding inside the temperature control actuator is obtained. When the temperature of the motor winding exceeds the temperature threshold, the control system stops the motor in an interlocking manner.

10. A control system for a CDU temperature control actuator, characterized in that: The control system uses the control method according to any one of claims 1 to 9 to adjust the opening of the temperature control actuator to control the corresponding rotation of the liquid supply valve, thereby making the liquid supply temperature of the CDU system approach the set temperature; The control system comprises: Data acquisition module, used to collect and process basic data; The precise positioning module is used to calculate the opening difference according to the basic data, compare the opening difference with the first threshold and the set accuracy value respectively, judge whether the opening difference meets the accuracy requirement according to the comparison result, and if the accuracy requirement is not met, select the fast adjustment program or the slow adjustment program according to the degree of deviation to adjust the opening of the actuator; wherein both the fast adjustment program and the slow adjustment program have an upper limit of the number of adjustments, and the upper limit of the number of adjustments is calculated according to the current liquid supply temperature and the set temperature; The self-learning module is used to correct the set first rate and second rate according to the deviation between the actuator set opening value and the actuator terminal opening value in the most recent N times after completing the opening adjustment of the actuator, and use the corrected first rate and second rate for the next opening adjustment.

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