A monitoring system for temperature change of a heating device

Abstract

The present invention discloses a temperature change monitoring system for a heating device, which relates to the technical field of temperature control of heating devices and includes a heating module, an infrared temperature measurement module, a sorting module, and a control module; the infrared temperature measurement module is used to obtain the inlet temperature of an object before entering the heating device and the outlet temperature after the heating is completed; the control module controls the heating module to heat the object based on the inlet temperature of the object before entering the heating device, and generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed; the sorting module sorts the object based on the control signal generated by the control module; the heating module is used to heat the object; it avoids measuring the temperature of the object in the heating furnace, effectively controls the temperature of the object after heating on the basis of open-loop heating, controls the heating time of the object, enables the object to continuously and stably enter the next processing link, and improves the efficiency of the processing process.

Description

Technical Field

[0001] The present invention relates to the technical field of temperature control of heating equipment, and specifically to a monitoring system for temperature change of heating equipment. Background Art

[0002] With the continuous development of technology, the technical level of heating equipment is constantly improving, including intelligent control, high-efficiency energy-saving technology, etc. At the same time, enterprises are also constantly updating equipment and introducing advanced heating equipment to improve production efficiency and product quality. The degree of automation and intelligence of modern heating equipment is getting higher and higher. Many enterprises have introduced automated control systems and intelligent sensors to achieve real-time monitoring and control of heating equipment, improving production efficiency and the accuracy of temperature control. When monitoring the temperature of heating equipment, measuring the temperature of an object when it is in the heating equipment is a key link. However, due to factors such as high-temperature environment, complex furnace structure, and limitations of measuring equipment, temperature measurement often faces certain challenges. Many enterprises still adopt traditional temperature measurement methods, which are neither accurate nor efficient, resulting in the outlet temperature of the object not meeting the requirements of the next processing link. Summary of the Invention

[0003] The purpose of the present invention is to provide a monitoring system for temperature change of heating equipment to solve the problems raised in the prior art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A monitoring system for temperature change of heating equipment includes a heating module, an infrared temperature measurement module, a sorting module, and a control module; the output end of the infrared temperature measurement module is connected to the input end of the control module, and is used to obtain the inlet temperature of the object before entering the heating equipment and the outlet temperature after the heating is completed; the control module controls the heating module to heat the object based on the inlet temperature of the object before entering the heating equipment, and generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed; the sorting module sorts the object based on the control signal generated by the control module, and returns the problem that the temperature does not meet the requirements; the heating module is used to heat the object and reheat the returned object.

[0005] Specifically, the system further includes a conveying module. The control module generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed. If the outlet temperature of the object after the heating is completed meets the temperature requirements, the sorting module is enabled to open the first channel, and the conveying module enables the object to enter the subsequent processing link; if the outlet temperature of the object after the heating is completed does not meet the temperature requirements, the sorting module is enabled to open the second channel, and the conveying module enables the object to return to the heating module for reheating.

[0006] Specifically, the system further includes a cooling module. When the outlet temperature of the object after heating is not in line with the temperature requirement, the object is conveyed to the cooling module via the conveying module for cooling. After cooling is completed, the conveying module conveys the object to the heating module.

[0007] Specifically, the control module further includes a differential unit, a heat analysis unit, a first set value determination unit, and a second set value determination unit; the differential unit is used to establish a differential equation for the change of the object temperature in the heating device over time; the heat analysis unit is used to analyze the relationship between the absorbed heat Q and the temperature T; the first set value determination unit generates a first set value of the object based on the inlet temperature of the object before entering the heating device; the second set value determination unit determines a second set value of the object based on the error between the set value and the actual value after the object is heated.

[0008] The differential unit first establishes a differential equation for the change of the object temperature in the heating device over time through the following steps:

[0009] Establish a differential equation: , where T represents the object temperature, T jr represents the heating device temperature, t represents the heating time, and k represents a constant;

[0010] Then solve the differential equation. According to the differential equation, separate variables and perform integration to obtain the following expression: , and finally after simplification, we get: , where T0 represents the inlet temperature of the object before entering the heating device.

[0011] After obtaining the relationship between the inlet temperature, the heating device temperature, and the heating time, according to the required heating temperature of the object, the heating time of the object can be known, and the object is heated according to the determined heating time.

[0012] The heat analysis unit analyzes the relationship between the absorbed heat Q and the temperature T through the following steps:

[0013] Establish an equation according to the heat formula and the heating power, c×m×ΔT = P×t×η, where c is the specific heat capacity of the object, m is the mass of the object, ΔT is the temperature change of the object, P is the power of the heating device, and η is the efficiency of the heating device; integrate the constants in the equation to obtain a new equation: A×ΔT = B×t, where A and B are constants; obtain the historical data of the object heated in the heating device, and in the data with the same heating device power, take two sets of data to establish a system of equations: , where ΔT1 and ΔT2 are the temperature change amounts of the object, and t1 and t2 are the heating times of the object. After solving, the constant A is obtained. After solving multiple times and taking the average value, the influence of contingency is reduced; according to the constant A, the relationship between the absorbed heat Q and the temperature T is obtained: Q = A×ΔT.

[0014] The first setting value determination unit generates the first setting value of the object based on the inlet temperature of the object before entering the heating device, and further includes the following steps:

[0015] Obtain the expected value ET of the inlet temperature of the object before entering the heating device in , the upper limit T of the required temperature u and the lower limit T d , based on the expected value ET of the inlet temperature in and the lower limit T d Determine the lower limit Q of the absorbed heat d , based on the expected value ET of the inlet temperature in and the upper limit T u Determine the upper limit Q of the absorbed heat u , according to Q d and Q u Obtain the median Q of the absorbed heat mid , according to the expected value ET of the inlet temperature of the object before entering the heating device in and the median Q of the absorbed heat mid Obtain the expected value ET of the outlet temperature of the object after completion of heating out , based on ET out and the differential equation of the object temperature changing with time in the heating device to determine the expected value E of the object heating time t ;

[0016] Obtain the inlet temperature T of the object before entering the heating device in , according to T in , the expected value E of the object heating time t and the differential equation of the object temperature changing with time in the heating device to determine the outlet temperature T of the object after completion of heating out , if the outlet temperature T out is within the required interval [T d , T u , where T d and T u represent the temperature lower limit and upper limit, then the first setting value corresponding to the inlet temperature T in of the object before entering the heating device is T out , if the outlet temperature T out is higher than T u , then the corresponding first setting value is T u ; if the outlet temperature T out is less than Td , the corresponding first set value is T d .

[0017] Regarding the efficiency requirements of industrial processing, in the heating process, the outlet temperature of the object is controlled by controlling the heating time of the object. At the same time, in order to enable the subsequent processing process to continuously and stably obtain the heated object, the heating time of the heated object is controlled so that the object can be heated as close as possible to the expected value E of the heating time t for heating. In this way, the burden on the subsequent processing process can also be reduced.

[0018] Since an open-loop control system is adopted, there may be an error between the actual temperature and the required temperature. Therefore, the outlet temperature of the object is detected and fine-tuned according to the detection result of the second set value;

[0019] The second set value determination unit determines the second set value of the object based on the error between the set value and the actual value after the object is heated, and further includes the following steps:

[0020] After the object is heated, obtain the heat error e between the set value and the actual value. Then, according to the inlet temperature T of the object before entering the heating device in , respectively determine the heat Q1 absorbed by the object when heating from T in to RT1 and the heat Q2 absorbed by the object when heating from T in to TR. e = Q1 - Q2, where RT1 represents the first set value and TR represents the actual value;

[0021] If the heat error e between the first set value and the actual value is greater than or equal to zero, and the distance between the actual value of the object temperature and the temperature lower limit T d is reduced, then the first set value RT is compensated, and the first set value is increased to obtain the compensated second set value RT2, RT2 = RT1 + ΔRT, where ΔRT is the compensation value;

[0022] If the heat error e between the first set value and the actual value is less than zero, and the distance between the actual value of the object temperature and the temperature upper limit T u is reduced, then the first set value RT1 is compensated, and the first set value is decreased to obtain the compensated second set value RT2, RT2 = RT + ΔRT1;

[0023] The compensation value is determined by the following formula: ΔRT = Kp×e(n) + Ki×t(n)×e(n) + Kd×[e(n) - e(n - 1)] / t(n), where e(n) is the heat error between the current set value and the actual value, e(n - 1) is the heat error between the previous set value and the actual value, t(n) is the current heating time of the object, and Kp, Ki, and Kd are control parameters. ]>

[0024] Specifically, the control module further includes a main controller. The main controller obtains the inlet temperature of the object before entering the heating device from the infrared temperature measurement module, determines the first set value of the object according to the inlet temperature of the object before entering the heating device; determines the second set value according to the historical heating data of the object in the heating device and the first set value, controls the heating time of the heating device for the object based on the second set value, determines the heat error between the object temperature and the first set value after the object is heated, and updates the compensation value for determining the second set value of the next object.

[0025] Specifically, the system further includes a data storage module, and the data storage module is used to store the historical heating data of the object in the heating device.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: Avoid measuring the temperature of the object in the heating furnace, reducing resource consumption; dealing with the situation where the starting temperatures of the heated items are different, and realizing effective control of the temperature of the heated items on the basis of open-loop heating by reheating the object; controlling the heating time of the object, enabling the object to continuously and stably enter the next processing link, and improving the efficiency of the processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of a temperature change monitoring system for a heating device according to the present invention;

[0028] Figure 2 It is a control flowchart of a temperature change monitoring system for a heating device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment 1: As Figure 1As shown in the figure, the present invention provides a technical solution, a heating device temperature change monitoring system, including a heating module, an infrared temperature measurement module, a sorting module and a control module; the output end of the infrared temperature measurement module is connected to the input end of the control module, and is used to obtain the inlet temperature of the object before entering the heating device and the outlet temperature after the heating is completed; the control module controls the heating module to heat the object based on the inlet temperature of the object before entering the heating device, and generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed; the sorting module sorts the object based on the control signal generated by the control module, and returns the problem that the temperature does not meet the requirements; the heating module is used to heat the object and reheat the returned object.

[0031] The sorting module includes an electric baffle and a rotating robotic arm, and decides whether the object enters the finished product conveyor belt or the reheating conveyor belt according to the control signal.

[0032] The infrared temperature measurement module is deployed at the front and rear positions of the heating area, and is used to quickly and accurately measure the starting temperature of the article, and transmit the temperature data to the control module and the data storage module in real time; the control module receives the inlet temperature data measured by the infrared temperature measurement module, generates the heating time of the object for different inlet temperatures, and heats the object; and receives the outlet temperature data measured by the infrared temperature measurement module to decide whether the article will directly enter the finished product area or needs to be reheated. If reheating is required, the control module controls the sorting module to change the traveling direction of the object, guide the object to the reheating conveyor belt, and then switch to the finished product conveyor belt direction after the guiding is completed; if reheating is not required, it remains in the finished product conveyor belt direction.

[0033] The temperature data collected by the infrared temperature measurement module needs to be transmitted to the control module in time. The wired transmission method has the advantages of strong anti-interference ability and long transmission distance, and is suitable for the complex electromagnetic environment of the industrial site. The RS485 bus can be used for data transmission.

[0034] It also includes a conveying module. The control module generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed. If the outlet temperature of the object after the heating is completed meets the temperature requirements, the sorting module is enabled to open the first channel, and the conveying module enables the object to enter the subsequent processing link; if the outlet temperature of the object after the heating is completed does not meet the temperature requirements, the sorting module is enabled to open the second channel, and the conveying module enables the object to return to the heating module for reheating. The conveying module includes a finished product conveyor belt, a reheating conveyor belt and a feeding conveyor belt; among them, the feeding conveyor belt is used to convey the object of the previous link to the front of the heating module.

[0035] It also includes a cooling module. When the outlet temperature of the object after the heating is completed does not meet the temperature requirements, the object is conveyed to the cooling module for cooling via the conveying module, and after the cooling is completed, the conveying module conveys the object to the heating module.

[0036] The control module further includes a differential unit, a heat analysis unit, a first set value determination unit, and a second set value determination unit; the differential unit is used to establish a differential equation for the temperature of an object in the heating device changing with time; the heat analysis unit is used to analyze the relationship between the absorbed heat Q and the temperature T; the first set value determination unit generates a first set value of the object based on the inlet temperature of the object before entering the heating device; the second set value determination unit determines a second set value of the object based on the error between the set value and the actual value after the object is heated.

[0037] The differential unit establishes a differential equation for the temperature of an object in the heating device changing with time through the following steps:

[0038] Establish a differential equation: , where T represents the temperature of the object, T jr represents the temperature of the heating device, t represents the heating time, and k represents a constant;

[0039] Solve the differential equation. According to the differential equation, separate variables and integrate to obtain the following expression: , after simplification, it is obtained: , where T0 represents the inlet temperature of the object before entering the heating device.

[0040] The heat analysis unit analyzes the relationship between the absorbed heat Q and the temperature T through the following steps:

[0041] Establish an equation according to the heat formula and the heating power, c×m×ΔT = P×t×η, where c is the specific heat capacity of the object, m is the mass of the object, ΔT is the temperature change of the object, P is the power of the heating device, and η is the efficiency of the heating device; integrate the constants in the equation to obtain a new equation: A×ΔT = B×t, where A and B are constants; obtain the historical data of the object heated in the heating device. Among the data with the same heating device power, take two sets of data to establish a system of equations: , where ΔT1 and ΔT2 are the temperature changes of the object, t1 and t2 are the heating times of the object. After solving, the constant A is obtained. After solving multiple times and taking the average value, the influence of contingency is reduced; according to the constant A, the relationship between the absorbed heat Q and the temperature T is obtained: Q = A×ΔT.

[0042] The first set value determination unit generates a first set value of the object based on the inlet temperature of the object before entering the heating device, and further includes the following steps:

[0043] Obtain the expected value ET of the inlet temperature of the object before entering the heating device in , and require the upper limit T u and the lower limit T d, based on the expected value ET of the inlet temperature in and the lower limit T d Determine the lower limit Q of the absorbed heat d , based on the expected value ET of the inlet temperature in and the upper limit T u Determine the upper limit Q of the absorbed heat u , according to Q d and Q u Obtain the median Q of the absorbed heat mid , according to the expected value ET of the inlet temperature of the object before entering the heating device in and the median Q of the absorbed heat mid Obtain the expected value ET of the outlet temperature of the object after heating is completed out , based on ET out and the differential equation of the object temperature change with time in the heating device to determine the expected value E of the object heating time t ;

[0044] Obtain the inlet temperature T of the object before entering the heating device in , according to T in , the expected value E of the object heating time t and the differential equation of the object temperature change with time in the heating device to determine the outlet temperature T of the object after heating is completed out , if the outlet temperature T out is within the required interval [T d , T u , where T d and T u represent the lower and upper temperature limits, then the first set value corresponding to the inlet temperature T of the object before entering the heating device in is T out , if the outlet temperature T out is higher than T u , then the corresponding first set value is T u ; if the outlet temperature T out is less than T d , then the corresponding first set value is T d .

[0045] The second set value determination unit, based on the error between the set value and the actual value after the object heating is completed, determines the second set value of the object, and further includes the following steps:

[0046] After the object heating is completed, obtain the heat error e between the set value and the actual value, then according to the inlet temperature T of the object before entering the heating device in , respectively determine the heat Q1 absorbed by the object when heating up from T in to RT1, the heat Q1 absorbed by the object when heating up from T inThe heat Q2 absorbed when heating up to TR, e = Q1 - Q2, where RT1 represents the first set value and TR represents the actual value;

[0047] If the heat error e between the first set value and the actual value is greater than or equal to zero, the distance between the actual value of the object's temperature and the temperature lower limit T is reduced, then the first set value RT is compensated, and the first set value is increased to obtain the compensated second set value RT2, RT2 = RT1 + ΔRT, where ΔRT is the compensation value; d If the heat error e between the first set value and the actual value is less than zero, the distance between the actual value of the object's temperature and the temperature upper limit T is reduced, then the first set value RT1 is compensated, and the first set value is decreased to obtain the compensated second set value RT2, RT2 = RT + ΔRT1;

[0048] The compensation value is determined by the following formula: ΔRT = Kp×e(n) + Ki×t(n)×e(n) + Kd×[e(n) - e(n - 1)] / t(n), where e(n) is the heat error between the current set value and the actual value, e(n - 1) is the heat error between the previous set value and the actual value, t(n) is the current heating time of the object, and Kp, Ki, and Kd are control parameters. u The control module further includes a main controller, which obtains the inlet temperature of the object before entering the heating device from the infrared temperature measurement module, determines the first set value of the object according to the inlet temperature of the object before entering the heating device; determines the second set value according to the historical heating data of the object in the heating device and the first set value, controls the heating time of the heating device for the object based on the second set value, determines the heat error between the object temperature and the first set value after the object is heated, and updates the compensation value for determining the second set value of the next object.

[0049] It further includes a data storage module, which is used to store the historical heating data of the object in the heating device.

[0050] Embodiment 2: As

[0051]

[0052] Figure 2 Figure 2 ​As shown, a control flowchart for monitoring the temperature change of a heating device is provided. First, the user inputs the required outlet temperature of the object. When the object to be heated arrives at the heating module via the conveyor belt, the infrared temperature measurement module collects the temperature signal and transmits it to the main controller. The main controller performs open-loop control on the temperature of the object, generates a first set value and a second set value based on the inlet temperature of the object, determines the parameters of the heating module according to the second set value, and heats the object. In this process, the first set value remains unchanged and is only related to the inlet temperature of the object. On the basis of the first set value, a compensation value is added, and the compensation value is fine-tuned in real time according to the heating situation of the object, so that the second set value is fine-tuned in real time according to the heating situation of the object. Since it is open-loop control, there will be an error in the outlet temperature of the object. If the heat error e between the first set value and the actual value is less than zero, it means that the object absorbs too much heat. When the initial temperature of the object is relatively high, it may exceed the temperature upper limit. Therefore, on the basis of the first set value, it is appropriately reduced, and the parameters of the heating module are determined according to the reduced second set value. In this way, even if there is still an error, the distance between the outlet temperature of the object and the temperature upper limit can be increased; on the contrary, the situation where the heat error e between the first set value and the actual value is greater than or equal to zero is obtained. For objects with the same inlet temperature, the first set value is the same, but the second set value can be different. The reason is that the heat error e between the first set value and the actual value is constantly changing, and the compensation value ΔRT is determined through error feedback control. If the heat error e(n) between the first set value and the actual value is less than zero, first, Kp has a direct impact and reduces the set value. The impact of Kp only targets the heat error e between the first set value and the actual value in this time (the nth time), and has no impact on the subsequent ones; while Kd plays a predictive role, adjusts in advance by testing the change trend of the heat error e(n), and Kd is accumulated over time to reduce the steady-state error.

[0053] When the inlet temperatures of the nth and (n - 1)th objects are the same, for the compensation value of the (n - 1)th time, the generated error is e(n - 1). According to e(n - 1), ΔRT is obtained. When the nth object arrives at the inlet of the heating module, since the inlet temperatures are the same and the first set value is the same, but ΔRT changes after e(n - 1) is generated, the nth object is heated according to the second set value after ΔRT changes. In order to save resources and improve processing efficiency, the heating time of the object in the heating module is controlled to achieve temperature control of the object. The heating time is determined according to the second set value and compared with the first set value to obtain an error.

[0054] The main controller can adopt a microprocessor or a programmable logic controller. The microprocessor has high flexibility and is easy to implement complex data processing algorithms; while the programmable logic controller has a wide influence in the industrial field, extremely high reliability, powerful logic control capabilities, and can process a large number of input and output signals at the same time. The secondary controller only needs to perform simple logical judgments and can adopt a microprocessor.

[0055] After the heating is completed, the infrared temperature measurement module measures the temperature of the object again and sends the temperature signal to the main controller and the secondary controller. The secondary controller controls the conveyor belt that the object is to enter.

[0056] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed invention.

Claims

1. A temperature change monitoring system for a heating device, characterized in that, It includes a heating module, an infrared temperature measurement module, a sorting module and a control module; the output end of the infrared temperature measurement module is connected to the input end of the control module, and is used to obtain the inlet temperature of the object before entering the heating device and the outlet temperature after the heating is completed; the control module controls the heating module to heat the object based on the inlet temperature of the object before entering the heating device, and generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed; the sorting module sorts the object based on the control signal generated by the control module and returns the problem that the temperature does not meet the requirements; the heating module is used to heat the object and reheat the returned object. The control module further includes a differential unit, a heat analysis unit, a first set value determination unit and a second set value determination unit; the differential unit is used to establish a differential equation for the change of the object temperature with time in the heating device; the heat analysis unit is used to analyze the relationship between the absorbed heat Q and the temperature T; the first set value determination unit generates a first set value of the object based on the inlet temperature of the object before entering the heating device; the second set value determination unit determines a second set value of the object based on the error between the first set value and the actual value after the object heating is completed. The first set value determination unit generates a first set value of the object based on the inlet temperature of the object before entering the heating device, and further includes the following steps: Obtain the expected value ET of the inlet temperature of the object before entering the heating device in , require the upper limit T of the temperature u and the lower limit T d , based on the expected value ET of the inlet temperature in and the lower limit T d Determine the lower limit Q of the absorbed heat d , based on the expected value ET of the inlet temperature in and the upper limit T u Determine the upper limit Q of the absorbed heat u , according to Q d and Q u Obtain the median Q of the absorbed heat mid , according to the expected value ET of the inlet temperature of the object before entering the heating device in and the median Q of the absorbed heat mid Obtain the expected value ET of the outlet temperature of the object after completing heating out , based on ET out and the differential equation of the object temperature changing with time in the heating device to determine the expected value E of the object heating time t ; Obtain the inlet temperature T of the object before it enters the heating device in , according to T in , the expected value E of the object heating time t and the differential equation of the object temperature changing with time in the heating device to determine the outlet temperature T of the object after heating is completed out , if the outlet temperature T out is within the required interval [T d , T u , where T d and T u represent the lower and upper temperature limits, then the first set value corresponding to the inlet temperature T of the object before it enters the heating device in is T out , if the outlet temperature T out is higher than T u , then the corresponding first set value is T u ; if the outlet temperature T out is less than T d , then the corresponding first set value is T d ; The second set value determination unit determines a second set value of the object based on the error between the set value and the actual value after the object heating is completed, and further includes the following steps: After the object is heated to completion, obtain the heat error e between the first set value and the actual value. Then, according to the inlet temperature T of the object before entering the heating device in , respectively determine the heat Q1 absorbed by the object when heating up from T in to RT1, and the heat Q2 absorbed by the object when heating up from T in to TR. e = Q1 - Q2, where RT1 represents the first set value and TR represents the actual value; If the heat error e between the first set value and the actual value is greater than or equal to zero, and the distance between the actual value of the object temperature and the temperature lower limit T d is reduced, then the first set value RT1 is compensated, and the first set value is increased to obtain the compensated second set value RT2, RT2 = RT1 + ΔRT, where ΔRT is the compensation value; If the heat error e between the first set value and the actual value is less than zero, and the distance between the actual value of the object temperature and the temperature upper limit T u is reduced, then the first set value RT1 is compensated, and the first set value is reduced to obtain the compensated second set value RT2, where RT2 = RT1 - ΔRT; The compensation value is determined by the following formula: ΔRT = Kp×e(n)+Ki×t(n)×e(n)+Kd×[e(n)-e(n - 1)] / t(n), where e(n) is the heat error between the current set value and the actual value, e(n - 1) is the heat error between the previous set value and the actual value, t(n) is the heating time of the current object, and Kp, Ki and Kd are control parameters. The control module further includes a main controller, which obtains the inlet temperature of the object before entering the heating device from the infrared temperature measurement module, determines the first set value of the object according to the inlet temperature of the object before entering the heating device; determines the second set value according to the historical heating data of the object in the heating device and the first set value, controls the heating time of the object by the heating device based on the second set value, determines the heat error between the object temperature and the first set value after the object heating is completed, and updates the compensation value for determining the second set value of the next object.

2. The temperature change monitoring system of a heating device according to claim 1, characterized in that, It further includes a conveying module. The control module generates a control signal for the sorting module based on the outlet temperature of the object after the heating is completed. If the outlet temperature of the object after the heating is completed meets the temperature requirement, the sorting module is enabled to open the first channel, and the conveying module enables the object to enter the subsequent processing link; if the outlet temperature of the object after the heating is completed does not meet the temperature requirement, the sorting module is enabled to open the second channel, and the conveying module enables the object to return to the heating module for reheating.

3. The temperature change monitoring system of a heating device according to claim 2, wherein It further includes a cooling module. When the outlet temperature of the object after heating is completed does not meet the temperature requirement, the object is conveyed to the cooling module for cooling via the conveying module, and after the cooling is completed, the conveying module conveys the object to the heating module.

4. The temperature change monitoring system of a heating device according to claim 3, characterized in that, The differential unit establishes a differential equation for the change of the object temperature with time in the heating device through the following steps: Establish a differential equation: , where T represents the temperature of the object, and T jr represents the temperature of the heating device, t represents the heating time, and k represents a constant; Solve the differential equation, separate variables according to the differential equation and integrate to obtain the following expression: , after simplification, we get: , where T0 represents the inlet temperature of the object before entering the heating device.

5. The temperature change monitoring system of a heating device according to claim 4, wherein The heat analysis unit analyzes the relationship between the absorbed heat Q and the temperature T through the following steps: An equation is established based on the heat formula and the heating power, c×m×ΔT = P×t×η, where c is the specific heat capacity of the object, m is the mass of the object, ΔT is the temperature change of the object, P is the power of the heating device, and η is the efficiency of the heating device; the constants in the equation are integrated to obtain a new equation: A×ΔT = B×t, where A and B are constants; historical data of the object heated by the heating device is obtained, and in the data with the same power of the heating device, two sets of data are taken to establish a system of equations: , where ΔT1 and ΔT2 are the temperature changes of the object, and t1 and t2 are the heating times of the object. After solving, the constant A is obtained. After solving multiple times, the average value is taken to reduce the influence of contingency; according to the constant A, the relationship between the absorbed heat Q and the temperature T is obtained: Q = A×ΔT.

6. The temperature change monitoring system of a heating device according to claim 5, characterized in that It further includes a data storage module, and the data storage module is used to store the historical heating data of the object in the heating device.

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