Clothes dryer

Abstract

The invention discloses a clothes dryer, which comprises a box body; a door body; a door lock; the auxiliary door opening module comprises a power source; a decompression device; the pressure regulating device outputs pilot pressure; a pressure channel; an air inlet of the relay valve is communicated with an air outlet of the power source, and an air outlet of the relay valve is communicated with an inlet of the pressure channel; the first air pressure sensor is used for detecting pilot pressure; the second air pressure sensor is used for detecting output pressure; the pressure regulating device comprises a first electromagnetic valve, a second electromagnetic valve and a controller, and the controller is configured to obtain a first fuzzy output quantity, a second fuzzy output quantity and a third fuzzy output quantity through fuzzy control logic according to an error e and an error change rate ec; obtaining a proportional adjustment item, an integral adjustment item and a differential adjustment item through anti-fuzzy control logic; obtaining an output quantity u through PID (Proportion Integration Differentiation) control; and controlling the pressure regulating device to increase or maintain or reduce pressure according to the positive or negative value of the output quantity u.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and particularly to a dryer. Background Art

[0002] A dryer is a device for quickly drying wet clothes. The dryer includes a cabinet and a door. A feeding port is provided on the cabinet, and the door is used to open or close the feeding port. When the dryer is working, the door must be kept closed to ensure that hot air does not leak out, so as to ensure the drying effect. After the dryer finishes working, the user needs to open the door to take out the clothes. Since the drying effect is ensured during drying, the door switch is generally relatively tight, and generally the user needs to use a relatively large pulling force to open it.

[0003] Currently, the door switch of a dryer usually adopts a mechanical or electronic switch. When the door switch is a mechanical switch, the user needs a certain pulling force to pull the door switch device. When the door switch is an electronic switch, the electronic switch includes a sensor and a control circuit. When the user approaches the dryer, the sensor will detect the presence of the user and automatically open the door through mechanical transmission.

[0004] However, when the door switch is a mechanical switch, the user needs to have a certain arm strength. For special groups with poor arm strength, it is difficult to open the door; moreover, since the pulling force needs to be estimated by oneself, too small or too large will bring discomfort, and the experience is not good for users who pursue a smooth experience.

[0005] When the door switch is an electronic switch, its control algorithm is complex, and the fuzzy algorithm adopted in the prior art has problems such as inaccurate operation logic and insufficient control accuracy. If you want to improve the accuracy, it will consume a large amount of single-chip microcomputer resources; while PID control is not applicable to non-linear and time-varying control systems.

[0006] Therefore, the present application proposes a dryer. Summary of the Invention

[0007] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this reason, According to an embodiment of the present disclosure, there is provided a dryer, including: A cabinet, including a feeding port provided on the front side of the cabinet; A drying cylinder, provided in the cabinet; A door, connected to the cabinet and used to open or close the feeding port; A door lock, connected to the cabinet, the door lock locks the door to limit the door from opening the feeding port, or the door lock unlocks with the door to enable the door to open the feeding port; An auxiliary door opening module is disposed in the box body and is used to apply air thrust to the door body so that the door body and the door lock are unlocked; the auxiliary door opening module includes: A power source for providing compressed air; A decompression device, used to reduce the pressure of air flowing through the decompression device, wherein the air inlet of the decompression device is connected to the air outlet of the power source; A pressure regulating device, used for regulating air pressure, wherein the air inlet of the pressure regulating device is connected to the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; Pressure channel for transmitting air; a relay valve, the air inlet of which is connected to the air outlet of the power source and the air outlet of which is connected to the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device; A first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure; a second air pressure sensor, used for detecting the pressure value of the air between the air outlet of the relay valve and the pressure channel and recording the detected pressure value as the output pressure; The voltage regulating device comprises: a first solenoid valve, the inlet of which is connected to the outlet of the pressure reducing valve; a second solenoid valve, the inlet of which is connected to the outlet of the first solenoid valve and the pilot port of the relay valve; The controller is configured as: Obtaining an actual pressure value F2' through the pilot pressure or the output pressure; The difference between the preset interaction force F2 and the actual pressure value F2' is defined as an error e; Define the error change rate measured after a preset interval as ec; According to the error e and the error change rate ec, the first fuzzy output up1, the second fuzzy output ui1 and the third fuzzy output ud1 are obtained through fuzzy control logic; According to the first fuzzy output up1, the proportional adjustment term △ is obtained through the anti-fuzzy control logic. ;

[0008] According to the second fuzzy output ui1, the integral adjustment term △ is obtained through the anti-fuzzy control logic. ;

[0009] According to the third fuzzy output ud1, the differential adjustment term △ is obtained through the anti-fuzzy control logic. ;

[0010] Set the proportional adjustment item △ , integral adjustment item△ and the differential adjustment term △ Substitute into the PID control to obtain the output u;

[0011] Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output u, and control the pressure regulating device to increase pressure, maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0012] This application combines fuzzy control logic with PID control, which can not only give play to the advantages of the fuzzy algorithm in non-linear, time-varying and parameter-uncertain systems, but also have the high-precision control advantages of the PID control algorithm, ensuring the fast, accurate and stable output of the opening thrust of the auxiliary door opening module.

[0013] This application also provides a dryer, including: A cabinet, including a feeding port provided on the front side of the cabinet; A drying cylinder, provided in the cabinet; A door body, connected to the cabinet and used to open or close the feeding port; A door lock, connected to the cabinet, the door lock locks the door body to limit the door body from opening the feeding port or the door lock unlocks from the door body to enable the door body to open the feeding port; An auxiliary door opening module, provided in the cabinet, used to apply an air thrust to the door body to unlock the door body from the door lock; the auxiliary door opening module includes: A power source, used to provide compressed air; A pressure reducing device, used to reduce the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source; A pressure regulating device, used to regulate the air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; A pressure channel, used to transmit air; A relay valve, its air inlet is communicated with the air outlet of the power source and its air outlet is communicated with the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device; A first air pressure sensor, used to detect the air pressure value between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure; A second air pressure sensor, used to detect the air pressure value between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure; The pressure regulating device includes: A first solenoid valve, its inlet is connected to the outlet of the pressure reducing valve; A second solenoid valve, whose inlet is connected to the outlet of the first solenoid valve and the pilot port of the relay valve; A controller, configured to: Obtain an actual pressure value F2' through the pilot pressure or the output pressure; Define the difference between the preset interaction force F2 and the actual pressure value F2' as an error e; Define the error change rate measured after a preset interval as ec; According to the error e and the error change rate ec, sequentially obtain a proportional adjustment term Δ , an integral adjustment term Δ and a derivative adjustment term Δ ;

[0014] Substitute the proportional adjustment term Δ , the integral adjustment term Δ and the derivative adjustment term Δ into PID control to obtain an output u;

[0015] Control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0016] In some embodiments of the present application, define the basic domain of the error e as [-E, E], where E is the maximum boundary value of the error e, and obtain the domain of the input fuzzy subset through a first logical operation based on the maximum boundary value E of the error e and the error e.

[0017] In some embodiments of the present application, the domain of the input fuzzy subset is defined as integers greater than or equal to -a and less than or equal to a; Obtain the error fuzzy level corresponding to the error e according to the input fuzzy subset corresponding to the error e.

[0018] In some embodiments of the present application, define the basic domain of the error change rate ec as [-A1, A1], where A1 is the maximum boundary value of the error change rate ec, and obtain the domain of the error change rate fuzzy subset through a second logical operation based on the maximum boundary value A1 of the error change rate ec and the error change rate ec.

[0019] In some embodiments of the present application, the domain of the error change rate fuzzy subset is defined as integers greater than or equal to -b and less than or equal to b; Obtain the error change rate fuzzy level corresponding to the error change rate ec according to the error change rate fuzzy subset obtained from the error change rate ec.

[0020] In some embodiments of the present application, the proportional adjustment term △ at this time is determined according to the error fuzzy level corresponding to the error e and the error change rate fuzzy level corresponding to the error change rate ec. The fuzzy level of the integral adjustment term △ and the fuzzy level of the differential adjustment term △

[0021] Define the membership relationship between the fuzzy level of the proportional adjustment term △ and the domain of the proportional fuzzy subset. Define the membership relationship between the fuzzy level of the integral adjustment term △ and the domain of the integral fuzzy subset. Define the membership relationship between the fuzzy level of the differential adjustment term △ and the domain of the differential fuzzy subset.

[0022] Define the membership relationship between the error fuzzy level and the domain of the input fuzzy subset, and define the membership relationship between the error change rate fuzzy level and the domain of the error change rate fuzzy subset. According to the membership relationships corresponding to the error e, the error change rate ec, and the proportional adjustment term △ , the first fuzzy output quantity up1 is obtained through fuzzy control logic.

[0023] According to the membership relationships corresponding to the error e, the error change rate ec, and the integral adjustment term △ , the second fuzzy output quantity ui1 is obtained through fuzzy control logic.

[0024] According to the membership relationships corresponding to the error e, the error change rate ec, and the differential adjustment term △ , the third fuzzy output quantity ud1 is obtained through fuzzy control logic.

[0025] In some embodiments of the present application, the PID control includes: presetting a proportional constant , an integral constant , and a differential constant .

[0026] The error e and the error change rate ec are calculated multiple times and counted. The proportional term is obtained by adding the proportional constant and the proportional adjustment term △ . The integral term is obtained by adding the integral constant and the integral adjustment term △ . The differential term is obtained by adding the differential constant and the differential adjustment term △ .

[0027] In some embodiments of the present application, by multiplying a proportional term by the error e at the k-th time to obtain the proportional parameter;

[0028] By multiplying an integral term by the sum of the errors e from the 1st to the k-th time to obtain the integral parameter;

[0029] By multiplying a differential term by the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain the differential parameter;

[0030] Adding the proportional parameter, the integral parameter, and the differential parameter to obtain the value of the output u(k) at the k-th time.

[0031] In some embodiments of the present application, when the output u(k) is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases the pressure; When the output u(k) is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains the pressure; When the output u(k) is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces the pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 is the structural diagram of the auxiliary door opening module in the embodiment of the present invention; Figure 2 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention; Figure 3 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention; Figure 4 is another structural diagram of the auxiliary door opening module in the embodiment of the present invention; Figure 5 is the front view of the dryer in the embodiment of the present invention; Figure 6 is another front view of the dryer in the embodiment of the present invention; Figure 7 is the schematic diagram of the principle of the door body opening in the embodiment of the present invention; Figure 8 is the schematic structural diagram of the dryer in the embodiment of the present invention; Figure 9 It is another schematic structural diagram of the dryer according to the embodiment of the present invention; Figure 10 It is another schematic structural diagram of the dryer according to the embodiment of the present invention; Figure 11 It is a membership function relationship diagram of the error fuzzy level and the domain of the input fuzzy subset of the auxiliary door opening module according to the embodiment of the present invention; Figure 12 It is a membership relationship table of the error fuzzy level and the domain of the input fuzzy subset of the auxiliary door opening module according to the embodiment of the present invention; Figure 13 It is a membership function relationship diagram of the error change rate fuzzy level and the domain of the error change rate fuzzy subset of the auxiliary door opening module according to the embodiment of the present invention; Figure 14 It is a membership relationship table of the error change rate fuzzy level and the domain of the error change rate fuzzy subset of the auxiliary door opening module according to the embodiment of the present invention; Figure 15 It is a membership function relationship diagram of the proportional adjustment term fuzzy level, integral adjustment term fuzzy level, differential adjustment term fuzzy level and the domain of their corresponding fuzzy subsets of the auxiliary door opening module according to the embodiment of the present invention; Figure 16 It is a membership relationship table of the proportional adjustment term fuzzy level and the domain of the proportional adjustment term fuzzy subset of the auxiliary door opening module according to the embodiment of the present invention; Figure 17 It is a corresponding table of the fuzzy levels of the proportional adjustment term, integral adjustment term and differential adjustment term of the auxiliary door opening module according to the embodiment of the present invention.

[0034] Figure 18 It is an information transfer diagram between the mobile phone software and the dryer through the WIFI module according to the embodiment of the present invention; Figure 19 It is a flow chart of the PID control algorithm of the auxiliary door opening module according to the embodiment of the present invention; Figure 20 It is a flow chart of entering the PID control algorithm of the auxiliary door opening module according to the embodiment of the present invention.

[0035] In the following figures: Clothes dryer 100; cabinet 1; drying air duct 11; front air duct 111; rear air duct 112; lower air duct 113; drying drum 12; air inlet 121; air outlet 122; front seal 123 of the drum; rear seal 124 of the drum; clothes receiving cavity 125; motor 126; belt 127; blower 13; evaporator 141; condenser 142; first water storage tank 15; second water storage tank 16; drainage pump 17; first drain pipe 171; water container 18; water container tray 19; second drain pipe 191; auxiliary door opening module 4; power source 41; pressure reducing device 42; pressure regulating device 43; first solenoid valve 431; second solenoid valve 432; flow regulator 433; pressure channel 44; main pressure channel 441; auxiliary pressure channel 442; relay valve 45; pressure sensor 46; first air pressure sensor 471; second air pressure sensor 472; air pressure control device 473; one-way air device 474; emergency exhaust device 475; standby air source device 476; filtering device 477; door body 5; door handle 51. Detailed implementation manners

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be described and explained 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. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0037] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0038] When "embodiment" is mentioned in the present application, it means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0039] The terms "connection", "coupling", "attachment" and similar terms involved in this application do not limit to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application means two or more. The "and / or" describes the relationship between associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0040] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Referring to Figures 1 - 10 , the dryer 100 includes a cabinet 1. Among them, the direction from the bottom to the top of the cabinet 1 is the height direction of the cabinet.

[0042] Refer to Figures 5 - 6 and Figures 8 - 10 , the cabinet 1 forms the appearance of the dryer 100, and the cabinet 1 has an accommodation space for accommodating and fixing various components in the dryer 100 to ensure the structural stability of the dryer 100.

[0043] The cabinet 1 includes a feeding port (not shown). Among them, the feeding port is provided on the front side of the cabinet 1.

[0044] The dryer further includes a drying cylinder 12. The drying cylinder 12 is disposed in the cabinet 1. Among them, the drying cylinder 12 is rotatably disposed in the cabinet 1.

[0045] Specifically, the cabinet includes a placement space provided in the cabinet. Among them, the drying cylinder is disposed in the placement space.

[0046] The drying cylinder includes a drying port (not shown) provided at the side end of the drying cylinder. Among them, the drying port is provided on the side of the drying cylinder close to the feeding port, and the drying port is disposed opposite to the feeding port.

[0047] A clothing accommodation cavity is formed in the drying cylinder 12. Among them, the clothing accommodation cavity is communicated with the drying port, and clothes can be placed in the clothing accommodation cavity through the feeding port and the drying port. The clothing accommodation cavity is used to accommodate the clothes to be dried to dry the clothes to be dried in the clothing accommodation cavity.

[0048] The dryer further includes a door body 5. The door body is connected to the cabinet body and is used to open or close the feeding port. The door body 5 is arranged on one side of the drying cylinder 12. By opening and closing the door body 5, clothes can be put in or taken out, so as to realize the putting in and taking out of clothes in the clothes accommodating cavity.

[0049] The dryer further includes a door lock. The door lock is connected to the cabinet body. The door lock locks the door body to restrict the opening of the feeding port by the door body, or unlocks the door body from the door lock to enable the door body to open the feeding port.

[0050] Currently, opening the door body of the dryer requires a certain amount of arm strength from the user. For special groups with poor arm strength, it is difficult to open the door body. Moreover, since the pulling force needs to be estimated by the user, too small or too large a pulling force will cause discomfort to the user, resulting in a poor experience for users who pursue a smooth experience. Or, the dryer often misjudges the user's intention to open the door, causing the door to open when it does not need to be opened.

[0051] Therefore, the dryer is further provided with an auxiliary door opening module 4. The auxiliary door opening module 4 is arranged in the cabinet body and is used to apply an air thrust to the door body to unlock the door body from the door lock.

[0052] Reference Figure 1 , the auxiliary door opening module 4 includes a power source 41. The power source is used to provide compressed air.

[0053] Reference Figure 1 , the auxiliary door opening module 4 further includes a pressure reducing device 42. The pressure reducing device 42 is used to reduce the pressure of the air flowing through it. The air inlet of the pressure reducing device is communicated with the air outlet of the power source, so that the pressure reducing device can reduce the pressure of the air flowing out of the power source and output the decompressed air.

[0054] The auxiliary door opening module 4 further includes a pressure regulating device 43. The pressure regulating device 43 is used to regulate the air pressure. The air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure.

[0055] Reference Figure 1 , the maximum pressure of the pressure regulating device is regulated by the pressure reducing device 42.

[0056] Reference Figure 1 , the auxiliary door opening module 4 further includes a pressure channel 44. The pressure channel 44 is used to transmit air.

[0057] Reference Figure 1, the auxiliary door opening module 4 further includes a relay valve 45. Among them, the air inlet of the relay valve 45 is communicated with the air outlet of the power source, and the air outlet of the relay valve 45 is communicated with the inlet of the pressure passage; the pilot port of the relay valve is connected to the pressure regulating device. The relay valve receives the pilot pressure output by the pressure regulating device, and the relay valve amplifies the flow rate according to the pilot pressure and outputs driving air into the pressure passage. The pressure of the driving air is the same as the pilot pressure.

[0058] When the door body is locked with the door lock, the outlet of the pressure passage faces the door body and applies a force to the door body through the driving air to unlock the door body from the door lock.

[0059] It is provided that the dryer includes an auxiliary door opening module. The auxiliary door opening module includes a power source, a pressure reducing device, a pressure regulating device, a relay valve and a pressure passage, which can generate air with a certain pressure to apply a force to the door body so that the door body can be opened. The auxiliary door opening module can play an auxiliary role in opening the door, solve the problem that it is difficult for the user to open the door due to insufficient arm strength, and the problem of unsmooth door opening caused by the user's inaccurate estimation of the opening pulling force. The air transmission has high smoothness, uniform and smooth output force, can extend the service life of the door lock, and can bring the user a smooth door opening experience.

[0060] In some embodiments of the present application, the power source can be a pump body. Among them, the power source can be a small pump.

[0061] In some embodiments of the present application, the pressure reducing device is a pressure reducing valve.

[0062] In some embodiments of the present application, refer to Figures 5 - 6 , the auxiliary switch module further includes a pressure sensor 46. The pressure sensor 46 is arranged on the box body, and the pressure sensor 46 is used to detect the interaction force F0 between the door body and the box body.

[0063] The auxiliary switch module further includes a first air pressure sensor 471 and a second air pressure sensor 472.

[0064] Among them, the first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device, and record the pressure value detected by the first air pressure sensor as the pilot pressure.

[0065] Among them, the second air pressure sensor 472 is used to detect the pressure value of the air between the air outlet of the relay valve and the pressure passage, and record the pressure value detected by the second air pressure sensor 472 as the output pressure.

[0066] Specifically, the flow path between the pilot port of the relay valve and the pressure regulating device is the pilot flow path; the flow path between the air outlet of the relay valve and the pressure passage is the output flow path.

[0067] Among them, the first air pressure sensor is used to detect the air pressure value in the pilot flow path; the second air pressure sensor is used to detect the air pressure value in the output flow path.

[0068] The dryer further includes a controller (not shown), and the controller is configured to: Monitor the interaction force F0 between the door body and the cabinet body; When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, control the pressure regulating device to increase the pressure to increase the pilot pressure or control the pressure regulating device to maintain the pressure to keep the pilot pressure unchanged. The relay valve conveys air to the pressure channel to reduce the interaction force. When the interaction force decreases to 0, the door body and the door lock are unlocked.

[0069] By setting the monitoring of the interaction force F0 between the door body and the cabinet body and when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, controlling the pressure regulating device to increase or maintain the pressure, the relay valve can generate air with a certain pressure to apply force to the door body, so that the door body opens; and by monitoring the interaction force F0 between the door body and the cabinet body in this way to identify whether the user has an intention to open the door, and when the interaction force F0 decreases, it proves that the user has indeed made some actions on the door body, and when the interaction force F0 is less than the first preset interaction force, it proves that the user indeed has an intention to open the door. Therefore, when the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, increasing or maintaining the pressure and the relay valve outputting air can avoid misjudging the user's intention to open the door and causing the door to open when it does not need to be opened, so as to improve the accuracy of judging the intention to open the door and improve the user experience.

[0070] It should be noted that the controller refers to a device that can generate operation control signals according to the instruction operation code and timing signals to instruct the dryer 100 to execute control instructions. Exemplarily, the controller can be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a programmable logic device (PLD), a microprocessor, a microcontroller, or any combination thereof. The controller can also be other devices with processing functions, such as circuits, devices, or software modules, and the embodiments of the present application do not make any restrictions on this.

[0071] In some embodiments of the present application, the controller is configured to: After the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, obtain the current pilot pressure of the air in the pilot flow path, and determine whether the current pilot pressure reaches the first pilot pressure P1. When the current pilot pressure does not reach the first pilot pressure P1, control the pressure regulating device to increase the pressure so that the pilot pressure increases. When the current pilot pressure reaches the first pilot pressure P1, control the pressure regulating device to maintain the pressure so that the pilot pressure remains unchanged.

[0072] In some embodiments of the present application, the controller is configured to: When the current pilot pressure does not reach the first pilot pressure P1, control the pressure regulating device to increase the pressure so that the pilot pressure of the air in the pilot flow path increases, and stop increasing when the pilot pressure increases to the target pilot pressure P0.

[0073] The thrust required for the door body to open is F2, and the corresponding target pilot pressure is P0.

[0074] In some embodiments of the present application, when the interaction force decreases to 0, the pressure regulating device reduces the pressure, and the auxiliary door opening module no longer generates a thrust on the door body.

[0075] In some embodiments of the present application, referring to Figure 2 , the pressure regulating device includes a first solenoid valve 431 and a second solenoid valve 432.

[0076] The inlet of the first solenoid valve 431 is connected to the outlet of the pressure reducing valve.

[0077] The inlet of the second solenoid valve 432 is connected to the outlet of the first solenoid valve and the pilot port of the relay valve.

[0078] When the pressure regulating device increases the pressure, the first solenoid valve and the second solenoid valve are energized; When the pressure regulating device maintains the pressure, the first solenoid valve is de-energized and the second solenoid valve is energized; When the pressure regulating device reduces the pressure, the first solenoid valve and the second solenoid valve are de-energized.

[0079] Among them, the state shown in the figure is that the first solenoid valve and the second solenoid valve are de-energized.

[0080] By energizing and de-energizing the first solenoid valve to control the connection and disconnection of the first solenoid valve, and by turning on and off and de-energizing the second solenoid valve to control the disconnection and connection of the second solenoid valve.

[0081] Among them, when the first solenoid valve is energized, the first solenoid valve is connected; when the first solenoid valve is de-energized, the first solenoid valve is disconnected; when the second solenoid valve is de-energized, the second solenoid valve is connected; when the second solenoid valve is energized, the second solenoid valve is disconnected.

[0082] The outlet of the second solenoid valve is connected to other devices or is open.

[0083] The first solenoid valve and the second solenoid valve are two-position three-way solenoid valves.

[0084] In some embodiments of the present application, referring to Figure 2 , the pressure regulating device further includes a flow rate regulator 433. The inlet of the flow rate regulator is connected to the pressure reducing device, and the flow rate regulator 433 is used to control the flow rate of the flow path between the pressure regulating device and the pilot port of the relay valve. Since the relay valve has the function of amplifying the flow rate, the regulation of the flow path between the pressure regulating device and the pilot port of the relay valve is for the regulation of the flow rate output by the relay valve.

[0085] Among them, the flow rate regulator 433 can be a throttle valve.

[0086] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes a gas path pressure control device 473. The inlet of the gas path pressure control device 473 is connected to the air outlet of the power source, and the gas path pressure control device 473 is used to control the air pressure of the flow path between the air outlet of the power source and the pressure reducing device to be lower than its overflow air pressure.

[0087] The gas path pressure control device 473 is an overflow valve. Among them, the inlet of the overflow valve is connected to the air outlet of the power source, and the outlet of the overflow valve is communicated with other devices or is an open port.

[0088] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes a one-way air device 474. The one-way air device 474 is used to prevent air from flowing back. The inlet of the one-way air device 474 is connected to the air outlet of the power source, and the outlet of the one-way air device 474 is connected to the pressure reducing device.

[0089] Among them, the one-way air device 474 is a one-way valve.

[0090] In some embodiments of the present application, referring to Figure 3 and Figure 4 , the auxiliary door opening module further includes an emergency exhaust device 475. The emergency exhaust device 475 is used to cut off the air flow path between the power source, the pressure reducing device and the relay valve.

[0091] In the case where the air path fails and continuously pushes the door body, the emergency exhaust device 475 can be used to cut off the air path and at the same time evacuate the air on the side of the emergency exhaust device 475 far from the power source.

[0092] Among them, the emergency exhaust device 475 can be a stop valve.

[0093] In some embodiments of the present application, referring to Figure 3 and Figure 4, the auxiliary door opening module further includes a filtering device 477, which is connected to the air inlet of the pressure regulating device and the side of the air inlet of the relay valve close to the power source. The filtering device is used to filter impurities in the air to ensure the purity of the gas.

[0094] Among them, the filtering device can be a filter.

[0095] In some embodiments of the present application, refer to Figure 3 and Figure 4 , the auxiliary door opening module further includes a standby air source device 476. When the power source fails, the standby air source device can replace the power source pump for a period of time, improving the durability of the device and making up for the empty period before after-sales service arrives.

[0096] The standby air source device 476 can be a gas storage tank with a certain volume.

[0097] In some embodiments of the present application, the pressure channel can be one-way. The inlet of the pressure barrel is connected to the air outlet of the relay valve, and the outlet of the pressure channel faces the door body when the door body closes the discharge port.

[0098] In some embodiments of the present application, refer to Figure 3 and Figure 4 , the pressure channel includes a main pressure channel 441, and the inlet of the main pressure channel 441 is connected to the air outlet of the relay valve.

[0099] The pressure channel further includes at least two auxiliary pressure channels 442. Among them, one end of the two auxiliary pressure channels is connected to the outlet of the main pressure channel at the same time, and the outlets of the two auxiliary pressure channels respectively correspond to different positions of the door body.

[0100] In some embodiments of the present application, refer to Figure 5 and Figure 6 , the door body includes a door handle 51, and a pressure sensor is arranged on one side of the door handle of the door body. When the door body closes the discharge port, the position corresponding to the door body where the outlet of the pressure channel is located is on one side of the door handle.

[0101] In some embodiments of the present application, the number of pressure sensors is the same as the number of auxiliary pressure channels. Among them, the pressure sensors and the auxiliary pressure channels are in one-to-one correspondence. That is, the pressure sensors are arranged on one side of the outlets of the auxiliary pressure channels, and the distance between each pressure sensor and the outlet of its corresponding auxiliary pressure channel is equal or the difference between adjacent distances is within a certain range to ensure the stability of the values detected by the pressure sensors.

[0102] Among them, the interaction force is the interaction force corresponding to the average value of the values detected by the pressure sensors.

[0103] In some embodiments of the present application, the box body includes a feeding port provided on the front side of the box body; the door body is connected to the box body and is used to open or close the feeding port; the door lock connects the box body, and the door lock locks the door body to restrict the door body from opening the feeding port or unlocks the door lock from the door body to enable the door body to open the feeding port; the auxiliary door opening module is provided inside the box body, and the auxiliary door opening module is used to apply an air thrust to the door body to unlock the door body from the door lock.

[0104] The auxiliary door opening module includes a power source, a pressure reducing device, a pressure regulating device, a pressure channel, a relay valve, a pressure sensor, a first air pressure sensor, and a second air pressure sensor; the power source is used to provide compressed air; the pressure reducing device is used to reduce the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source; the pressure regulating device is used to adjust the air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; the pressure channel is used to transmit air; The air inlet of the relay valve is communicated with the air outlet of the power source and its air outlet is communicated with the inlet of the pressure channel; the pilot port of the relay valve is connected to the pressure regulating device.

[0105] The pressure sensor is provided on the box body to detect the interaction force F0 between the door body and the box body; The first air pressure sensor is used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure; The second air pressure sensor is used to detect the pressure value of the air between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure; The controller is configured to: Monitor the interaction force F0 between the door body and the box body; When the interaction force F0 decreases and the interaction force F0 is less than the first preset interaction force, control the pressure regulating device to increase the pressure or maintain the pressure, and the relay valve conveys air to the pressure channel to reduce the interaction force.

[0106] By setting the interaction force F0 between the monitoring door body and the box body, and when the interaction force F0 decreases and is less than the first preset interaction force, controlling the pressure regulating device to increase the pressure or maintain the pressure, so that the relay valve can generate air with a certain pressure to apply force to the door body to open the door body; and by monitoring the interaction force F0 between the door body and the box body to identify whether the user has an intention to open the door, and when the interaction force F0 decreases, it proves that the user has indeed made some actions on the door body, and when the interaction force F0 is less than the first preset interaction force, it proves that the user indeed has an intention to open the door. Therefore, when the interaction force F0 decreases and is less than the first preset interaction force, increasing the pressure or maintaining the pressure and the relay valve outputting air can avoid misjudging the user's intention to open the door and causing the door to open when it does not need to be opened, so as to improve the accuracy of judging the intention to open the door and improve the user experience.

[0107] In some embodiments of the present application, the air outlet of the power source is connected to the air inlet of the air path pressure control device and the air inlet of the one-way air device, the air outlet of the one-way air device is connected to the air inlet of the air storage device, the air outlet of the air storage device is connected to the air inlet of the emergency exhaust device, the air outlet of the emergency exhaust device is connected to the air inlet of the filtering device, and the air outlet of the filtering device is connected to the air inlet of the pressure reducing device and the air inlet of the relay valve.

[0108] The power source compresses air into the main air circuit, and the air pressure in the main air circuit is set by the air path pressure control device. The air in the main air circuit is divided into two paths after passing through the filtering device and flows into the pressure reducing device and the relay valve respectively. The set pressure P2 of the pressure reducing device is used as the air duct pressure of the pressure regulating device, and the pilot pressure is output to the relay valve pilot port through the pressure regulating device to control the output air pressure of the relay valve to be consistent with the pilot pressure.

[0109] In some embodiments of the present application, after the pressure regulating device enters the pressure increasing state, when the air pressure value detected by the first air pressure sensor is quite different from the air pressure value detected by the second air pressure device, it is prompted that the relay valve is damaged and needs to be replaced or repaired in time.

[0110] In some embodiments of the present application, if the user continuously exerts force during the entire door opening process, when the interaction force F0 is detected to be 0 during the pressure increasing process, it indicates that the door has been opened.

[0111] If the user does not want to continuously exert force and just tells the dryer the intention to open the door, they can briefly exert force and then let go, and wait for the auxiliary door opening module to work to open the door body.

[0112] In some embodiments of the present application, refer to Figures 8 - 10, an air inlet 121 and an air outlet 122 are provided on the drying cylinder 12. Both the air inlet 121 and the air outlet 122 are communicated with the clothing accommodating cavity. During the drying process, the dryer 100 generates a drying air flow. The drying air flow enters the clothing accommodating cavity from the air inlet 121, takes away the moisture on the clothes and is discharged from the air outlet 122. Refer to Figure 1 , in this embodiment, the air inlet 121 and the air outlet 122 are respectively arranged on the left and right sides of the drying cylinder 12, and the rotation of the drying cylinder 12 is realized by a transmission mechanism composed of a motor and a belt.

[0113] Refer to Figures 8 - 10 , a wind duct plate is arranged in the box body 1. A drying air duct 11 is formed between the wind duct plates. The drying air duct 11 is arranged between the box body 1 and the drying cylinder 12. The two ends of the drying air duct 11 are respectively communicated with the air inlet 121 and the air outlet 122 of the drying cylinder 12 to form a loop channel. A fan 13 is arranged in the drying air duct 11. The fan 13 is used to make the air in the drying air duct 11 flow in the direction from the air outlet 122 to the air inlet 121, so that the air in the clothing accommodating cavity enters the drying air duct 11 through the air outlet 122, and the air in the drying air duct 11 enters the clothing accommodating cavity through the air inlet 121, so as to realize the air circulation between the clothing accommodating cavity and the drying air duct 11. In this embodiment, the fan 13 is a centrifugal fan. The centrifugal fan is located on one side close to the air inlet 121 of the drying cylinder 12 and is driven by a motor. The drying cylinder 12 and the wind duct plate are sealed by a front cylinder seal 123 and a rear cylinder seal 124.

[0114] In this embodiment, refer to Figures 8 - 10 , the drying air duct 11 includes a front air duct 111 communicated with one side of the drying cylinder 12, a rear air duct 112 communicated with the other side of the drying cylinder 12, and a lower air duct 113. The front air duct 111 and the rear air duct 112 are communicated through the lower air duct 113. The drying air duct 11 is communicated with the clothing accommodating cavity to form a loop channel. Refer to Figures 8 - 10 , wherein, the arrow direction is the air circulation direction in the loop channel.

[0115] Refer to Figures 8 - 10 , a drying device is arranged in the drying air duct 11. The drying device is used to heat the dried air flow after condensation. The heated drying air flow is introduced into the clothing accommodating cavity from the air inlet 121. The drying device is also used to condense the high-temperature and high-humidity air flow discharged from the air outlet 122, so as to condense the moisture carried in the high-temperature and high-humidity air flow to form condensed water. In this way, the cycle is realized to take away the moisture of the clothes in the clothing accommodating cavity through the drying air flow, so that the moisture on the clothes is separated from the clothes, so as to realize the drying of the clothes.

[0116] Specifically, refer to Figures 8 - 10, in this embodiment, the drying device is arranged in the lower air duct 113, and the drying device includes a condenser 142 and an evaporator 141. The condenser 142 is located on the side of the evaporator 141 close to the upper air inlet 121 of the drying cylinder 12. The condenser 142 is used to heat the air in the drying air duct 11 to form a high-temperature and dry drying air flow. The drying air flow enters the drying cylinder 12 after passing through the drying air duct 11, and then evaporates the moisture of the clothes to be dried in the drying cylinder 12 to form a high-temperature and high-humidity air flow. The high-temperature and high-humidity air flow led out from the drying cylinder 12 contains a large amount of water vapor. After passing through the front air duct 111, it contacts the evaporator 141 with a low surface temperature in the lower air duct 113 to precipitate condensed water and become a low-temperature and low-humidity air flow. The low-temperature and low-humidity air flow is further heated by the condenser 142 to form a high-temperature and dry drying air flow.

[0117] Reference Figures 8 - 10 , the dryer 100 further includes a water storage tank for collecting the condensed water formed on the evaporator 141. In this embodiment, the water storage tank includes a first water storage tank 15 and a second water storage tank 16. The first water storage tank 15 is arranged in the lower air duct 113 and is located below the drying device. The second water storage tank 16 is arranged outside the drying air duct 11 and is communicated with the first water storage tank 15, so that the condensed water collected in the first water storage tank 15 enters the second water storage tank 16. By dividing the water storage tank into two parts and locating them on the inner and outer sides of the drying air duct 11 respectively, the volume of the water storage tank can be effectively increased, and thus the capacity of the water storage tank can be increased.

[0118] Reference Figures 8 - 10 , in order to drain the condensed water in the water storage tank, a drain pump 17 is arranged in the second water storage tank 16. The drain pump 17 is used to pump the water in the second water storage tank 16 into the water container 18 or to the outside of the cabinet 1.

[0119] Reference Figures 8 - 10 , a water container 18 is arranged at the top of the cabinet 1. An inlet is arranged at the top of the water container 18, and the inlet is communicated with the drain pump 17 through a first drain pipe 171. In this embodiment, the first drain pipe 171 extends from the bottom of the cabinet 1 to the top of the cabinet 1, and the first drain pipe 171 is communicated with the water container 18 through the inlet to realize draining the condensed water in the second water storage tank 16 into the water container 18.

[0120] Reference Figures 8 - 10, Further, a water container tray 19 is also provided at the top of the box body 1. A water container 18 is arranged in the water container tray 19, and the water container tray 19 is communicated with the water storage tank. Specifically, a water outlet is arranged at the bottom of the water container tray 19. The water outlet is arranged corresponding to the second water storage tank 16. The water outlet is communicated with the first water storage tank 15 through a second drain pipe 191. By arranging the water outlet and the second drain pipe 191, the water container tray 19 is communicated with the second water storage tank 16. When the water in the water container overflows into the water container tray 19 due to excessive amount, it will flow into the second water storage tank 16 through the second drain pipe 191 to relieve the water overflow situation of the water container.

[0121] In some embodiments of the present application, the dryer 100 may further include: a display, which may be a liquid crystal display or an organic light emitting diode display. The specific type, size and resolution of the display are not limited. Those skilled in the art can understand that the display can be changed in terms of performance and configuration according to needs.

[0122] The display can be used to display the control panel of the dryer 100 or the operation information of the dryer 100. The dryer displays operation information such as the operation duration of the dryer and the drying program being run through the display.

[0123] Among them, it is possible to operate through the control panel whether to open the door body of the dryer. When it is necessary to open, the controller controls the power source to work, the pressure regulating device increases the pressure or maintains the pressure, and the relay valve outputs air with a pilot pressure and acts on the door body to open the door body.

[0124] In some embodiments of the present application, the dryer may further include: a voice prompt device, which is used to play voice prompt information according to the program. Among them, the content of the voice prompt information can be preset by the manufacturer of the dryer 100, or can be set by the user through the human-machine interaction device. Exemplarily, when the controller obtains that the clothes have met the drying end condition (when the dryer runs to the stop time), the controller can control the voice prompt device to play prompt information such as "drying completed".

[0125] The dryer may further include: a human-machine interaction device, which is used to realize the interaction between the user and the dryer. The human-machine interaction device may include one or more of physical buttons or a touch display panel. For example, the user can set the drying program that the dryer needs to run through the human-machine interaction device.

[0126] Among them, it is possible to indicate to the dryer whether to open the door in a human-machine interaction manner. When it is necessary to open the door, the auxiliary door opening module works.

[0127] Refer to Figures 11 - 20, in some embodiments of the present application, the controller is configured to: obtain the actual pressure value F2' through the pilot pressure or the output pressure.

[0128] Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e.

[0129] Define the error change rate measured after a preset interval as ec; According to the error e and the error change rate ec, sequentially obtain the proportional adjustment term △ , integral adjustment term △ and derivative adjustment term △ ;

[0130] Substitute the proportional adjustment term △ , integral adjustment term △ and derivative adjustment term △ into the PID control to obtain the output u;

[0131] Control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0132] The present application calculates the error e through the preset pressure or the output pressure, and the error change rate measured after a preset interval is ec. Furthermore, through the fuzzy control logic and the PID control, an accurate output u is output, and the energization or de-energization of the first solenoid valve and the second solenoid valve is controlled according to the magnitude of the value of the output u. The PID control logic can calculate the output u more accurately, thereby accurately controlling the actions of the first solenoid valve and the second solenoid valve, and realizing the control of increasing pressure, maintaining pressure or reducing pressure of the pressure regulating device of the auxiliary door opening module.

[0133] The present application combines the fuzzy control logic with the PID control, which can not only give play to the advantages of the fuzzy algorithm in non-linear, time-varying and parameter-uncertain systems, but also have the high-precision control advantages of the PID control algorithm, ensuring the fast, accurate and stable output of the opening thrust of the auxiliary door opening module.

[0134] When the relay valve operates normally, the pilot pressure is equal to the output pressure. The pilot pressure detected by the first pneumatic sensor is the pressure in the pipeline between the pilot port of the relay valve and the pressure regulating device, and the output pressure detected by the second pneumatic sensor is the pressure in the pipeline between the air outlet of the relay valve and the pressure channel. Obtain the pressure in the corresponding pipeline according to the pressure and the cross-sectional area of the corresponding pipeline.

[0135] Since the pilot pressure is equal to the output pressure, the actual pressure value F2’ is calculated through the pilot pressure or the output pressure. The actual pressure value F2’ is the force actually applied by the auxiliary door opening module to the door body.

[0136] Define the difference between the preset interaction force F2 and the actual pressure value F2’ as the error e. The analog signal is converted into a digital signal through an analog-to-digital converter, that is, the error e is converted into a digital signal recognizable by the controller.

[0137] The fuzzy control logic includes the step of changing the input precise error e into a fuzzy quantity.

[0138] Refer to Figures 11 - 20 , define the basic domain of the error e as [-E, E], where E is the maximum boundary value of the error e. According to the maximum boundary value E of the error e and the error e, the domain of the input fuzzy subset is obtained through the first logical operation.

[0139] The first logic includes: y = (a / E)·e, and the final value of y is obtained by rounding. Where y is the input fuzzy subset, and all input fuzzy subsets constitute the domain of the input fuzzy subset.

[0140] Among them, the domain of the input fuzzy subset can be custom-set by the user.

[0141] The domain of the input fuzzy subset is defined as an integer greater than or equal to -a and less than or equal to a. The error fuzzy level corresponding to the error e is obtained according to the input fuzzy subset obtained from the error e.

[0142] In this embodiment, the error fuzzy levels of the input quantity error e are described by the languages NB, NS, ZO, PS, PB, where NB represents negative large, NS represents negative small, ZO represents zero, PS represents positive small, and PB represents positive large.

[0143] In some embodiments, refer to Figures 11 - 20 , define the domain of the input fuzzy subset as {-4, -3, -2, -1, 0, 1, 2, 3, 4}. That is, a = 4, and the basic domain of the error e is [-E, E]. The transformation from the basic domain [-E, E] to the fuzzy subset domain is performed by the first logic: y = (4 / E)·e, and the final value of y is obtained by rounding.

[0144] Refer to Figures 13 - 14 , define the basic domain of the error change rate ec as [-A1, A1], where A1 is the maximum boundary value of the error change rate ec. According to the maximum boundary value A1 of the error change rate ec and the error change rate ec, the domain of the error change rate fuzzy subset is obtained through the second logical operation.

[0145] The second logic includes: z = (b / A1)·ec, and the final value of z is obtained by rounding. Here, z is the fuzzy subset of the error change rate, and all the fuzzy subsets of the error change rate constitute the universe of discourse of the fuzzy subset of the error change rate.

[0146] Among them, the universe of discourse of the fuzzy subset of the error change rate can be custom-set by the user.

[0147] The universe of discourse of the fuzzy subset of the error change rate is defined as the integers greater than or equal to -b and less than or equal to b. The fuzzy subset of the error change rate corresponding to the error change rate ec is used to obtain the fuzzy level of the error change rate corresponding to ec.

[0148] In this embodiment, the fuzzy levels of the error change rate ec are described by the languages NB, NM, NS, ZO, PS, PM, PB, where NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.

[0149] In some embodiments, referring to Figures 13 - 14 , the universe of discourse of the error change rate ec is defined as {-3, -2, -1, 0, 1, 2, 3}. That is, b = 3, and the basic universe of discourse of the error change rate ec is [-A1, A1]. The transformation from the basic universe of discourse [-A1, A1] to the fuzzy subset universe of discourse is performed using the second logic: z = (3 / A1)·ec, and the final value of z is obtained by rounding.

[0150] Referring to Figures 15 - 16 , the basic universe of discourse of the proportional adjustment term △ is defined as [-B1, B1], where B1 is the maximum boundary value of the proportional adjustment term △ . According to the maximum boundary value B1 of the proportional adjustment term △ and the proportional adjustment term △ , the universe of discourse of the fuzzy subset of the proportional adjustment term is obtained through the fifth logic operation.

[0151] The fifth logic includes: p = (c / B1)·△ , and the final value of p is obtained by rounding. Here, p is the fuzzy subset of the proportional adjustment term, and all the fuzzy subsets of the proportional adjustment term constitute the universe of discourse of the fuzzy subset of the proportional adjustment term.

[0152] Among them, the universe of discourse of the fuzzy subset of the proportional adjustment term can be custom-set by the user.

[0153] The universe of discourse of the fuzzy subset of the proportional adjustment term is defined as the integers greater than or equal to -c and less than or equal to c. The fuzzy subset of the proportional adjustment term obtained according to the proportional adjustment term is used to obtain the fuzzy level of the proportional adjustment term corresponding to it.

[0154] In this embodiment, the proportional adjustment term △ The fuzzy levels of the proportional adjustment term are described by the languages NB, NM, NS, ZO, PS, PM, and PB, where NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.

[0155] In some embodiments, referring to Figures 15 - 16 , the universe of discourse of the proportional adjustment term △ is defined as {-3, -2, -1, 0, 1, 2, 3}. That is, c = 3, and the basic universe of discourse of the proportional adjustment term △ is [-B1, B1]. The transformation from the basic universe of discourse [-B1, B1] to the universe of discourse of the fuzzy subset is performed using the fifth logic: p = (c / B1) · △ , and the final value of p is obtained by rounding.

[0156] Referring to Figures 15 - 16 , the basic universe of discourse of the integral adjustment term △ is defined as [-C1, C1], where C1 is the maximum boundary value of the integral adjustment term △ . According to the maximum boundary value C1 of the integral adjustment term △ and the integral adjustment term △ , the universe of discourse of the fuzzy subset of the integral adjustment term is obtained through the sixth logical operation.

[0157] The sixth logic includes: i = (d / C1) · △ , and the final value of i is obtained by rounding, where i is the fuzzy subset of the integral adjustment term, and all the fuzzy subsets of the integral adjustment term constitute the universe of discourse of the fuzzy subset of the integral adjustment term.

[0158] Among them, the universe of discourse of the fuzzy subset of the integral adjustment term can be custom - set by the user.

[0159] The universe of discourse of the fuzzy subset of the integral adjustment term is defined as the integers greater than or equal to -d and less than or equal to d. According to the fuzzy subset of the integral adjustment term △ obtained, the fuzzy level corresponding to the integral adjustment term △ is obtained.

[0160] In this embodiment, the fuzzy levels of the integral adjustment term △ are described by the languages NB, NM, NS, ZO, PS, PM, and PB, where NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.

[0161] In some embodiments, referring to Figures 15 - 16 , the integral adjustment term △ The universe of discourse is {-3, -2, -1, 0, 1, 2, 3}. That is, d = 3, and the integral adjustment term △ The basic universe of discourse is [-C1, C1]. The transformation from the basic universe of discourse [-C1, C1] to the fuzzy subset universe of discourse is carried out using the sixth logic: i = (d / C1)·△ Finally, the value of i is obtained by rounding.

[0162] Refer to Figures 15 - 16 Define the differential adjustment term △ The basic universe of discourse is [-D1, D1], where D1 is the maximum boundary value of the differential adjustment term △ According to the maximum boundary value D1 of the differential adjustment term △ The maximum boundary value D1 of and the differential adjustment term △ The universe of discourse of the differential adjustment term fuzzy subset is obtained through the seventh logic operation.

[0163] The seventh logic includes: j = (f / D1)·△ Finally, the value of i is obtained by rounding, where i is the differential adjustment term fuzzy subset, and all the differential adjustment term fuzzy subsets constitute the universe of discourse of the differential adjustment term fuzzy subset.

[0164] Among them, the universe of discourse of the differential adjustment term fuzzy subset can be custom-set by the user.

[0165] The universe of discourse of the differential adjustment term fuzzy subset is defined as integers greater than or equal to -f and less than or equal to f. According to the differential adjustment term △ The differential adjustment term fuzzy subset obtained is used to obtain the differential adjustment term △ The corresponding differential adjustment term fuzzy level.

[0166] In this embodiment, the differential adjustment term △ The differential adjustment term fuzzy level of is described by the languages NB, NM, NS, ZO, PS, PM, PB, where NB represents negative large, NM represents negative medium, NS represents negative small, ZO represents zero, PS represents positive small, PM represents positive medium, and PB represents positive large.

[0167] In some embodiments, refer to Figures 15 - 16 Define the universe of discourse of the differential adjustment term as {-3, -2, -1, 0, 1, 2, 3}. That is, f = 3, and the differential adjustment term △ The basic universe of discourse is [-D1, D1]. The transformation from the basic universe of discourse [-D1, D1] to the fuzzy subset universe of discourse is carried out using the seventh logic: j = (f / D1)·△ Finally, the value of f is obtained by rounding.

[0168] The fuzzy inference also includes a third logic. Based on the fuzzy level of the error and the fuzzy level of the error change rate, and the corresponding proportional adjustment term △ can be obtained through the third logic. The fuzzy level of, the integral adjustment term △ The fuzzy level of, and the differential adjustment term △ The fuzzy level of. The third logic is Figure 17 The corresponding relationship in the table of.

[0169] The fuzzy inference also includes a fourth logic.

[0170] Define the membership relationship between the fuzzy level of the proportional adjustment term △ and the domain of the proportional fuzzy subset, define the membership relationship between the fuzzy level of the integral adjustment term △ and the domain of the integral fuzzy subset, and define the membership relationship between the fuzzy level of the differential adjustment term △ and the domain of the differential fuzzy subset.

[0171] Define the membership relationship between the fuzzy level of the error and the domain of the input fuzzy subset, and define the membership relationship between the fuzzy level of the error change rate and the domain of the error change rate fuzzy subset.

[0172] According to the error e, the error change rate ec, and the proportional adjustment term △ The corresponding membership relationship, through the fourth logic, to obtain the first fuzzy output quantity up1.

[0173] According to the error e, the error change rate ec, and the integral adjustment term △ The corresponding membership relationship, through the fourth logic, to obtain the second fuzzy output quantity ui1.

[0174] According to the error e, the error change rate ec, and the differential adjustment term △ The corresponding membership relationship, through the fourth logic, to obtain the third fuzzy output quantity ud1.

[0175] In this embodiment, taking the calculation of the proportional adjustment term △ as an example, the calculation methods of the integral adjustment term △ and the differential adjustment term △ are the same as the method of calculating the proportional adjustment term △ and will not be elaborated here.

[0176] In this embodiment, define E = 10, A1 = 10, B1 = 10, C1 = 10, D1 = 10, a = 4, b = 3, and at the same time measure e = 8, ec = 8.8.

[0177] According to the first logical operation, obtain y = (a / E) · e = (4 / E) · e = (4 / 10) · 8 = 3.2, and y is rounded to 3.

[0178] According to the second logical operation, we get z = (b / A1)·ec = (3 / A1)·ec = (3 / 10)·8.8 = 2.64. After rounding z, we get 3.

[0179] According to the membership relationship between the fuzzy level of the error change rate and the domain of the fuzzy subset of the error change rate, it can be known that when y is 3 at this time, the error e activates the fuzzy level PB with a membership of 0.5. At the same time, the error e activates the fuzzy level PS with a membership of 0.5. When z is 3, the error change rate ec activates PB with a membership of 1, and the unactivated membership does not participate in the operation.

[0180] From Figure 17 it can be seen that according to the fuzzy level of the error e and the fuzzy level of the error change rate ec, the proportional adjustment term △ of the fuzzy level is determined at this time. When the fuzzy level of e is PB and the fuzzy level of ec is PB, the fuzzy level of ΔKp is NB. When the fuzzy level of e is PS and the fuzzy level of ec is PB, the fuzzy level of ΔKp is NM.

[0181] According to the membership relationship corresponding to the error e, the error change rate ec, and the proportional adjustment term △ , the first fuzzy output quantity up1 can be obtained through the fourth logic.

[0182] The fourth logic also includes: taking the intersection of e and ec, and taking the intersection means taking the smaller value of the two values.

[0183] According to the relationship of taking the intersection of e and ec, it can be known that if the fuzzy level of e is PB, e = {0, 0, 0, 0, 0, 0, 0, 0.5, 1}, and when the fuzzy level of ec is PB, ec = {0, 0, 0, 0, 0, 0, 1}. According to the fuzzy control logic, the unactivated membership does not participate in the operation. After taking the intersection of e and ec, the corresponding operation result is 0.5. The fuzzy level of △ is NB, △ = {1, 0, 0, 0, 0, 0, 0}, and taking the intersection of △ and 0.5 gives {0.5, 0, 0, 0, 0, 0, 0}.

[0184] If the fuzzy level of e is PS and the fuzzy level of ec is PB, at this time, e = {0, 0, 0, 0, 0, 0.5, 1, 0.5, 0}, ec = {0, 0, 0, 0, 0, 0, 1}. According to the fuzzy control logic, the unactivated membership does not participate in the operation. After taking the intersection of e and ec, the corresponding operation result is 0.5. The fuzzy level of △ is NM, △ = {0, 1, 0, 0, 0, 0, 0}, △ Taking the intersection with 0.5 gives {0, 0.5, 0, 0, 0, 0, 0}.

[0185] Finally, take the union of these two results to obtain the first fuzzy output quantity up1, that is, {0.5, 0, 0, 0, 0, 0, 0} U {0, 0.5, 0, 0, 0, 0, 0} = {0.5, 0.5, 0, 0, 0, 0, 0}. The union U represents taking the larger value of the two numerical values. The first fuzzy output quantity up1 = {0.5, 0.5, 0, 0, 0, 0, 0}.

[0186] Since the first fuzzy output quantity up1 obtained above is a fuzzy quantity, this quantity cannot complete the control of the controlled object and must obtain the proportional adjustment term △ through the defuzzification control logic . In this embodiment, the centroid method is used to run the defuzzification control logic.

[0187] Using the centroid method, calculate the intermediate value Q according to the first fuzzy output quantity up1, and perform the eighth logical operation according to the intermediate value Q and the maximum boundary value B1 of the proportional adjustment term △ to obtain the first fuzzy output quantity up1.

[0188] up1 = {0.5, 0.5, 0, 0, 0, 0, 0}., calculate Q through the centroid method = .

[0189] The fifth logical operation includes: △ =(B1 / c)·Q=(10 / 3)·(-2.5)= -8.33, that is, △ = -8.33.

[0190] Similarly, the integral adjustment term △ and the differential adjustment term △ can be obtained through the above logic.

[0191] Substitute the proportional adjustment term △ , the integral adjustment term △ and the differential adjustment term △ into the PID control to obtain the output quantity u. Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output quantity u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

[0192] This application uses a fuzzy control algorithm to fuzzify the error e and the error change rate ec, and obtains the first fuzzy output quantity up1, the second fuzzy output quantity ui1, and the third fuzzy output quantity ud1 after fuzzy inference. After the obtained first fuzzy output quantity up1 is clarified, that is, after defuzzification, the proportional adjustment term △ , after defuzzifying the second fuzzy output quantity ui1, i.e., inverse fuzzyfication, the integral regulation term △ is obtained , after defuzzifying the third fuzzy output quantity ud1, i.e., inverse fuzzyfication, the differential regulation term △ is obtained . The output quantity u is calculated through PID control, and the energization or de-energization of the first solenoid valve and the second solenoid valve is controlled by the magnitude of the value of the output quantity u, thereby controlling the pressure regulating device to increase pressure, decrease pressure or maintain pressure. In this application, the fuzzy algorithm avoids the complex modeling process and the influence of items that cannot be accurately modeled such as friction, does not rely on the accurate mathematical model of the controlled object, simplifies the system complexity, and makes the control of the auxiliary door opening module simpler.

[0193] In this embodiment, the PID control includes: after the controller controls for a preset time interval, the output quantity u(k) is calculated at regular intervals, where u(k) is the value of the output quantity u calculated after the k-th count.

[0194] The proportionality constant is preset , the integral constant and the differential constant . The error e and the error change rate ec are calculated and counted multiple times.

[0195] The proportionality term is obtained by adding the proportionality constant and the proportional regulation term △ , the integral term is obtained by adding the integral constant and the integral regulation term △ , the derivative term is obtained by adding the differential constant and the differential regulation term △ .

[0196] In this embodiment, the proportional parameter is obtained by multiplying the proportional term and the error e at the k-th time. The integral parameter is obtained by multiplying the integral term and the sum of the errors e from the 1st to the k-th time. The derivative parameter is obtained by multiplying the derivative term and the difference between the error at the k-th time and the error at the (k - 1)-th time.

[0197] Among them, the proportionality constant , the integral constant and the differential constant are constants, and the proportionality constant , the integral constant and the differential constant are set to fixed values, that is, when calculating the output quantity u, the proportionality constant , the integral constant and the differential constant do not change with the change of the error e.

[0198] The proportionality constant , the integral constant and the differential constant can be preset by the user in the controller.

[0199] In this embodiment, the formula of PID control is expressed as follows:

[0200] k represents the calculation result of the kth controller timing interruption, k≥1, represents the accumulated value of all errors e from the 1st to the kth by the computer, represents the error at the kth time, is a constant.

[0201] In this embodiment, the controller is configured to: after a preset time interval, according to the error e, the proportional term , the integral term and the differential term perform operations to obtain the value of the output u at the kth time.

[0202] In this embodiment, the preset time can be set to 1ms, that is, the controller has a timing interruption and calculates the result of u(k) every 1ms.

[0203] When the output u is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases the pressure.

[0204] The output u has a maximum value u1 and a minimum value u2. It can be set that when u1>u>0, the controller controls the pressure regulating device to increase the pressure first and then maintain the pressure. As the value of u becomes larger and larger, the proportion of pressure increase is larger and the proportion of pressure maintenance is smaller. That is, the larger the value of u, the larger the proportion of pressure increase and the smaller the proportion of pressure maintenance. The proportion of pressure increase and the proportion of pressure maintenance can be expressed as the pressure increase duration and the pressure maintenance duration. When u = u1, the controller controls the pressure regulating device to be in a pressure increasing state all the time.

[0205] When the output u is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains the pressure. It can be set that when the output u is approximately equal to 0, that is, it is considered that the output u is equal to 0 at this time.

[0206] When the output u is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces the pressure.

[0207] It is configurable that when u2 < u < 0, the controller controls the pressure regulating device to first reduce the pressure and then maintain the pressure. As the value of u becomes smaller, the proportion of pressure reduction is larger and the proportion of pressure maintenance is smaller. That is, the smaller the value of u, the larger the proportion of pressure reduction and the smaller the proportion of pressure maintenance. When u = u2, the controller controls the pressure regulating device to always be in the pressure reduction state.

[0208] Among them, the proportional ranges of the pressure reduction proportion and the pressure maintenance proportion can be specified by oneself, or the pressure reduction proportion and the pressure maintenance proportion can be controlled to change uniformly through a linear function.

[0209] In some embodiments of the present application, when the difference between the pilot pressure detected by the first pressure sensor and the output pressure detected by the second pressure sensor is greater than the preset difference, the controller prompts that the relay valve is damaged and the relay valve needs to be replaced or repaired in time.

[0210] In some embodiments of the present application, when the interaction force F0 is equal to 0, it means that the door body is opened at this time, or when the change range of F0 is less than or equal to F 定 It means that the pulling force does not meet the requirements at this time, indicating that the auxiliary door opening module does not need to open the door. At this time, the door opening device needs to be cleared to 0, that is, when the door state flag is equal to 0, it means that the door does not need to be opened at this time.

[0211] When the change range of F0 is greater than F 定 It means that it is necessary to control the auxiliary door opening module to open the door at this time, and the door opening device needs to be set to 1 at this time.

[0212] When the door does not need to be opened, the auxiliary door opening module is in the pressure reduction state. When the door needs to be opened, PID control is started to control the output force to meet the preset interaction force F2.

[0213] In some embodiments of the present application, the dryer uses a single-chip microcomputer as the hardware. The single-chip microcomputer interacts with the WIFI module through UART serial communication, so as to realize the two-way communication between the mobile phone end and the single-chip microcomputer. When the controller detects a relay valve failure, the controller transmits the information of the relay valve failure to the cloud and the mobile phone end through the WIFI module, so as to notify the user.

[0214] The controller can also transmit the state information of the door body being opened or closed to the cloud and the mobile phone end through the WIFI module, so that the user can view it.

[0215] The user can issue an opening flag through the mobile phone end software, transmit the opening information to the controller through the cloud and the WIFI module, and control the automatic opening of the door body through the controller.

[0216] The IO output of the single-chip microcomputer is realized through the GPIO port, and then the opening and closing of the first solenoid valve and the second solenoid valve are controlled.

[0217] This application detects the pilot pressure between the pilot port of the relay valve and the pressure regulating device through a first pressure sensor, and converts the analog signal of the pilot pressure collected by the first pressure sensor into a digital signal through an analog-to-digital converter, thereby facilitating the calculation of the error e.

[0218] The output pressure between the air outlet of the relay valve and the pressure channel is detected through a second pressure sensor, and the analog signal of the output pressure collected by the second pressure sensor is converted into a digital signal through an analog-to-digital converter, thereby facilitating the calculation of the error e.

[0219] This invention detects the interaction force F0 between the door body and the box body through a pressure sensor, and converts the interaction force F0 from an analog signal into a digital signal through an analog-to-digital converter. The data acquisition of the force is completed through analog-to-digital conversion, and the output quantity u(k) is calculated through PID control. Finally, the pressurization, depressurization, and pressure maintenance of the pressure regulating module are controlled by controlling the energization or de-energization of the first solenoid valve and the second solenoid valve, and finally the door body of the dryer is pushed open by the auxiliary door opening device.

[0220] This invention combines fuzzy control logic with PID control, which can not only give play to the advantages of the fuzzy algorithm in nonlinear, time-varying, and parameter-uncertain systems, but also have the high-precision control advantages of the PID control algorithm, ensuring the fast, accurate, and stable output of the opening thrust of the auxiliary door opening module. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of this application.

[0221] For the sake of convenience of explanation, the above description has been made in combination with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. According to the above teachings, various modifications and variations can be obtained. The selection and description of the above embodiments are for better explaining the principles and practical applications, so that those skilled in the art can better use the embodiments and various different modified embodiments suitable for specific use considerations.

Claims

1. A dryer, characterized in that, Comprising: A box body, including a feeding port provided on the front side of the box body; A drying cylinder, provided inside the box body; A door body, connected to the box body and used to open or close the feeding port; A door lock, connected to the box body, the door lock locks the door body to restrict the door body from opening the feeding port or the door lock unlocks with the door body to enable the door body to open the feeding port; An auxiliary door opening module, provided inside the box body, used to apply an air thrust to the door body to unlock the door body from the door lock; The auxiliary door opening module includes: A power source, used to provide compressed air; A pressure reducing device, used to reduce the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source; A pressure regulating device, used to regulate the air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; A pressure channel, used to transmit air; A relay valve, its air inlet is communicated with the air outlet of the power source and its air outlet is communicated with the inlet of the pressure channel; The pilot port of the relay valve is connected to the pressure regulating device; A first air pressure sensor, used to detect the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and record the detected pressure value as the pilot pressure; A second air pressure sensor, used to detect the pressure value of the air between the air outlet of the relay valve and the pressure channel and record the detected pressure value as the output pressure; The pressure regulating device includes: A first solenoid valve, its inlet is connected to the outlet of the pressure reducing valve; A second solenoid valve, its inlet is connected to the outlet of the first solenoid valve and the pilot port of the relay valve; A controller, configured to: Obtain an actual pressure value F2' through the pilot pressure or the output pressure; Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e; Define the error change rate measured after a preset interval as ec; According to the error e and the error change rate ec, obtain a first fuzzy output quantity up1, a second fuzzy output quantity ui1, and a third fuzzy output quantity ud1 through fuzzy control logic; According to the first fuzzy output quantity up1, a proportional adjustment term Δ is obtained through an anti-fuzzy control logic ; Obtain the integral regulation term △ according to the second fuzzy output quantity ui1 through the anti-fuzzy control logic ; The differential regulation term △ is obtained according to the third fuzzy output ud1 through the anti-fuzzy control logic ; Substitute the proportional adjustment term △ , the integral adjustment term △ , and the derivative adjustment term △ into the PID control to obtain the output u; Control the energization states of the first solenoid valve and the second solenoid valve according to the positive or negative value of the output quantity u, and control the pressure regulating device to increase pressure, maintain pressure, or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

2. A dryer, characterized in that, Comprising: A box body, including a feeding port provided on the front side of the box body; A drying cylinder, provided inside the box body; A door body, connected to the box body and used to open or close the feeding port; A door lock, connected to the box body, the door lock locks the door body to restrict the door body from opening the feeding port or the door lock unlocks with the door body to enable the door body to open the feeding port; An auxiliary door opening module, provided inside the box body, used to apply an air thrust to the door body to unlock the door body from the door lock; The auxiliary door opening module includes: A power source, used to provide compressed air; A pressure reducing device, used to reduce the pressure of the air flowing through the pressure reducing device, and the air inlet of the pressure reducing device is communicated with the air outlet of the power source; A pressure regulating device for regulating air pressure, the air inlet of the pressure regulating device is communicated with the air outlet of the pressure reducing device, and the pressure regulating device outputs a pilot pressure; A pressure passage for transmitting air; A relay valve, the air inlet of which is communicated with the air outlet of the power source and the air outlet of which is communicated with the inlet of the pressure passage; the pilot port of the relay valve is connected to the pressure regulating device; A first air pressure sensor for detecting the pressure value of the air between the pilot port of the relay valve and the pressure regulating device and recording the detected pressure value as the pilot pressure; A second air pressure sensor for detecting the pressure value of the air between the air outlet of the relay valve and the pressure passage and recording the detected pressure value as the output pressure; The pressure regulating device includes: A first solenoid valve, the inlet of which is connected to the outlet of the pressure reducing valve; A second solenoid valve, the inlet of which is connected to the outlet of the first solenoid valve and the pilot port of the relay valve; A controller configured to: Obtain an actual pressure value F2' through the pilot pressure or the output pressure; Define the difference between the preset interaction force F2 and the actual pressure value F2' as the error e; Define the error change rate measured after a preset interval as ec; According to the error e and the error change rate ec, successively obtain the proportional adjustment term △ , the integral adjustment term △ and the differential adjustment term △ through the fuzzy control logic and the defuzzification control logic respectively; Substitute the proportional adjustment term △ , the integral adjustment term △ , and the derivative adjustment term △ into the PID control to obtain the output u; Control the energization states of the first solenoid valve and the second solenoid valve according to the magnitude of the value of the output u, and control the pressure regulating device to increase pressure or maintain pressure or reduce pressure through the energization states of the first solenoid valve and the second solenoid valve.

3. The dryer according to claim 1, wherein Define the basic domain of the error e as [-E, E], where E is the maximum boundary value of the error e, and obtain the domain of the input fuzzy subset through the first logical operation based on the maximum boundary value E of the error e and the error e.

4. The dryer according to claim 3, wherein The domain of the input fuzzy subset is defined as an integer greater than or equal to -a and less than or equal to a; Obtain the error fuzzy level corresponding to the error e according to the input fuzzy subset corresponding to the error e.

5. The dryer according to claim 3, wherein Define the basic domain of the error change rate ec as [-A1, A1], where A1 is the maximum boundary value of the error change rate ec, and obtain the domain of the error change rate fuzzy subset through the second logical operation based on the maximum boundary value A1 of the error change rate ec and the error change rate ec.

6. The dryer according to claim 5, wherein The domain of the error change rate fuzzy subset is defined as an integer greater than or equal to -b and less than or equal to b; Obtain the error change rate fuzzy level corresponding to the error change rate ec according to the error change rate fuzzy subset obtained from the error change rate ec.

7. The dryer according to claim 5, wherein Determine the fuzzy level of the proportional adjustment term △ at this time according to the error fuzzy level corresponding to the error e and the error change rate fuzzy level corresponding to the error change rate ec of the fuzzy level, the integral adjustment term △ of the fuzzy level, and the differential adjustment term △ of the fuzzy level; Define the membership degree relationship between the fuzzy level of the proportional adjustment term △ and the domain of the proportional fuzzy subset. Define the membership degree relationship between the fuzzy level of the integral adjustment term △ and the domain of the integral fuzzy subset. Define the membership degree relationship between the fuzzy level of the differential adjustment term △ and the domain of the differential fuzzy subset; Define the membership relationship between the error fuzzy level and the domain of the input fuzzy subset, and define the membership relationship between the error change rate fuzzy level and the domain of the error change rate fuzzy subset; According to the error e, the error change rate ec, and the proportional adjustment term △ The corresponding membership degree relationship is obtained through fuzzy control logic to get the first fuzzy output quantity up1; According to the error e, the error change rate ec, and the integral regulation term △ The corresponding membership degree relationship is obtained through fuzzy control logic to get the second fuzzy output quantity ui1; According to the error e, the error change rate ec, and the differential regulation term △ The corresponding membership degree relationship is obtained through fuzzy control logic to get the third fuzzy output quantity ud1.

8. The dryer according to claim 1, wherein The PID control includes: presetting a proportional constant , an integral constant , and a differential constant ; Calculate the error e and the error change rate ec multiple times and count; by a proportionality constant and a proportional adjustment term △ are added together to obtain a proportional term , by an integral constant and an integral adjustment term △ are added together to obtain an integral term , by a differential constant and a differential adjustment term △ are added together to obtain a differential term .

9. The dryer according to claim 8, wherein By a proportional term and multiplying by the error e at the k-th time to obtain the proportional parameter; By means of an integral term multiply the sum of the errors e from the first to the k-th time to obtain the integral parameter; Through the differential term Multiply the difference between the error at the k-th time and the error at the (k - 1)-th time to obtain the differential parameter; The values of the proportional parameter, the integral parameter, and the derivative parameter are added together to obtain the value of the output u(k) at the k-th time.

10. The clothes dryer according to claim 8 or 9, wherein when the output u(k) is greater than 0, the first solenoid valve and the second solenoid valve are energized, and the pressure regulating device increases the pressure; when the output u(k) is equal to 0, the first solenoid valve is de-energized and the second solenoid valve is energized, and the pressure regulating device maintains the pressure; when the output u(k) is less than 0, the first solenoid valve and the second solenoid valve are de-energized, and the pressure regulating device reduces the pressure.

Images