Cold and heat source automatic adjusting method and system

Abstract

The invention provides a cold and heat source automatic adjusting method and system, and the method comprises the following steps: setting a target value of water temperature, and setting a reference disturbance value for a part where the current water temperature can be changed; performing signal acquisition on the current water temperature to obtain a feedback signal value; measuring a part capable of changing the current water temperature to obtain a feedforward signal value; weighting calculation is carried out according to the error of the feedback signal value, PID output is carried out, at the same time, weighting calculation is carried out on the disturbance variable quantity of the feedforward signal value, and feedforward output is carried out; and calculating the sum of the PID output and the feed-forward output to obtain total output, and adjusting the temperature according to the PID output, the feed-forward output and the total output. According to the PID control and feed-forward control coordinated adjusting method, sudden disturbance generated by the system can be quickly counteracted, meanwhile, long-term stability of the whole cold and heat source adjusting system can be accurately maintained, the anti-interference capacity of the system is enhanced, and accurate control over cold and heat adjustment is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cold and hot source regulation and control, and in particular to a cold and hot source automatic regulation method and system. Background Art

[0002] Since the mid-20th century, automatic cooling and heating source control systems have matured with the development of industrial automation and building intelligence, and are now widely used in commercial buildings, data centers, and industrial refrigeration. Early systems often employed simple on-off control or proportional regulation. While these systems maintained basic operation, they faced bottlenecks such as slow response, high energy consumption, and weak anti-interference capabilities.

[0003] Although traditional PID control has improved steady-state accuracy to a certain extent, it is difficult to cope with dynamic disturbances under complex working conditions, such as sudden changes in cooling water temperature, fluctuations in ambient heat load, or shocks from equipment start-up and shutdown. Due to the lack of an advance compensation mechanism for measurable disturbances, the system relies solely on error feedback adjustment, resulting in significant adjustment delays and a wider range of temperature fluctuations. In particular, overshoot or oscillation is prone to occur in scenarios where the load changes frequently. In addition, the multivariable coupling problem makes it difficult for a single control strategy to coordinate the dynamic balance between cold and hot source equipment, which not only reduces energy efficiency but also increases equipment wear. With the increasing requirements for green buildings and industrial energy conservation, the limitations of traditional methods have become increasingly prominent. There is an urgent need to optimize dynamic response and anti-interference capabilities through composite control strategies to balance accuracy, efficiency, and system stability.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The first objective of the present invention is to provide a method for automatically regulating cooling and heating sources. This method, which combines PID control with feedforward control, can quickly offset sudden disturbances generated by the system while accurately maintaining the long-term stability of the entire cooling and heating source regulation system, thereby enhancing the system's anti-interference capabilities. Furthermore, it can significantly improve control accuracy, achieving precise control of cooling and heating regulation.

[0006] The second purpose of the present invention is to provide an automatic cold and hot source adjustment system, which is set up based on the above-mentioned automatic cold and hot source adjustment method, can achieve rapid response to sudden disturbances, and realize precise control of the cold and hot adjustment system.

[0007] In order to achieve the above-mentioned purpose of the present invention, the following technical solutions are adopted:

[0008] Set the target water temperature value and set the reference disturbance value for the location that can change the current water temperature;

[0009] Collect the current water temperature signal and obtain the feedback signal value;

[0010] At the same time, the position that can change the current water temperature is measured to obtain the feedforward signal value;

[0011] Perform weighted calculation on the error of the feedback signal value and perform PID output, and at the same time perform weighted calculation on the disturbance change of the feedforward signal value and perform feedforward output;

[0012] The PID output and the feedforward output are summed to obtain a total output, and the temperature is adjusted according to the PID output, the feedforward output and the total output.

[0013] Preferably, as a further specific implementation, the method for calculating the disturbance variation of the feedforward signal is to subtract the set reference disturbance value from the obtained feedforward signal value.

[0014] Preferably, as a further specific implementation, the error is calculated by subtracting the feedback signal value from the target value.

[0015] Preferably, as a further specific implementation, the PID output and the feedforward output are both located in the same control cycle.

[0016] Preferably, as a further specific implementation manner, the priority of the PID output is higher than that of the feedforward output.

[0017] The present invention also provides an automatic adjustment system for cold and hot sources, which uses the above-mentioned automatic adjustment method for cold and hot sources, and is characterized in that the automatic adjustment system for cold and hot sources includes a controller, a constant temperature water tank and a sensor, and the controller is connected to the constant temperature water tank; a sensor is provided in the constant temperature water tank, and the controller is communicatively connected to the sensor, and the constant temperature water tank is also connected in parallel with an air circulation pipeline and an external liquid pipeline.

[0018] Preferably, as a further specific implementation, an air energy water heater, a sensor and a plurality of circulation pumps are provided in the air circulation pipeline; and the plurality of circulation pumps are connected in parallel.

[0019] Preferably, as a further specific embodiment, the external liquid pipeline includes a cold water pipeline and a water outlet pipeline, and the cold water pipeline and the water outlet pipeline are connected in parallel.

[0020] Preferably, as a further specific implementation, one end of the cold water pipeline is directly connected to the cold water inlet, and the cold water pipeline is provided with a solenoid valve, a sensor and an antifreeze electric heating device.

[0021] Preferably, as a further specific implementation, one end of the water outlet pipe is directly connected to the water outlet, and the water outlet pipe is also provided with a solenoid valve, a sensor, an antifreeze electric heating device and multiple circulation pumps; the multiple circulation pumps are connected in parallel.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) This automatic heat and cold source adjustment method is a coordinated adjustment method of PID control and feedforward control. It can not only quickly offset the sudden disturbances generated by the system, but also accurately maintain the long-term stability of the entire heat and cold source adjustment system. It enhances the system's anti-interference ability, significantly improves the control accuracy, and achieves precise control of heat and cold adjustment. In addition, this control method can cope with dynamic disturbances under complex working conditions, start the compensation mechanism in advance, and reduce the range of fluctuations.

[0024] (2) The automatic adjustment system for cold and hot sources is set up based on the automatic adjustment method for cold and hot sources, and can achieve a rapid response to sudden interference; at the same time, the control system is relatively simple and easy for operators to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : A flow chart of a method for automatically adjusting cold and hot sources provided by an embodiment of the present invention;

[0026] Figure 2 : A system diagram of the automatic adjustment system for the intermediate cooling heat source provided in an embodiment of the present invention.

[0027] in,

[0028] 1. Air-energy water heater; 2. Controller; 3. Constant temperature water tank; 4. External water temperature gauge; 5. Cold water inlet;

[0029] 6. Water outlet; 7. Air circulation pipeline; 8. Cold water pipeline; 9. Water outlet pipeline;

[0030] 10. First solenoid valve; 11. Second solenoid valve; 12. Third solenoid valve; 13. First circulation pump; 14. Second circulation pump;

[0031] 15. Third circulation pump; 16. Fourth circulation pump; 17. First sensor; 18. Second sensor; 19. Third sensor;

[0032] 20. Fourth sensor; 21. First antifreeze electric heating device; 22. Second antifreeze electric heating device. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0034] As mentioned above, traditional PID control has the following shortcomings:

[0035] While traditional PID control improves system accuracy to a certain extent, it struggles to cope with complex dynamic disturbances. When the environment undergoes sudden changes, the system relies solely on feedback regulation, resulting in significant delays and wide fluctuations. Furthermore, multiple feedback adjustments amplify this delay, further reducing accuracy and response efficiency, thereby reducing system stability.

[0036] In summary, current control systems still suffer from issues such as low control accuracy, significant latency, and low stability. In light of this, the present invention provides a method and system for automatically adjusting cooling and heating sources. This system, based on this adjustment method, can quickly offset sudden system changes while also achieving precise adjustment for the long-term stability of the entire system, enhancing the system's adaptability.

[0037] In conjunction with the embodiments of the present invention, the present invention provides a method and system for automatically adjusting cold and hot sources. Figure 1 As shown and Figure 2 As shown, the two are respectively the cold and hot source automatic adjustment method and the cold and hot source automatic adjustment system of the present invention.

[0038] like Figure 2 As shown, the structure and function of the automatic cold and hot source adjustment system are briefly discussed first.

[0039] The system includes: a first sensor 17 for detecting the water temperature in the air circulation pipeline 7, a second sensor 18 for detecting the water temperature at the cold water inlet 5, a third sensor 19 for detecting the water temperature about to flow out from the water outlet 6 or about to flow back into the constant temperature water tank 3, and a fourth sensor 20 for detecting the water temperature in the constant temperature water tank 3.

[0040] The air-energy water heater 1 heats the water flowing through it, and at the same time, passes the heated water into the constant temperature water tank 3 for insulation. The air circulation pipeline 7 is also provided with a first circulation pump 13 and a second circulation pump 14 in parallel. The first circulation pump 13 and the second circulation pump 14 provide power for the circulation of the water flow in the air circulation pipeline 7. The parallel arrangement of the circulation pumps can ensure that the working system is always in working mode, and prevent the system from being unable to operate due to damage to a certain circulation pump. The circulation pumps used in the present invention are all used in parallel, but the actual number and position of the circulation pumps can be set according to actual needs and are not excessively limited in the present invention. It can be understood that the air-energy water heater 1 is used to heat the water drawn from the constant temperature water tank 3 and then inject the heated water back into the constant temperature water tank 3, that is, the water flow in the air circulation pipeline 7 does not change the total volume of the water in the constant temperature water tank 3.

[0041] The cold water pipeline 8 is provided with a first solenoid valve 10, a second sensor 18 and a first antifreeze electric heating device 21. Among them, the first solenoid valve 10 can realize the control of the opening and closing of the cold water pipeline 8, so as to control the cold water pipeline 8 to inject or stop injecting cold water into the constant temperature water tank. It is understandable that the injection of cold water can increase the total volume of water in the constant temperature water tank 3, that is, to replenish the constant temperature water tank 3. The water temperature in the constant temperature water tank 3 will be lowered during the replenishment, and after the replenishment, the PID control and feedforward control can work together to increase the water temperature in the constant temperature water tank 3 to the target value. It is understandable that the water heated by the air-energy water heater 1 entering the constant temperature water tank 3 may cause the water temperature in the constant temperature water tank 3 to be too high, and the constant temperature water tank 3 can be cooled by injecting cold water through the cold water pipeline 8.

[0042] The first antifreeze electric heating device 21 can control the heating component to adjust the water temperature entering the cold water pipe 8; at the same time, it can protect the cold water pipe 8. When the temperature is too low in winter, the first antifreeze electric heating device 21 can heat the water in the cold water pipe 8 to prevent the water temperature from dropping to the freezing point, thereby preventing ice expansion from damaging the cold water pipe 8, and thus protecting the pipe from freezing. Furthermore, the antifreeze water temperature T can be preset. anti-ice1 , and T anti-ice2 , when the water temperature is lower than T anti-ice1 When the first antifreeze electric heating controller 21 controls the heating component to work, the water temperature in the cold water pipe 8 rises and escapes the risk of freezing. When the water temperature is higher than T anti-ice2 When the first antifreeze electric heating controller 21 controls the heating component to stop working. anti-ice1 Can be set to 5℃, T anti-ice2 It can be set to 10°C. In some other implementations, different preset temperatures can be set, which is not limited in this embodiment.

[0043] The water outlet pipe 9 is provided with a water outlet 6, which is used to allow the water in the constant temperature water tank 3 to flow out. The water outlet 6 divides the entire water outlet pipe 9 into two parts. The first part is composed of a second solenoid valve 11, a second antifreeze electric heating device 22 and a third sensor 19. The second antifreeze electric heating device 22 can adjust the water temperature in the water outlet pipe 9 and protect the water outlet pipe 9 at the same time. Furthermore, the water outlet pipe 9 includes a return water design, that is, the end of the water outlet pipe 9 is directly connected to the constant temperature water tank 3. When the water temperature at the water outlet 6 is low, the water outlet pipe 9 can return the residual water in the pipe to the constant temperature water tank 3, and then extract water with an appropriate temperature from the constant temperature water tank 3 to ensure the water flow temperature at the water outlet 6. When the water temperature is too high, the second solenoid valve 11 is controlled to disconnect, so that the water outlet pipe 9 is not connected, avoiding Prevent excessively high-temperature water from flowing into the constant-temperature water tank 3, thereby protecting the constant-temperature water tank 3; the second part is composed of a third solenoid valve 12, a third circulating pump 15 and a fourth circulating pump 16 arranged in parallel, and an external water temperature meter 4. The third solenoid valve 12 is arranged between the circulating pump and the external water temperature meter 4, and the circulating pump arranged in parallel can provide power for the circulation of the water flow; the third solenoid valve 12 arranged between the circulating pump and the external water temperature meter 4 can block the water flow channel between the circulating pump and the water outlet 6, and the water outlet state of the water outlet 6 can be controlled by controlling the on-off state of the third solenoid valve 12; the external water temperature meter 4 can display the water temperature in real time, and this water temperature is the outlet water temperature of the water outlet 6.

[0044] Furthermore, in this embodiment, the water outlet 6 serves as a user water outlet. The user can control the flow of hot water by opening and closing the third solenoid valve 12 and obtain the hot water temperature parameters by observing the water temperature gauge. Furthermore, the third solenoid valve 12 can be a manual solenoid valve. In the event of a system failure, the third solenoid valve 12 can be manually disconnected, thereby providing a safety net for the device. In some other embodiments, the third solenoid valve 12 can also be remotely controlled and locked to ensure the safe use of the entire system.

[0045] The antifreeze electric heating device is divided into protection mode, timing control mode and extreme mode. When the system is operating normally, the antifreeze electric heating device only plays a protective role and can perform micro-temperature feedback adjustment under the action of controller 2; when the system is too low in temperature, the antifreeze electric heating device will improve the working efficiency of the heating component and realize antifreeze protection for the pipeline.

[0046] The constant temperature water tank 3 is connected to the controller 2. The controller 2 can collect data from the first sensor 17, the second sensor 18, the third sensor 19, and the fourth sensor 20, and send control signals to other components based on the obtained data to achieve control of each component in the entire system.

[0047] Hereinafter, this embodiment will describe the adjustment method of the present invention in detail in combination with the device of the present invention, taking water temperature adjustment as an example.

[0048] The method comprises: setting a target value for water temperature and setting a reference disturbance value for a location that can cause the current water temperature to change (hereinafter referred to as step S1);

[0049] Collect the current water temperature signal to obtain a feedback signal value (hereinafter referred to as step S2);

[0050] At the same time, the position that can cause the current water temperature to change is measured to obtain a feedforward signal value (hereinafter referred to as step S3);

[0051] Performing weighted calculation on the error of the feedback signal value and performing PID output, while at the same time performing weighted calculation on the disturbance variation of the feedforward signal value and performing feedforward output (hereinafter referred to as step S4);

[0052] The PID output and the feedforward output are summed to obtain a total output, and the temperature is adjusted according to the total output (hereinafter referred to as step S5).

[0053] In step S1, the water temperature in the constant temperature water tank 3 is set, and the target value is set to T set In this embodiment, the target temperature value in the constant temperature water tank 3 is set to T set1 =50℃.

[0054] At the same time, a reference disturbance value is set. In the present invention, two reference disturbance values ​​are set: the second sensor 18 is used to measure the temperature of the cold water inlet 5. At this time, the temperature at the cold water inlet 5 is the first reference disturbance value set, which is set to T cooling-base = 25 ℃; the first sensor 17 is used to measure the water temperature in the air circulation pipe 7. At this time, the water temperature after being heated by the air energy water heater 1 is the second reference disturbance value set, which is set to T warming-base =60℃.

[0055] It should be noted that the baseline disturbance value needs to be re-tested and set at regular intervals. The setting process of the baseline disturbance value is automatically performed by the controller after receiving the return data from the sensor. The interval period can be set differently according to different conditions in winter or summer. The interval set in this embodiment is 15 minutes, and the baseline disturbance value is reset every 15 minutes.

[0056] In actual application, the target value and the reference disturbance value can be adjusted as needed, and the type of measurement and the measured data can be adjusted. The temperature of the constant temperature water tank 3 and each pipeline can also be set inconsistently, which will not be discussed in detail here.

[0057] In step S2, the current water temperature signal is collected to obtain a feedback signal value.

[0058] In step S3, the location that can change the current water temperature is measured to obtain a feedforward signal value.

[0059] The fourth sensor 20 continuously detects the actual temperature of the constant temperature water tank 3. The actual temperature detected by the fourth sensor 20 is T actual1 =52℃. The actual temperature signal collected is the feedback signal value that needs to be fed back.

[0060] Since the water in the air circulation pipe 7 is heated by the air energy water heater 1, the heated water can enter the constant temperature water tank 3 and increase the temperature inside the constant temperature water tank 3. When the cold water enters the cold water pipe 8 through the cold water inlet 5 and then enters the constant temperature water tank 3, the temperature inside the constant temperature water tank 3 can be reduced. At this time, the temperature of the system will change significantly due to the hot water in the air circulation pipe 7 or the cold water in the cold water pipe 8 entering the pipe. The first sensor 17 and the second sensor 18 detect the parts that can cause the water temperature to change significantly, and obtain the actual temperature T of the water in the above pipes at this time. cooling =18℃ and T warming =75℃, the

[0061] The actual temperature is the collected feedforward signal value.

[0062] In step S4, the error of the feedback signal value is calculated and the PID output is performed. At the same time, the disturbance change of the feedforward signal value is calculated and the feedforward output is performed.

[0063] In this step, the error value of the feedback signal is calculated:

[0064] T error1 =T set1 -T actual1 =50℃-52℃=-2℃;

[0065] At this time, T error1 The error of the feedback signal value is then calculated by PID feedback, and then the PID output is performed. The output value is U A .

[0066] Furthermore, in this embodiment, U A =G·T change1 =2.44×(2)=4.88% (reduced thermal power);

[0067] U A A positive value indicates that the actual water temperature is low, and PID control tends to increase the heating power of each heatable element; U AA negative value indicates that the actual water temperature is low, and the PID control tends to reduce the heating power of each heatable element. It should be noted that G is a weighting coefficient, which is obtained by fitting according to the actual operating mode of the system. The G value varies between different systems and cannot be considered a constant. In this embodiment, the G obtained by fitting calculation is 2.44. In addition, U A The value is the actual value of the PID output.

[0068] At the same time, the disturbance change of the feedforward signal value is calculated:

[0069] T change1 =T cooling -T cooling-base =18℃-25℃=-7℃

[0070] T change2 =T warming -T warming-base =75℃-60℃=15℃

[0071] At this time, T change1 and T change2 is the disturbance variation of the feedforward signal value. The disturbance variation is calculated and the feedforward output is performed:

[0072] U1=K·T change1 =-1.22×(-7)=8.54% (increase heating power);

[0073] U2=K·T change2 =-1.22×15=-18.3% (reduce heating power);

[0074] A positive U1 value indicates a lower actual water temperature, and PID control tends to increase the heating power of each heatable element. A negative U1 value indicates a higher actual water temperature, and PID control tends to decrease the heating power of each heatable element. The data mechanism of U2 is the same as that of U1 and will not be elaborated here.

[0075] It should be noted that K is a weighting coefficient, obtained by fitting the actual operating mode of the system. The value of K varies between different systems and cannot be considered a constant. In this embodiment, K = 1.22 is obtained by fitting. In addition, the values ​​of U1 and U2 are the actual values ​​of the feedforward output.

[0076] Step S5: Calculate the sum of the PID output and the feedforward output to obtain a total output, and adjust the temperature according to the total output.

[0077] During this process, the corresponding total outputs P1 and P2 are calculated.

[0078] P1=U1+U A ;

[0079] P2=U2+U A ;

[0080] The calculated P1 and P2 are transmitted to the air-energy water heater 1 and the antifreeze electric heating device through the controller. The air-energy water heater 1 receives the instruction to reduce the heating power, and the antifreeze electric heating device receives the instruction to increase the heating power. This realizes feedforward control. For small disturbance changes in the system, the power of the air-energy water heater 1 and the antifreeze electric heating device can be adjusted immediately. It can be understood that T actual1 The change of comes from the inflow of liquid outside the constant temperature water tank 3, that is, the hot water in the air circulation pipe 1 and the cold water in the cold water pipe 8 jointly change the water temperature in the constant temperature water tank 3. When performing PID control, if the obtained U A If the value is negative and the absolute value is large, it means that the actual temperature is much higher than the target value. After receiving the signal output by PID, the controller can control the valve of the cold water pipe 8 to open and inject cold water into the constant temperature water tank for cooling. If the U A If the value is positive and the absolute value is large, it means that the actual temperature is far lower than the target value. After receiving the signal output by the PID, the controller can control the circulation pump of the air circulation pipeline 7 to open and inject hot water into the constant temperature water tank to increase the temperature. It can be understood that the U required to open the pipeline is A The value can be set manually, and the required U A =7.2% as an example, the actual temperature T actual1 =T set1 -T error1 =(50-(7.2%÷G))℃=55℃, that is, when the temperature is not less than 55℃, the electric valve opens and injects cold water. Similarly, you can set the appropriate U A The numerical value is used to control the hot water injection, which will not be described in detail in this embodiment.

[0081] Furthermore, when the basic disturbance value is at a preset value, the temperature difference between the external cold water and the external hot water and the temperature difference in the thermostatic water tank are fixed values. The controller 2 only needs to regulate the volume of the injected cold and hot liquids to achieve preliminary adjustment of the temperature of the thermostatic water tank, so that the temperature in the thermostatic water tank is close to the target value. Thereafter, the corresponding external cold and hot water are further injected according to the temperature feedback of the fourth sensor 20 to make the temperature of the thermostatic water tank 3 reach the target value. Feedforward control can ensure that the basic disturbance value is as close to the preset value as possible, that is, to ensure that the hot water temperature and the cold water temperature tend to a constant value. When the two work together, it can ensure that when the external environment suddenly changes, the PID control can still quickly achieve temperature control in the thermostatic water tank 3, and is not limited to relying on the signal feedback of the fourth sensor 20 in the thermostatic water tank 3, thereby improving the accuracy and adjustment efficiency of the automatic adjustment system of the cold and heat sources.

[0082] PID control and feedforward control operate in the same cycle, with PID control taking precedence over feedforward control. This is because, when a system problem occurs, feedforward control is inherently more sensitive and can proactively adjust the entire system. Therefore, in actual applications, this can lead to PID control lagging behind even after feedforward control has entered the next cycle. A typical example is when air-to-water heater 1 and the antifreeze electric heating device have already output the corresponding power increase / decrease program. Even though the water temperature is about to reach the target value after feedforward control, PID control continues to regulate the water temperature, causing it to exceed the target value (i.e., over-regulation). In this case, the system needs to execute the opposite program to implement a callback. Multiple instructions can result in multiple callbacks, leading to command confusion. However, when PID control takes precedence over feedforward control, PID adjustments can be made in a timely manner, allowing the two to work synergistically and ensuring control accuracy. It is understandable that when there is no error between the feedback signal value and the target value, the PID output signal is transmitted to the controller 2, which controls the circulation pump and the first solenoid valve 10 in the air circulation pipeline 7 to close, so that the external liquid cannot flow into the constant temperature water tank 3. At this time, even if the signal generated by the feedforward output changes the power of each heating component, it cannot directly affect the water temperature of the constant temperature water tank 3. In other words, the PID control can directly control the temperature of the constant temperature water tank, and the feedforward control's control of the water temperature depends on the action of the PID control. The two work together to achieve precise control of the temperature of the automatic cold and heat source regulation system.

[0083] When T actual1 When the value deviates greatly from the set value, or the actual T warming 、T cooling When the value deviates greatly, the control method will also directly force the adaptive change of the power of the air-energy water heater 1 of the antifreeze electric heating device, and at the same time cut off the solenoid valves. The disconnection of the solenoid valves can cut off the cold water pipeline 8 and the air circulation pipeline 1, preventing super-cold water and super-heated water from entering the constant temperature water tank 3, thereby protecting the constant temperature water tank 3.

[0084] In addition, when multiple disturbance changes need to be set, such as if you want to control the water level or flow based on the temperature measurement, you can set the water level or flow as other basic disturbance values ​​and use the same method for PID control and feedforward control.

[0085] Those skilled in the art will understand that, except where mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstract, and drawings), as well as all processes or units of any method or apparatus disclosed herein, may be combined in any combination. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0086] In addition, it will be understood by those skilled in the art that although some of the embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and to form different embodiments. It should be noted that the above embodiments illustrate rather than limit the present invention, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbols placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically adjusting cold and hot sources, characterized in that: The steps include: Set the target water temperature value and set the reference disturbance value for the location that can change the current water temperature; Collect the current water temperature signal and obtain the feedback signal value; At the same time, the position that can change the current water temperature is measured to obtain the feedforward signal value; Perform weighted calculation on the error of the feedback signal value and perform PID output, and at the same time perform weighted calculation on the disturbance change of the feedforward signal value and perform feedforward output; The PID output and the feedforward output are summed to obtain a total output, and the temperature is adjusted according to the PID output, the feedforward output and the total output.

2. The method for automatically adjusting cold and hot sources according to claim 1, characterized in that: The method for calculating the disturbance variation of the feedforward signal is to subtract the set reference disturbance value from the obtained feedforward signal value.

3. The method for automatically adjusting cold and hot sources according to claim 1, characterized in that: The error is calculated by subtracting the feedback signal value from the target value.

4. The method for automatically adjusting cold and hot sources according to claim 1, characterized in that: The PID output and the feedforward output are both in the same control cycle.

5. The method for automatically adjusting cold and hot sources according to claim 1, characterized in that: The PID output has priority over the feedforward output.

6. A cold and hot source automatic adjustment system, using the cold and hot source automatic adjustment method according to any one of claims 1 to 5, characterized in that: The cold and hot source automatic adjustment system comprises a controller (2), a constant temperature water tank (3) and a fourth sensor (20), wherein the controller (2) is connected to the constant temperature water tank (3); the fourth sensor (20) is arranged in the constant temperature water tank (3), the controller (2) is communicatively connected to the fourth sensor (20), and the constant temperature water tank (3) is also connected in parallel with an air circulation pipeline (7) and an external liquid pipeline.

7. The automatic cold and heat source adjustment system according to claim 6, characterized in that: An air energy water heater (1), a first sensor (17), and a plurality of circulation pumps are provided in the air circulation pipeline (7); the plurality of circulation pumps are connected in parallel.

8. The automatic cold and heat source adjustment system according to claim 6, characterized in that: The external liquid pipeline comprises a cold water pipeline (8) and a water outlet pipeline (9), and the cold water pipeline (8) and the water outlet pipeline (9) are connected in parallel.

9. The automatic cold and heat source adjustment system according to claim 8, characterized in that: One end of the cold water pipeline (8) is directly connected to the cold water inlet (5), and a first solenoid valve (10), a second sensor (18), and a first antifreeze electric heating device (21) are provided on the cold water pipeline (8).

10. The automatic cold and heat source adjustment system according to claim 8, characterized in that: One end of the water outlet pipe (9) is directly connected to the water outlet (6), and the water outlet pipe (9) is also provided with a second solenoid valve (11), a third sensor (19), a second antifreeze electric heating device (22) and a plurality of circulation pumps; the plurality of circulation pumps are connected in parallel.

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