Oven cooking control method and system based on multi-source PID

Abstract

The embodiment of the invention discloses an oven cooking control method and system based on multi-source PID. The method comprises the following steps that a temperature target curve, a humidity target curve, a wind speed target curve and a color value target curve are obtained through matching; the oven is controlled to work through a temperature PID controller, a humidity PID controller, a wind speed PID controller and a color value PID controller; controlling the oven to perform stage switching according to the real-time data and the accumulated working time data of each sensor; each controller controls the oven to work according to the PID parameters of the baking stage of the oven; when it is monitored that the total error exceeds a first error threshold value, PID parameters of all the controllers are adjusted in real time. By automatically triggering stage switching and PID parameter adjustment, the adaptive capacity of the system is enhanced, dynamic adjustment is performed based on the total error, the stability and precision of the cooking process are guaranteed, and the intelligence of the baking process is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent kitchen appliances, and specifically to a multi-source PID-based oven cooking control method and system, electronic equipment, and storage medium. Background Art

[0002] With the development of smart kitchen appliances, modern ovens have gradually evolved from the traditional time-temperature control mode to multi-dimensional perception, intelligent control, and adaptive cooking.

[0003] While some ovens have introduced temperature sensors and timing programs, they still lack in-depth integration and control strategies for multiple sources of information, such as humidity, air speed, and color. Furthermore, they lack the ability to dynamically adjust control parameters according to different baking stages. Existing methods suffer from the following common issues: They cannot respond to changes in ingredient status in real time; they lack coordinated control of multiple factors, such as humidity, air speed, and color; their stage-by-stage control methods rely on fixed schedules and lack adaptive judgment mechanisms; and PID parameters are often fixed, making them difficult to adapt to different ingredients, stages, or unexpected deviations. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of the embodiments of the present invention is to provide an oven cooking control method and system based on multi-source PID, and an electronic device, which can integrate multi-sensor information, support baking stage identification and adaptive control, ensure the stability of the cooking process, and improve the accuracy and intelligence level of baking.

[0005] To solve the above problems, a first aspect of an embodiment of the present invention discloses an oven cooking control method based on multi-source PID, which includes the following steps:

[0006] According to user operation instructions and food type, match the temperature target curve, humidity target curve, wind speed target curve, and color value target curve;

[0007] Based on the temperature target curve, humidity target curve, wind speed target curve, and color value target curve, the oven is controlled by a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller;

[0008] Obtaining real-time data from each sensor of the oven, the current baking stage, and accumulated working time data, and controlling the oven to switch stages based on the real-time data and accumulated working time data from each sensor;

[0009] Pre-configure the PID parameter tables of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in each baking stage. Each controller controls the oven operation according to the PID parameters of the baking stage the oven is in.

[0010] When the total error detected exceeds the first error threshold, the PID parameters of each controller are adjusted in real time; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

[0011] Preferably, the control strategy of each controller includes single PID controller control or weighted control. When an actuator of the oven is subject to weighted control, the actual output control signal of the actuator satisfies the following formula:

[0012] U total =α T *U T +α H *U H +α V *U V +α C *U C ;

[0013] Among them, U total is the output actually sent to the actuator, α T , α H , α V , α C are the control weights of temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller respectively, U T 、U H 、U V 、U C These are the control signals of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller for the actuator;

[0014] The control weights of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller are preset. The central controller adjusts the control weights of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in real time according to the real-time data of each sensor and the current baking stage.

[0015] Preferably, the control method of the present invention further includes:

[0016] The output of the color value PID controller is coupled to the humidity PID controller and the wind speed PID controller to reduce the outputs of the temperature PID controller and the humidity PID controller when the depth of the real-time color value exceeds a first color value threshold; the output of the humidity PID controller is coupled to the output of the wind speed PID controller to suppress the output of the wind speed PID controller when the real-time humidity is lower than the first humidity threshold.

[0017] Preferably, the output of the temperature PID controller is obtained by coupling the output of the humidity PID controller to the temperature PID controller, wherein the output of the temperature PID controller satisfies the following formula:

[0018]

[0019] Among them, U T ^ is the final output of the temperature controller after the humidity controller intervenes, U T is the original output of the temperature controller; is the coupling weight of the humidity controller to the temperature controller, ranging from 0.1 to 0.5; e H is the humidity deviation, i.e. the target humidity minus the current humidity; e H ′ is the rate of change of humidity deviation; λ is the rate of change adjustment coefficient, which ranges from 0.1 to 1.0.

[0020] Preferably, controlling the oven to switch between stages according to the real-time data and accumulated working time data of each sensor includes:

[0021] The acquired real-time temperature data, humidity data, weight data, color value data, cumulative working time, and current baking stage are input into a trained DQN model. The stage switching is determined based on the output of the DQN model. The output actions of the DQN model include: maintaining the current stage, switching to the next stage, switching to a specified stage, and entering an emergency insulation / pre-cooling mode. The state vector data of the DQN model includes real-time temperature data, humidity data, wind speed data, weight data, color value data, cumulative working time, and current baking stage.

[0022] Preferably, when the total error is monitored to exceed the first error threshold, the PID parameters of each controller are adjusted in real time, including: when the total error is monitored to exceed the first error threshold, the control weight of each controller and the error of the channel to which each controller belongs are obtained, and the adjustment factor of each controller is obtained according to the control weight and the error of each controller channel. The PID parameters of each controller are dynamically adjusted according to the adjustment factor, and the PID parameters of each controller after adjustment satisfy the following formula:

[0023]

[0024] in, is the proportional gain after adjustment of the j-th controller; is the initial proportional gain before the jth controller is adjusted. α, β, and γ are adjustable coefficients set according to experience. j is the adjustment factor of the channel to which the j-th controller belongs, w j is the control weight of the j-th controller, E totalis the weighted sum of the channel errors of all controllers, that is, the total error, |e j | is the current absolute error of the channel to which the j-th controller belongs.

[0025] Preferably, the central controller adjusts the control weights of the temperature PID controller, the humidity PID controller, the wind speed PID controller, and the color value PID controller in real time according to the real-time data of each sensor and the current baking stage, including: obtaining temperature deviation, humidity deviation, weight change, color value error data and error change rate data according to the temperature, humidity, wind speed, color value target curves and the real-time data of each sensor;

[0026] The error data and error change rate data of temperature deviation, humidity deviation, wind speed change, and color value are input into a fuzzy controller, and the fuzzy controller outputs the control weight adjustment amount of each PID controller through expert experience rule reasoning, and sets an amplitude constraint on the control weight adjustment amount.

[0027] A second aspect of an embodiment of the present invention discloses an oven cooking control system based on multi-source PID, which includes:

[0028] The target unit is used to match the temperature target curve, humidity target curve, wind speed target curve, and color value target curve according to the user's operation instructions and the type of food;

[0029] A control unit, configured to control the operation of the oven through a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller based on the temperature target curve, the humidity target curve, the wind speed target curve, and the color value target curve;

[0030] A switching unit is used to obtain real-time data from each sensor of the oven, the current baking stage and the accumulated working time data, and control the oven to switch stages according to the real-time data and accumulated working time data of each sensor;

[0031] The parameter unit is used to pre-configure the PID parameter tables of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in each baking stage. Each controller controls the operation of the oven according to the PID parameters of the baking stage in which the oven is located;

[0032] The monitoring unit is used to adjust the PID parameters of each controller in real time when it is monitored that the total error exceeds a first error threshold; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

[0033] A third aspect of an embodiment of the present invention discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the multi-source PID-based oven cooking control method disclosed in the second aspect of an embodiment of the present invention.

[0034] A fourth aspect of an embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the oven cooking control method based on multi-source PID disclosed in the second aspect of an embodiment of the present invention.

[0035] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0036] The method of the present invention automatically matches target curves such as temperature, humidity, wind speed, and color value according to user operation instructions and food type, thereby achieving differentiated control for different food ingredients and different taste preferences, ensuring that each food ingredient has the most suitable baking environment, and improving the consistency and quality of the finished product; at the same time, the system's adaptability is enhanced through self-identification and parameter switching during the baking stage; and when it is monitored that the total error exceeds the first error threshold, the PID parameters of each controller are adjusted in real time, and dynamic adjustment is performed based on the total error, thereby ensuring the stability and accuracy of the cooking process, avoiding system deviations caused by environmental interference or model deviations, and enhancing the robustness of the system, thereby ensuring stable and reliable baking results and improving the intelligence of the baking process.

[0037] Furthermore, the present invention jointly controls through four controllers: temperature PID, humidity PID, wind speed PID and color value PID. Each controller can be independently controlled and can work in parallel. It supports coupling adjustment between controllers and shares real-time perception data, thereby improving the precision and response speed of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 1 is a flow chart of a multi-source PID-based oven cooking control method provided by one embodiment of the present invention;

[0039] Figure 2 1 is a schematic diagram of a temperature target curve in a multi-source PID-based oven cooking control method provided by an embodiment of the present invention;

[0040] Figure 3 1 is a schematic structural diagram of an oven cooking control system based on multi-source PID according to an embodiment of the present invention;

[0041] Figure 4 It is a structural diagram of an electronic device disclosed in one embodiment of the present invention. DETAILED DESCRIPTION

[0042] This specific implementation manner is merely an explanation of an embodiment of the present invention, and it is not a limitation of the embodiment of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the embodiment as needed, but as long as it is within the scope of the claims of the embodiment of the present invention, it is protected by patent law.

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the embodiments of the present invention.

[0044] The term "comprise" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units expressly listed, but may include other steps or units not expressly listed or inherent to such process, method, product or apparatus.

[0045] In the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0046] The control method of the present invention may be used in the following oven, which may specifically include a sensor system, an actuator system, a control system and a human-computer interaction system.

[0047] Specifically, the sensor system may include various sensors, such as temperature sensors, humidity sensors, wind speed sensors, weight sensors and color sensors, among which the temperature sensors may be thermocouples, RTDs, NTC thermistors, and 2 to 4 temperature sensors may be arranged at different positions such as the top and bottom, and the center of the cavity to obtain the real-time temperature inside the cavity.

[0048] The humidity sensor can be a capacitive humidity sensor installed on the top of the oven cavity or the exhaust port to detect the water vapor concentration in the cavity, that is, the relative humidity, so as to control the steam generator or the dehumidification damper switch.

[0049] The wind speed sensor can be a thermal wind speed probe or a turbine / Hall anemometer, etc., installed at the circulation air outlet or the side wall of the cavity to detect the convection wind speed in real time and to assist PID control of the fan speed.

[0050] The color value sensor can be a high-temperature heat-resistant industrial camera or a color sensor, installed on the top of the oven to detect color changes on the surface of food in real time.

[0051] The weight sensor can adopt a high-precision electronic scale module and be installed on the base of the baking tray to monitor water evaporation.

[0052] The actuator system may include various actuators, such as upper and lower heating pipes, hot air heaters, steam generators, dehumidification fans, exhaust systems, fans, etc.

[0053] The control system may specifically include a central controller and a multi-channel PID controller, etc. The multi-channel PID controller specifically includes various controllers, such as a temperature PID controller, a humidity PID controller, a wind speed PID controller and a color value PID controller.

[0054] The human-computer interaction system may specifically include a display screen, knobs, and buttons, etc., to provide users with an operation interface and status display.

[0055] The entire working stage of the oven may specifically include: fermentation stage, heating stage, constant temperature stage, coloring stage, insulation stage and other stages.

[0056] Example 1

[0057] Please refer to Figure 1-4 As shown in Figure 2, a multi-source PID-based oven cooking control method is shown in Figure 2. Figure 1 As shown, it includes the following steps:

[0058] Step S110: Matching a temperature target curve, a humidity target curve, a wind speed target curve, and a color value target curve according to the user's operation instruction and the food type;

[0059] In this step, the user operation instruction can be a cooking mode selection or preference setting selected by the user, such as "crispy crust", light browning, moist taste, and fast baking. The ingredient type can be a predefined ingredient label or an AI recognition result, such as bread, chicken wings, egg tarts, steak, and other ingredient types.

[0060] In this step, the temperature target curve, humidity target curve, wind speed target curve, and color value target curve can be constructed using piecewise functions or Serre curves or key point interpolation over time periods. In specific implementation, they can be obtained through empirical design, experimental data collection, or machine learning model fitting.

[0061] For example, the temperature target curve shows preheating → heating → constant temperature → decrease, the humidity target curve shows humidification → stabilization → dehumidification, maintaining low speed → medium speed circulation → stop the air, and the color value target curve shows a linear slow rise to the target color value.

[0062] like Figure 2 As shown, Figure 2 A specific temperature target curve is shown, showing the process of gradually heating up from room temperature, maintaining a constant temperature, and then entering the cooling stage. It can be applied to most baking tasks, such as temperature control targets for bread, cakes, pizza, etc.

[0063] from Figure 2 It can be seen from the temperature target curve that in the preheating stage (0-5 minutes), the oven quickly heats up from room temperature to 150°C; the heating stage (5-10 minutes) continues to heat to 200°C; the constant temperature baking stage (10-30 minutes) maintains 200°C to ensure that the ingredients are cooked; the insulation or cooling stage (30-35 minutes) drops to 180°C or turns off the heating.

[0064] Step S120: Based on the temperature target curve, humidity target curve, wind speed target curve, and color value target curve, the oven is controlled by a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller;

[0065] In this step, the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller operate independently and output control quantities independently, which can also be a weighted control output mechanism.

[0066] For example, the temperature PID controller output → controls the heater heating power, the humidity PID controller output → controls the steam generator or exhaust valve, the color value PID controller output → controls the surface coloring time or heater; the wind speed PID controller → controls the fan speed.

[0067] The control strategies for each controller include single PID controller control or weighted control. An actuator can be controlled by a single PID controller, for example, a steam generator / humidity generating unit can be controlled by only a humidity PID controller.

[0068] Actuators can also be controlled by weighted control. When the weighted control output mechanism is used, the actual output of the actuator satisfies the following formula: For example, when the actuator is a heater, the output of the heater satisfies the following formula:

[0069] U total =α T *U T +α H *U H +α V *U V +αC *U C ;

[0070] Among them, U total is the actual PWM duty cycle sent to the heater, α T , α H , α V , α C are the control weights of temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller respectively, U T 、U H 、U V 、U C are the heating values ​​output by the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller respectively;

[0071] In a multi-source PID control system, each controller (i.e., each control channel) controls the temperature, humidity, wind speed, and color value of the oven respectively, and the weight represents the importance of each controller's influence on the total output of the system.

[0072] For example, the temperature PID controller recommends an output heating value of 70% power heating, U T =0.7; The humidity PID controller output recommends heating at 40% power to avoid excessively low humidity. H =0.4; The color value PID controller recommends outputting 60% power for heating, and additional heat is needed to improve the color. U C =0.6U; wind speed PID controller output recommendation = 0.3;

[0073] For example, the preset initial control weights in the coloring stage at the current working stage are as follows: α T =0.3,α H =0.2,αC=0.4,α V =0.1,α C =0.4.

[0074] The duty cycle of the final heating power is:

[0075] U total =0.3×0.7+0.2×0.4+0.4×0.6+0.1×0.3=0.21+0.08+0.24+0.03=0.56.

[0076] As a specific embodiment, the method of the present invention further includes:

[0077] Step S1201: presetting the control weights of the temperature PID controller, the humidity PID controller, the wind speed PID controller, and the color value PID controller;

[0078] In specific implementation, the control weights of each stage can be preset as shown in Table 1 below:

[0079] Table 1: Preset Control Weights

[0080]

[0081] Step S1202: The central controller adjusts the control weights of the temperature PID controller, humidity PID controller, wind speed PID controller, and color value PID controller in real time according to the real-time data of each sensor and the current baking stage.

[0082] In specific implementation, by adjusting the control weights of each PID controller, the PID parameters of each controller can be dynamically amplified or shrunk according to the control weights corresponding to the stage.

[0083] For example, the control weight α of the humidity PID controller in the fermentation stage is H =0.8, the humidity controller responds more actively; in the coloring stage α H =0.1, the humidity controller becomes passivated to avoid interference.

[0084] As another specific embodiment, step S1202 may specifically include:

[0085] Step S12021: Based on the temperature, humidity, wind speed, color value target curve and the real-time data of each sensor, obtain the temperature deviation, humidity deviation, weight change, color value error data and error change rate data;

[0086] Step S12022: Input the error data and error change rate data of temperature deviation, humidity deviation, wind speed change, and color value into the fuzzy controller, which outputs the control weight adjustment amount of each PID controller through expert experience rule reasoning, and sets an amplitude constraint on the control weight adjustment amount.

[0087] In this step, the error value and error change rate of each sensor are used as fuzzy input variables, and reasoning is performed through the expert experience rule base to output the adjustment amount of the control weight of each control channel.

[0088] Taking the temperature channel as an example, we introduce the reasoning and output of expert experience rules as follows:

[0089] The input variables of the fuzzy controller are the current temperature error and the temperature error change rate. The fuzzy language values ​​corresponding to the current error are: the current temperature deviation is small, medium, and large; the fuzzy language values ​​corresponding to the temperature error change rate are: the error growth and decrease rate is negative, zero, and positive;

[0090] For example, if the error is within the range of 0 to ±2°C, the current temperature deviation is small. If the error is within the range of ±2 to ±5°C, the current temperature deviation is medium.

[0091] The fuzzy controller uses a rule base for logical reasoning. By increasing or decreasing the control weight of the channel in the working stage, the corresponding fuzzy language value is reduced, unchanged, or increased. As an example, the fuzzy rule base can be set as shown in Table 2:

[0092] Table 2: Fuzzy rule base derived from expert experience rules

[0093]

[0094]

[0095] The language derived from fuzzy reasoning is defuzzified using the center of gravity method / maximum membership method and converted into a specific numerical adjustment amount, so as to obtain the adjusted control weight of the PID controller according to the control weight adjustment amount.

[0096] For example, "significantly increase" corresponds to a weight adjustment value of +0.2, which corresponds to increasing the weight of the channel controller by 20%; "slightly increase" corresponds to a weight adjustment value of +0.05, which corresponds to increasing the weight of the channel controller by 5%; "slightly decrease" corresponds to a weight adjustment value of -0.15, which reduces the weight of the channel controller by 15%.

[0097] In a specific implementation, an amplitude constraint is set for the control weight adjustment amount to avoid too rapid a change in the control weight, which may cause system oscillation or overshoot caused by rapid switching of the actuator to the main control channel. For example, the control weight adjustment amount ∈ [-0.2, +0.2].

[0098] Step S130: acquiring real-time data from each sensor of the oven, the current baking stage, and the accumulated working time data, and controlling the oven to switch stages according to the real-time data from each sensor and the accumulated working time data;

[0099] Specifically, controlling the oven to switch between stages according to the real-time data and accumulated working time data of each sensor includes:

[0100] The acquired real-time temperature data, humidity data, weight data, color value data, cumulative working time, and current baking stage are input into the trained DQN model, and the stage switching is determined based on the output of the DQN model.

[0101] The DQN model output actions include: maintaining the current stage, switching to the next stage, switching to the specified stage, and entering the emergency warming / pre-cooling mode.

[0102] The state vector data of the DQN model includes real-time temperature data, humidity data, wind speed data, weight data, color value data, cumulative working time, and the current baking stage. The state vector data is input into the trained DQN model.

[0103] The training data of the DQN model can be manually controlled or rule-controlled to generate a batch of optimal stage switching sequences. The optimal stage switching sequences record the state, action, stage transition and final score at each time point for training the DQN model.

[0104] In specific implementation, the reward function is calculated based on baking quality, working time, target deviation, etc. For example, the reward function can be designed as follows:

[0105] +10if switching is appropriate (matureness meets standards, color value is appropriate, energy saving)

[0106] -5if switching too early (temperature not reached, color value too light)

[0107] -8if switching too late (over-browning, dry and hard ingredients)

[0108] -2if the indicator is stable but the indicator is still stable (inertia penalty)

[0109] -λ energy consumption penalty term (control energy saving)

[0110] In this step, the DQN model is used to determine stage switching, rather than relying on a single variable such as temperature or color value. This improves the targeting and timing of switching nodes, thereby improving the consistency and quality of the finished product. Furthermore, the DQN model can continuously optimize itself, adapt to new baking habits, and meet the personalized needs of users.

[0111] As another embodiment, the oven stage switching is controlled based on the real-time data from each sensor and the accumulated operating time data. Alternatively, a preset stage switching strategy may be used. The preset stage switching strategy may include switching based on time rules, state rules, etc. For example, after the temperature reaches 180°C and remains at that level for 3 minutes, the oven switches to the next stage.

[0112] Step S140: pre-configuring PID parameter tables for the temperature PID controller, humidity PID controller, wind speed PID controller, and color value PID controller in each baking stage, and each controller controls the operation of the oven according to the PID parameters of the baking stage the oven is in;

[0113] In specific implementation, PID parameters are configured according to the PID parameters, the type and characteristics of ingredients, and the baking method selected by the user. By properly configuring PID parameters, precise control of each stage can be ensured, thereby ensuring the success of the baking process and the consistency of the product. The pre-configured parameter table can be stored in a table such as JSON, CSV, or a database table.

[0114] Taking the heating stage as an example, the configuration parameter table can be shown in Table 3:

[0115] Table 3: Pre-configured PID parameters for the ramp-up phase

[0116] Controller Type Kp Ki Kd Temperature PID 3.5 0.1 1.2 Humidity PID 1.2 0.05 0.5 Wind speed PID 1.0 0.03 0.4 Color value PID 0.2 0.01 0.05

[0117] Step S150: When it is monitored that the total error exceeds the first error threshold, the PID parameters of each controller are adjusted in real time; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

[0118] In this step, when the system finds that the total error is too large, it adjusts the PID parameters in real time. The system automatically triggers synchronous or differential adjustment of the parameters of multiple PID controllers, thereby enhancing the overall control response capability of the system. By automatically adjusting the control strategy through real-time feedback of the changes in the total error, it can gradually optimize its PID parameter combination, thereby improving the baking effect.

[0119] Specifically, the total error satisfies the following formula:

[0120] E total =α T *E T +α H *E H +α V *E V +α C *E C ;

[0121] Among them, E total is the total error, that is, the weighted sum of the errors of each channel, α T , α H , α V , α C are the control weights of temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller respectively, E T 、E H 、E V 、E C They are temperature error, humidity error, wind speed error and color value error respectively.

[0122] During specific implementation, the first error threshold may be set based on experience, for example, may be set to a value between 10 and 20.

[0123] Specifically, when the total error is detected to exceed the first error threshold, adjusting the PID parameters of each controller in real time includes:

[0124] When the total error is detected to exceed the first error threshold, the control weight of each controller and the error of the channel to which each controller belongs are obtained, and the adjustment factor of each controller is obtained according to the control weight and the error of each controller channel. The PID parameters of each controller are dynamically adjusted according to the adjustment factor. After adjustment, the PID parameters of each controller meet the following formula:

[0125]

[0126] in, is the proportional gain after adjustment of the j-th controller; is the initial proportional gain before the jth controller is adjusted. α, β, and γ are adjustable coefficients set according to experience. j is the adjustment factor of the channel to which the j-th controller belongs, w j is the control weight of the j-th controller, E total is the weighted sum of the channel errors of all controllers, that is, the total error, |e j | is the current absolute error of the channel to which the j-th controller belongs.

[0127] From the formula, we can see that the larger the error, the higher the weight, the larger the adjustment factor, and the greater the adjustment amplitude.

[0128] It should be noted that the adjustment mechanism is enabled only when the total error is detected to exceed the first error threshold, so as to avoid frequent adjustments of the system.

[0129] Specifically, during implementation, the method of the present invention further comprises:

[0130] Step S100: coupling the color value PID controller output to the humidity PID controller and the wind speed PID controller, so as to reduce the output of the temperature PID controller and the humidity PID controller when the depth of the real-time color value exceeds a first color value threshold;

[0131] In this step, the first color value threshold can be determined based on the color value target curve. For example, if the current real-time color value exceeds the ±5L threshold of the curve, when the surface of the food reaches a certain set degree, such as yellowing, darkening, or approaching carbonization, the humidity PID controller and the temperature PID controller are triggered to perform linkage control to prevent further discoloration or burning.

[0132] The first color value threshold can be determined according to the type of food. For example, when the food is bread, the first color value threshold L is set to 60. That is, when the color value L≤60, the humidity PID controller and the temperature PID controller are triggered to jointly intervene to prevent excessive discoloration.

[0133] Among them, the method of triggering the joint intervention of the humidity PID controller and the temperature PID controller can reduce the weights of the humidity PID controller and the temperature PID controller while increasing the weight of the wind speed PID controller.

[0134] Step S101: coupling the output of the humidity PID controller to the output of the wind speed PID controller, so as to suppress the output of the wind speed PID controller when the real-time humidity is lower than a first humidity threshold.

[0135] In this step, the first humidity threshold may be set to be 5-10% lower than the control target value, for early warning and intervention in wind speed output.

[0136] The first humidity threshold can be determined according to the type of ingredients and the baking stage. For example, in the fermentation stage of bread, when the humidity is lower than 70%, the output of the wind speed PID controller is suppressed by reducing the control weight of the wind speed PID controller.

[0137] In this embodiment, the output of a controller is influenced not only by the deviation of that controller channel but also by the outputs of other controller channels. The PID controller no longer makes independent control decisions but instead integrates other factors affecting the system's current state. For example, when humidity is rapidly decreasing, even if the current temperature error is small, the temperature should be adjusted in advance. This coordinated control makes control more stable and intelligent, avoiding the overall imbalance caused by local optimality.

[0138] For example, when the color value PID controller output is coupled to the humidity PID controller and the wind speed PID controller, the temperature PID controller and the humidity PID controller are affected by the color value PID controller output.

[0139] When the output of the humidity PID controller is coupled to the output of the wind speed PID controller, the output of the wind speed PID controller is affected by the output of the humidity PID controller.

[0140] As a specific implementation, the output of the temperature PID controller is obtained by coupling the output of the humidity PID controller to the temperature PID controller, wherein the output of the temperature PID controller satisfies the following formula:

[0141]

[0142] Among them, U T ^ is the final output of the temperature controller after the humidity controller intervenes, UT is the original output of the temperature controller; is the coupling weight of the humidity controller to the temperature controller, ranging from 0.1 to 0.5; e H is the humidity deviation, i.e. the target humidity minus the current humidity; e H ′ is the rate of change of humidity deviation; λ is the rate of change adjustment coefficient, which ranges from 0.1 to 1.0.

[0143] From the formula we can see that The larger the value of , the stronger the intervention of the humidity PID controller on temperature control.

[0144] In this step, the output of the temperature PID controller is coupled to the output of the humidity PID controller to control the temperature PID controller. The PID controllers of the two channels no longer operate independently, but can sense each other's status and output control instructions in a coordinated manner, thereby improving the temperature control stability, preventing the ingredients from being overly dehydrated or undercooked, and ultimately improving the baking quality.

[0145] At the same time, the temperature PID and humidity PID form a coordinated control, making the control behavior more stable and intelligent, and avoiding the overall imbalance problem caused by local optimality.

[0146] Example 2

[0147] The embodiment of the present invention discloses an oven cooking control system based on multi-source PID, such as Figure 3 As shown, Figure 3 It is an oven cooking control system based on multi-source PID, including:

[0148] The target unit 210 is used to match the temperature target curve, humidity target curve, wind speed target curve, and color value target curve according to the user operation instruction and the food type;

[0149] A control unit 220 is configured to control the operation of the oven through a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller based on the temperature target curve, the humidity target curve, the wind speed target curve, and the color value target curve;

[0150] The switching unit 230 is used to obtain real-time data from each sensor of the oven, the current baking stage and the accumulated working time data, and control the oven to switch stages according to the real-time data and accumulated working time data of each sensor;

[0151] The parameter unit 240 is used to pre-configure the PID parameter tables of the temperature PID controller, the humidity PID controller, the wind speed PID controller, and the color value PID controller in each baking stage. Each controller controls the operation of the oven according to the PID parameters of the baking stage in which the oven is located;

[0152] The monitoring unit 250 is used to adjust the PID parameters of each controller in real time when it is monitored that the total error exceeds a first error threshold; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

[0153] Optionally, the control system further includes:

[0154] A coupling unit is used to couple the output of the color value PID controller to the humidity PID controller and the wind speed PID controller, so as to reduce the outputs of the temperature PID controller and the humidity PID controller when the depth of the real-time color value exceeds a first color value threshold; and to couple the output of the humidity PID controller to the output of the wind speed PID controller, so as to suppress the output of the wind speed PID controller when the real-time humidity is lower than the first humidity threshold.

[0155] Example 3

[0156] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. Figure 4 As shown, the electronic device may include:

[0157] A memory 310 storing executable program code;

[0158] a processor 320 coupled to the memory 310;

[0159] The processor 320 calls the executable program code stored in the memory 310 to execute part or all of the steps in the monitoring method of the oven cooking control system based on multi-source PID in the first embodiment.

[0160] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute some or all of the steps in a multi-source PID-based oven cooking control method in embodiment 1.

[0161] An embodiment of the present invention further discloses a computer program product, wherein when the computer program product runs on a computer, it enables the computer to execute some or all steps of the monitoring method of the oven cooking control system based on multi-source PID in embodiment one.

[0162] An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product. When the computer program product runs on a computer, the computer executes some or all of the steps in the monitoring method of an oven cooking control system based on multi-source PID in embodiment one.

[0163] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the processes does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0164] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the objectives of this embodiment as needed.

[0165] In addition, the functional units in the embodiments of the present invention may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The integrated unit may be implemented in the form of hardware or software functional units.

[0166] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several requests for causing a computer device (which can be a personal computer, server, or network device, specifically a processor in the computer device) to execute some or all of the steps of the method described in each embodiment of the present invention.

[0167] In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B based solely on A; B can also be determined based on A and / or other information.

[0168] Those skilled in the art will appreciate that some or all of the steps in the various methods of the embodiments may be performed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0169] The above describes in detail a monitoring method, device, electronic device, and storage medium for a multi-source PID oven cooking control system disclosed in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. At the same time, for those skilled in the art, according to the concept of the present invention, there may be changes in the specific implementation methods and application scope.

[0170] In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An oven cooking control method based on multi-source PID, characterized in that: It includes the following: According to user operation instructions and food type, match the temperature target curve, humidity target curve, wind speed target curve, and color value target curve; Based on the temperature target curve, humidity target curve, wind speed target curve, and color value target curve, the oven is controlled by a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller; Obtaining real-time data from each sensor of the oven, the current baking stage, and accumulated working time data, and controlling the oven to switch stages based on the real-time data and accumulated working time data from each sensor; Pre-configure the PID parameter tables of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in each baking stage. Each controller controls the oven operation according to the PID parameters of the baking stage the oven is in. When the total error detected exceeds the first error threshold, the PID parameters of each controller are adjusted in real time; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

2. The oven cooking control method based on multi-source PID according to claim 1, characterized in that: The control strategies of each controller include single PID controller control or weighted control. When an actuator of the oven is controlled by weighted control, the actual output control signal of the actuator satisfies the following formula: U total =a T *U T +a H *U H +a V *U V +a C *U C ; Among them, U total is the output actually sent to the actuator, α T , α H , α V , α C are the control weights of temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller respectively, U T 、U H 、U V 、U C These are the control signals of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller for the actuator; The control weights of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller are preset. The central controller adjusts the control weights of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in real time according to the real-time data of each sensor and the current baking stage.

3. The oven cooking control method based on multi-source PID according to claim 1, characterized in that: Also includes: The output of the color value PID controller is coupled to the humidity PID controller and the wind speed PID controller to reduce the outputs of the temperature PID controller and the humidity PID controller when the depth of the real-time color value exceeds a first color value threshold; the output of the humidity PID controller is coupled to the output of the wind speed PID controller to suppress the output of the wind speed PID controller when the real-time humidity is lower than the first humidity threshold.

4. The oven cooking control method based on multi-source PID according to claim 1, characterized in that: The output of the temperature PID controller is obtained by coupling the output of the humidity PID controller to the temperature PID controller, wherein the output of the temperature PID controller satisfies the following formula: Among them, U T ^ is the final output of the temperature controller after the humidity controller intervenes, U T is the original output of the temperature controller; is the coupling weight of the humidity controller to the temperature controller, ranging from 0.1 to 0.5; e H is the humidity deviation, i.e. the target humidity minus the current humidity; e H ^ is the rate of change of humidity deviation; λ is the rate of change adjustment coefficient, which is between 0.1 and 1.

0.

5. The oven cooking control method based on multi-source PID according to claim 1, characterized in that: The step of controlling the oven to switch between stages according to the real-time data and the accumulated working time data of each sensor includes: The acquired real-time temperature data, humidity data, weight data, color value data, cumulative working time, and current baking stage are input into a trained DQN model. The stage switching is determined based on the output of the DQN model. The output actions of the DQN model include: maintaining the current stage, switching to the next stage, switching to a specified stage, and entering an emergency insulation / pre-cooling mode. The state vector data of the DQN model includes real-time temperature data, humidity data, wind speed data, weight data, color value data, cumulative working time, and current baking stage.

6. The oven cooking control method based on multi-source PID according to claim 1, characterized in that: The step of adjusting the PID parameters of each controller in real time when the total error is monitored to exceed the first error threshold includes: when the total error is monitored to exceed the first error threshold, obtaining the control weight of each controller and the error of the channel to which each controller belongs, obtaining an adjustment factor for each controller according to the control weight and the error of each controller channel, and dynamically adjusting the PID parameters of each controller according to the adjustment factor, so that the PID parameters of each controller after adjustment meet the following formula: in, is the proportional gain after adjustment of the j-th controller; is the initial proportional gain before the jth controller is adjusted. α, β, and γ are adjustable coefficients set according to experience. j is the adjustment factor of the channel to which the j-th controller belongs, w j is the control weight of the j-th controller, E total is the weighted sum of the channel errors of all controllers, that is, the total error, |e j | is the current absolute error of the channel to which the j-th controller belongs.

7. The oven cooking control method based on multi-source PID according to claim 2, characterized in that: The central controller adjusts the control weights of the temperature PID controller, the humidity PID controller, the wind speed PID controller, and the color value PID controller in real time according to the real-time data of each sensor and the current baking stage, including: According to the temperature, humidity, wind speed, color value target curve and the real-time data of each sensor, the temperature deviation, humidity deviation, weight change, color value error data and error change rate data are obtained; Inputting the error data and error change rate data of temperature deviation, humidity deviation, wind speed change, and color value into a fuzzy controller, which outputs an inference based on expert experience rules; The control weight adjustment amount of each PID controller is outputted through the fuzzy controller, and an amplitude constraint is set for the control weight adjustment amount.

8. An oven cooking control system based on multi-source PID, characterized in that: It includes: The target unit is used to match the temperature target curve, humidity target curve, wind speed target curve, and color value target curve according to the user's operation instructions and the type of food; A control unit, configured to control the operation of the oven through a temperature PID controller, a humidity PID controller, a wind speed PID controller, and a color value PID controller based on the temperature target curve, the humidity target curve, the wind speed target curve, and the color value target curve; A switching unit is used to obtain real-time data from each sensor of the oven, the current baking stage and the accumulated working time data, and control the oven to switch stages according to the real-time data and accumulated working time data of each sensor; The parameter unit is used to pre-configure the PID parameter tables of the temperature PID controller, humidity PID controller, wind speed PID controller and color value PID controller in each baking stage. Each controller controls the operation of the oven according to the PID parameters of the baking stage in which the oven is located; The monitoring unit is used to adjust the PID parameters of each controller in real time when it is monitored that the total error exceeds a first error threshold; the total error is obtained by weighted summing the differences between the real-time data of each sensor and its corresponding target value.

9. An electronic device, characterized in that: It includes: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the oven cooking control method based on multi-source PID according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that It stores a computer program, wherein the computer program enables a computer to execute the oven cooking control method based on multi-source PID according to any one of claims 1 to 7.

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