A control method and device of a cleaning apparatus, an apparatus, a medium, and a program product

Abstract

This application provides a control method, apparatus, equipment, medium, and program product for a cleaning device, which can be applied to the field of liquid-cooled server technology. The method includes: determining the pressure difference between a reference pressure value and the real-time pressure value of the fluid at the outlet of a target pump in the cleaning device; processing the pressure difference based on a hysteresis relationship using preset pressure control parameters to determine a speed adjustment signal, wherein the hysteresis relationship indicates the degree of lag between the moment the target pump speed changes and the moment the fluid pressure value change is acquired; controlling the target pump to operate at the speed indicated by the speed adjustment signal to adjust the output flow rate of the target pump, so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameters are obtained by simulation calculation of the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time.

Description

Technical Field

[0001] This application relates to the field of liquid-cooled server technology, specifically to a control method, apparatus, equipment, medium, and program product for a cleaning device. Background Technology

[0002] Liquid cooling equipment typically achieves heat exchange between the coolant and the target device. For example, a liquid-cooled server uses a continuously flowing coolant to exchange heat with the server's heat-generating components to dissipate heat. Newly manufactured liquid-cooled servers often contain gases and impurities in their liquid cooling pipes. To prevent cavitation and microbial contamination, the liquid cooling pipes of the liquid-cooled server need to be cleaned.

[0003] Generally, a proportional-integral-derivative controller is used to flush the liquid-cooled pipeline with constant-pressure circulating water. However, during the operation of the cleaning equipment, the pipeline resistance will delay the propagation of the pressure wave, which will affect the pressure change of the pump output fluid. Controlling the output flow of the target pump based on pressure feedback ignores the actual operating characteristics of the pump affected by the pressure wave propagation delay. Flow control based on ideal conditions requires improvement in control accuracy and response speed. Summary of the Invention

[0004] In view of the above problems, this application provides a control method, device, equipment, medium and program product for cleaning equipment to improve the control accuracy and response speed of cleaning equipment.

[0005] According to a first aspect of this application, a control method for a cleaning device is provided. The method includes: determining a pressure difference between a reference pressure value and a real-time pressure value of fluid at the outlet of a target pump in the cleaning device; processing the pressure difference based on a hysteresis relationship using preset pressure control parameters to determine a speed adjustment signal, wherein the hysteresis relationship indicates the degree of lag between the moment the target pump speed changes and the moment the fluid pressure value change is acquired; controlling the target pump to operate at a speed indicated by the speed adjustment signal to adjust the output flow rate of the target pump, so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameters are obtained by simulation calculation of the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time; the target pump is connected to the fluid passage of the cleaning device, the inertial time constant is obtained by the response time from the fluid flowing out from the beginning of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the beginning to the end of the fluid passage.

[0006] The second aspect of this application provides a control device for a cleaning equipment, comprising: a pressure difference determination module for determining the pressure difference between a reference pressure value and the real-time pressure value of the fluid at the outlet of a target pump in the cleaning equipment; a speed adjustment signal determination module for processing the pressure difference based on a hysteresis relationship using preset pressure control parameters to determine a speed adjustment signal, wherein the hysteresis relationship indicates the degree of hysteresis between the moment the target pump speed changes and the moment the fluid pressure value change is collected; and a flow adjustment module for controlling the target pump to operate at the speed indicated by the speed adjustment signal to adjust the output flow rate of the target pump so that the adjusted pressure value is close to the reference pressure value; wherein the pressure control parameters are obtained by simulation calculation of the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time; the target pump is connected to the fluid passage of the cleaning equipment, the inertial time constant is obtained by the response time from the fluid flowing out from the beginning of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the beginning to the end of the fluid passage.

[0007] A third aspect of this application provides an electronic device comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method described above.

[0008] A fourth aspect of this application also provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0009] The fifth aspect of this application also provides a computer program product, including a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0010] According to the control method, device, equipment, medium and program products of the cleaning equipment provided in this application, the pressure difference between the reference pressure value and the real-time pressure value of the fluid at the outlet of the target pump in the cleaning equipment is determined. The pressure difference is processed based on the hysteresis relationship using preset pressure control parameters to determine the speed adjustment signal. In the process of controlling the output flow of the target pump based on pressure feedback, the pressure wave propagation delay caused by the pipeline during the fluid transportation process is considered to improve the response speed and control accuracy of the target pump output flow adjustment. Attached Figure Description

[0011] The above-mentioned contents, other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0012] Figure 1The illustration schematically depicts an application scenario of a control method, apparatus, device, medium, and program product for a cleaning device according to embodiments of this application;

[0013] Figure 2 This schematic diagram illustrates the working principle of a cleaning device according to an embodiment of the present application.

[0014] Figure 3 A flowchart illustrating a control method for a cleaning apparatus according to an embodiment of this application is shown schematically.

[0015] Figure 4 A flowchart illustrating the calculation of pressure control parameters according to an embodiment of this application is shown schematically;

[0016] Figure 5 A detailed flowchart illustrating the calculation of pressure control parameters according to an embodiment of this application is shown schematically.

[0017] Figure 6 This schematically illustrates another detailed flowchart of calculating pressure control parameters according to an embodiment of the present application;

[0018] Figure 7 A flowchart illustrating flow control in a fluid passage according to an embodiment of this application is shown schematically.

[0019] Figure 8 A schematic diagram illustrating the control principle of multiple fluid passages according to embodiments of this application is shown.

[0020] Figure 9 A flowchart illustrating feedforward compensation according to an embodiment of this application is shown schematically;

[0021] Figure 10 A schematic diagram illustrating the control principle of a cleaning device according to an embodiment of this application is shown.

[0022] Figure 11 A schematic diagram illustrating the hysteresis relationship of a cleaning apparatus according to an embodiment of this application is shown.

[0023] Figure 12 The diagram schematically illustrates an application example of the control method for a cleaning device according to an embodiment of this application;

[0024] Figure 13 This schematic diagram illustrates the structural block diagram of the control device for a cleaning apparatus according to an embodiment of the present application;

[0025] Figure 14 A block diagram schematically illustrates an electronic device suitable for implementing a control method for a cleaning device according to an embodiment of this application. Detailed Implementation

[0026] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0027] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising”, “including”, etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0028] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0029] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0030] To remove gases and impurities from newly manufactured liquid-cooled servers, the piping in the liquid-cooled servers is flushed using a constant-pressure liquid supply system based on proportional-integral-derivative (PID) control, with the output flow rate adjusted by pressure feedback.

[0031] Pressure control is usually based solely on the difference between the setpoint and the applied pressure, without taking into account the delay caused by pipeline resistance during the actual cleaning process, or the dynamic changes of related components such as pumps and electric proportional valves. This results in a need to improve both control accuracy and response speed.

[0032] The embodiments of this application provide a control method for a cleaning equipment. Based on the simulation calculation of the inertial time constant and the pressure wave propagation delay time versus hysteresis relationship that can quantify the effect of pipeline resistance on the propagation delay of fluid pressure waves, pressure control parameters are obtained. This allows the method to fully consider the impact of pipeline on the delivery of cleaning fluid during the actual cleaning process when controlling pressure, thereby improving the control accuracy and response speed of the output flow control of the cleaning equipment.

[0033] Figure 1 The diagram illustrates an application scenario of the control method for a cleaning device according to an embodiment of this application.

[0034] like Figure 1 As shown, the application scenario 100 of the control method for the cleaning equipment in this embodiment includes a processor 101 and a cleaning equipment. The processor 101 can be a hardware device such as an industrial control computer or a server. The cleaning equipment represents various devices and components used for cleaning the liquid cooling pipeline 216 in a liquid-cooled server. The cleaning equipment may include flow control devices such as a water pump 210 and a proportional valve 218, and fluid conveying devices such as pipelines and a water tank 204. The processor 101 can transmit control signals to the cleaning equipment, and the cleaning equipment can provide feedback on its real-time operating status to the processor 101, such as the real-time flow rate and pressure value of the cleaning fluid output in the pipeline.

[0035] Figure 2 The schematic diagram illustrates the working principle of a cleaning device according to an embodiment of this application.

[0036] For example, the cleaning equipment includes a water tank 204 for storing cleaning fluid, a water pump 210 connected to the water tank 204, the water tank 204 is equipped with an air vent 214, a liquid level sensor 203 for monitoring the high, medium and low liquid levels of the cleaning fluid, an online monitor 205 for monitoring the conductivity and pH of the cleaning fluid, a turbidity monitor 219 for monitoring the turbidity of the cleaning fluid, a heater 206 for heating the cleaning fluid, and a temperature sensor 212 for monitoring the temperature of the cleaning fluid, so as to promptly alarm when the above indicators are abnormal; the water tank 204 is replenished with water through a water replenishment pipeline equipped with a one-way valve 211 and a diaphragm pump 207.

[0037] The water pump 210 is used to provide cleaning fluid with stable pressure and is the source of pressure and flow regulation. It is connected to the fluid passage via a one-way valve 211, which prevents backflow of cleaning fluid due to pressure loss such as pipe rupture. The water pump 210 and the fluid passage are also equipped with a flow sensor 217 for measuring the flow rate at the outlet of the water pump 210, a temperature sensor 212 for measuring the temperature at the outlet of the water pump 210, an automatic air vent valve 202, and a pressure sensor 213 for measuring the pressure at the outlet of the water pump 210. Along the flow direction of the cleaning fluid, the fluid passage is sequentially equipped with an electric ball valve 215 for controlling the opening and closing of the fluid passage, a pressure sensor 213 for measuring the pressure of the cleaning fluid in the fluid passage, a flow sensor 217 for measuring the flow rate of the cleaning fluid in the fluid passage, and a proportional valve 218 for controlling the flow rate of the cleaning fluid in the fluid passage.

[0038] Multiple fluid passages are available for simultaneously cleaning the liquid cooling pipes 216 of multiple liquid-cooled servers. The liquid cooling pipes 216 are connected to the fluid passages via quick-release self-sealing connectors 220. The cleaning fluid is output from the water tank 204 to the water pump 210, which then delivers it to each fluid passage. The output ends of the multiple fluid passages are connected to the filter device 201 via a main pipeline. The filter device 201 is connected to the water pump 210 via a pipeline equipped with a manual ball valve 208 and a filter 209. A pressure sensor 213 is installed on the main pipeline to monitor the pressure of the main pipeline and to issue an alarm when the pressure of the main pipeline is abnormal.

[0039] It should be understood that Figure 1 The number of processors 101 and cleaning devices shown is merely illustrative. Any number of processors 101 and cleaning devices can be used depending on implementation requirements.

[0040] The following will be based on Figure 1 The scene described and Figure 2 The principle described, through Figures 3-12 The control method of the cleaning equipment according to the disclosed embodiments will be described in detail.

[0041] Figure 3 A flowchart illustrating a control method for a cleaning apparatus according to an embodiment of this application is shown schematically.

[0042] like Figure 3 As shown, the control method of the cleaning equipment in this embodiment includes operations S310 to S330.

[0043] When operating S310, determine the reference pressure value. Pressure difference between the fluid and the real-time pressure P at the outlet of the target pump in the cleaning equipment .

[0044] When operating S320, the pressure difference is processed based on the hysteresis relationship using preset pressure control parameters. Determine the speed adjustment signal.

[0045] When operating S330, the target pump is controlled to operate at the speed indicated by the speed regulation signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value. .

[0046] According to an embodiment of this application, the target pump refers to the water pump 210 in the cleaning equipment; reference pressure value The target pressure value that the cleaning fluid output by the target pump is expected to reach and maintain is used as a reference for pressure-based control of the target pump's output flow rate, ensuring that the actual pressure tracks this reference value; pressure difference. This reflects the real-time pressure value P and the reference pressure value. The deviation between them.

[0047] For example, if the real-time pressure value P of the cleaning fluid output by the target pump is less than the reference pressure value... Then the pressure difference A positive value indicates that the target pump speed needs to be increased to increase the flow rate of the output cleaning fluid, thereby increasing the pressure of the output cleaning fluid and thus the pressure difference. Gradually decreasing to 0; conversely, if the real-time pressure value P of the cleaning fluid output by the target pump is greater than the reference pressure value. Then the pressure difference A negative value indicates that the target pump speed needs to be reduced to decrease the flow rate of the cleaning fluid output from the target pump, thereby reducing the pressure difference. Gradually reduce to 0, maintaining a constant pressure.

[0048] For example, if the reference pressure is 0.5 MPa and the real-time pressure is 0.3 MPa, then the pressure difference is... The pressure is 0.2 MPa, so the speed of the target pump needs to be increased.

[0049] According to an embodiment of this application, the pressure control parameter represents the adjustable coefficient of the preset pressure control algorithm, which is used to process the pressure difference based on the hysteresis relationship learned by simulation calculation; the hysteresis relationship is used to indicate the degree of hysteresis between the moment the target pump speed changes and the moment the fluid pressure value changes, reflecting the delay caused by the pipeline to the propagation of the pressure wave of the output cleaning fluid.

[0050] For example, the pressure control parameters include the proportional parameter, integral parameter, and derivative parameter in the proportional-integral-derivative (PID) control algorithm, which is also known as a PID controller.

[0051] For example, during the cleaning process of the liquid cooling pipe 216 in a liquid-cooled server, a PID controller utilizes proportional, integral, and derivative parameters to measure the input pressure difference. The proportional, integral, and derivative operations are performed independently, and the results are superimposed to obtain the speed regulation signal of the target pump in the current feedback cycle.

[0052] According to an embodiment of this application, the pressure control parameters are obtained by simulating the hysteresis relationship based on the inertial time constant of the fluid at the target pump outlet and the pressure wave propagation delay time.

[0053] In this embodiment, the target pump is connected to the fluid passage of the cleaning equipment. The inertial time constant quantifies the rate of change of the flow rate after the fluid is driven. It is obtained by the response time from when the fluid flows out from the beginning of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate. The pressure wave propagation delay time indicates the transmission time of pressure change information. It is obtained by the time required for the pressure wave of the fluid to propagate from the beginning of the fluid passage to the end of the fluid passage.

[0054] For example, the inertial time constant is calculated using the difference between the moment when the cleaning fluid fills the fluid passage and reaches the rated flow rate and the moment when the target pump starts, and the pressure wave propagation delay time is calculated using the length of the fluid passage and the speed of sound in the cleaning fluid.

[0055] For example, inertial time constant Represented as:

[0056] ;

[0057] In the formula, The moment when the cleaning fluid fills the fluid passage and reaches the rated flow rate is determined by data collected by the flow sensor 217 located at the end of the fluid passage; This indicates the start-up time of the target pump, at which point the cleaning fluid flows out from the beginning of the fluid passage.

[0058] Pressure wave propagation delay time Represented as:

[0059] ;

[0060] In the formula, The length of the fluid passage is represented by C, which represents the speed of sound in the cleaning fluid. In the cleaning of the liquid cooling pipe 216, it can be obtained by actual measurement that C is the speed of sound in water, specifically 1400 m / s.

[0061] In order to make the target pump control based on pressure feedback conform to the actual characteristics of the target pump output flow, in this embodiment, the inertial time constant and the pressure wave propagation delay time, which represent the propagation characteristics of pressure waves in the pipeline, are introduced into the simulation optimization of the hysteresis relationship. This reflects the dynamic changes of the output cleaning fluid caused by pipeline resistance, so that the final pressure control parameters fit the actual cleaning equipment control scenario.

[0062] Figure 4 A flowchart illustrating the calculation of pressure control parameters according to an embodiment of this application is shown schematically.

[0063] In some embodiments, pressure control coefficients, including operations S410 to S440, are obtained by simulating the hysteresis relationship based on the inertial time constant of the fluid at the target pump outlet and the pressure wave propagation delay time.

[0064] In operation S410, the transition rate from the actual change time of the fluid pressure value to the steady state time of the fluid pressure is calculated based on the inertial time constant, and the inertial delay parameter is obtained.

[0065] In operation S420, the time difference from the moment the target pump speed changes to the moment the pressure wave is transmitted to the pressure sensor 213 is calculated based on the pressure wave propagation delay time, and the acquisition delay parameter is obtained.

[0066] When operating the S430, the fluid inertial parameters are obtained based on the inertial delay parameters, acquisition delay parameters, and static pressure gain.

[0067] When operating S440, the pressure control parameters are obtained by characterizing the hysteresis relationship through fluid inertia parameters.

[0068] According to embodiments of this application, the inertial delay parameter is used to indicate the rate of change of fluid flow in the fluid path, reflecting the transition rate of fluid pressure from initial change to approaching steady state.

[0069] In this embodiment, in order to describe the slow transition process after the pressure begins to change, the inertial delay parameter is represented by the first-order inertial term of the pressure wave transformation based on the inertial time constant.

[0070] For example, inertial delay parameter Represented as:

[0071] ;

[0072] In the formula, This represents a variable in the complex frequency domain.

[0073] According to an embodiment of this application, the pressure wave propagation delay time indicates the time required for the pressure wave of the cleaning fluid to propagate from the beginning of the fluid passage to the end of the fluid passage. The propagation time of the pressure wave of the cleaning fluid can be equivalent to the time when the target pump speed changes. The time when the cleaning fluid propagates to the end of the fluid passage can be equivalent to the time when the pressure wave is transmitted to the pressure sensor 213 deployed at the end of the fluid passage. The continuous change process between the two is described by the natural exponential function to obtain the acquisition delay parameter.

[0074] For example, the acquisition delay parameter is expressed as:

[0075] .

[0076] According to an embodiment of this application, the static pressure gain is obtained based on the ratio of pressure change to flow rate change in the fluid passage under steady state. The static pressure gain quantifies the degree of influence of flow rate change on pressure change.

[0077] According to embodiments of this application, the dynamic characteristics of the cleaning fluid propagating in the fluid path are quantified by using inertial delay parameters, acquisition delay parameters, and static pressure gain to obtain fluid inertial parameters, which characterize the hysteresis relationship of the cleaning fluid propagating in the fluid path, in order to serve the parameter optimization of the proportional-integral-derivative control algorithm.

[0078] For example, fluid inertial parameters Represented as:

[0079] ;

[0080] In the formula, This represents the static pressure gain.

[0081] In summary, the method described in this embodiment quantifies the inertial delay and acquisition delay caused by the presence of pipelines in the propagation of cleaning fluid in the fluid path, forming fluid inertial parameters that characterize the hysteresis relationship and performing simulation calculations on them. This provides a comprehensive data foundation for the simulation calculation of pressure control parameters, enabling the pressure control parameters to fully learn the actual operating characteristics that exist during the output of cleaning fluid, thereby improving the control response speed and accuracy.

[0082] Figure 5 A detailed flowchart illustrating the calculation of pressure control parameters according to an embodiment of this application is shown schematically.

[0083] The cleaning fluid is output from the target pump to the fluid passage. In the process of pressure control parameters, in order to facilitate optimization calculation, the hysteresis relationship in the propagation process of the cleaning fluid can be regarded as part of the operating characteristics of the target pump. Meanwhile, the target pump includes a motor and an impeller. The target pump provides the driving force for outputting the cleaning fluid through the motor and outputs the cleaning fluid through the impeller. In order to fully reflect the operating characteristics of the target pump, the structural characteristics and dynamic characteristics of the target pump are considered, and the hysteresis relationship is fully characterized.

[0084] According to an embodiment of this application, operation S440 specifically includes operations S510 to S530.

[0085] In operation S510, motor oscillation parameters that indicate the degree of motor oscillation are determined based on the motor winding inductance and rotor inertia.

[0086] When operating S520, the impeller hysteresis parameter is determined based on the impeller's moment of inertia and damping coefficient. The impeller hysteresis parameter represents the time difference between the moment when the motor speed changes and the moment when the flow rate of the fluid output by the impeller changes.

[0087] When operating the S530, the hysteresis relationship is characterized by motor oscillation parameters, impeller hysteresis parameters, and fluid inertia parameters to obtain pressure control parameters.

[0088] According to an embodiment of this application, motor oscillation parameters are used to indicate the oscillation characteristics between the motor winding inductance and the rotor inertia. The motor oscillation parameters are determined using the motor static gain, damping ratio, and system natural frequency. The motor static gain can be determined by the ratio between the output signal and the input signal when the motor reaches a steady state. The system natural frequency represents the natural vibration frequency of the motor in an undamped state, determined by its own inertia and elasticity. The damping ratio represents the ratio of the motor damping strength to the critical damping.

[0089] For example, motor oscillation parameters Represented as:

[0090] ;

[0091] In the formula, Indicates the static gain of the motor. Represents the system's natural frequency. This indicates the damping ratio.

[0092] In practical applications, the static gain of a motor is related to parameters such as the motor torque constant and winding inductance, and can be obtained by consulting the component manual; the damping ratio can be in the range of 0.1 to 0.7, and can be obtained by sweeping frequency experiments to obtain the amplitude-frequency curve of the motor, calculating the natural frequency of the system by the position of the resonance peak of the amplitude-frequency curve, and calculating the damping ratio by the peak width of the resonance peak of the amplitude-frequency curve.

[0093] According to an embodiment of this application, the impeller hysteresis parameter represents the time difference between the moment when the motor speed changes and the moment when the flow rate of the fluid output by the impeller changes, that is, the degree of hysteresis in the response of the output flow rate relative to the input speed.

[0094] In this embodiment, the dynamic response characteristics of the impeller are regarded as a first-order inertial element. The response of the impeller angular velocity under the influence of impeller inertia and damping is considered to obtain the impeller hysteresis parameters. Impeller inertia will hinder the change of impeller angular acceleration, and impeller damping will hinder the change of impeller angular velocity.

[0095] For example, impeller hysteresis parameters Represented as:

[0096] ;

[0097] In the formula, Indicates the moment of inertia. This represents the damping coefficient.

[0098] According to the embodiments of this application, considering that the working logic of the target pump is a series linear system, the hysteresis parameters of the target pump are characterized by motor oscillation parameters, impeller hysteresis parameters and fluid inertia parameters, which reflect the series energy change between electrical energy, kinetic energy and pressure energy in the target pump.

[0099] For example, the target pump hysteresis parameter is expressed as:

[0100] .

[0101] Pressure control is achieved through a PID controller in the pressure regulation loop, and the pressure control transfer function is... Represented as:

[0102] ;

[0103] In the formula, Indicates the proportional parameter. Indicates the integration parameter. This represents the differential parameter.

[0104] The hysteresis relationship of the pressure adjustment loop considering the target pump hysteresis relationship is expressed as follows:

[0105] ;

[0106] In this operation, the hysteresis relationship of the pressure adjustment loop is constructed and simulated based only on the most critical components of the pressure closed-loop control (target pump and PID controller). This improves the efficiency of simulation optimization while fully learning the actual operating characteristics of the target pump during operation.

[0107] Figure 6 Another detailed flowchart illustrating the calculation of pressure control parameters according to an embodiment of this application is shown schematically.

[0108] The target pump also includes a frequency converter, which enables precise pressure control. In order to eliminate the impact of the deviation between the theoretical design and actual performance of the frequency converter on the optimization of pressure control parameters, in some embodiments, the inertial parameters of the frequency converter are introduced into the determination of the hysteresis relationship. Operation S440 specifically includes operations S610~S620.

[0109] In operation S610, the inverter inertial parameters are determined based on the inverter frequency and voltage conversion parameters.

[0110] When operating the S620, the hysteresis relationship is characterized by motor oscillation parameters, impeller hysteresis parameters, inverter inertia parameters, and fluid inertia parameters to obtain pressure control parameters.

[0111] According to an embodiment of this application, the inverter inertia parameter represents the time difference between the moment the motor speed changes and the moment the inverter outputs its frequency. The inverter inertia parameter is determined by the frequency static gain and the frequency conversion time constant. The frequency static gain is determined by the ratio of the DC bus voltage to the maximum output frequency, and the frequency conversion time constant is determined by the switching frequency of the rectifier switching element.

[0112] For example, if the frequency converter operates in voltage / frequency control mode and is a first-order inertial element, then the frequency converter's inertial parameters are expressed as follows:

[0113] ;

[0114] In the formula, Indicates the static gain at frequency. This represents the frequency conversion time constant, which is expressed as:

[0115] ;

[0116] In the formula, This represents the bandwidth, which is 1 / 20 of the switching frequency of the rectifier switching element.

[0117] For example, if the power supply frequency of the DC bus used to power the frequency converter is 380V / 50Hz, then =1.2; If the switching frequency of the rectifier switching element is 10kHz, then the bandwidth is... 1 / 20 of it, 0.38ms.

[0118] In actual cleaning equipment control, the target pump and pressure sensor 213 are both set in the pressure adjustment loop. In order to fully consider all the components that have an impact in the pressure adjustment loop, and to make the proportional-integral-derivative control algorithm more closely match the overall dynamic response characteristics of the pressure adjustment loop, in some embodiments, the pressure control parameters are also obtained by operation S601.

[0119] In operation S601, the pressure value of pressure sensor 213 is used to collect hysteresis parameters and target pump hysteresis parameters to characterize the hysteresis relationship of the pressure adjustment loop and obtain pressure control parameters.

[0120] In this embodiment, the target pump hysteresis parameter is obtained by multiplying the motor oscillation parameter, the impeller hysteresis parameter, the frequency converter inertia parameter, and the fluid inertia parameter. The specific calculation process has been explained in operations S610~S620 and will not be repeated here.

[0121] For example, the target pump hysteresis parameter is expressed as:

[0122] .

[0123] According to an embodiment of this application, the pressure acquisition hysteresis parameter is calculated using the pressure acquisition time constant and the pressure acquisition static gain, which reflect the sensor response speed.

[0124] The pressure value acquisition lag parameter is expressed as follows:

[0125] ;

[0126] In the formula, This represents the static gain of the pressure acquisition, reflecting the change in the output signal corresponding to the pressure change; This represents the pressure acquisition time constant, reflecting the sensor's response speed, and is typically 10ms.

[0127] The hysteresis relationship of the pressure regulation loop Represented as:

[0128] .

[0129] According to embodiments of this application, regarding the hysteresis relationship of the pressure regulation loop... During simulation calculations, firstly, the non-variable parameters in each parameter specification are determined by consulting component manuals or conducting experiments. Then, the hysteresis relationship of the pressure adjustment loop is simulated and optimized using a parameter identification optimization algorithm. Finally, parameter optimization is performed through on-site debugging. The simulation calculation method described in this embodiment is the same as that described here.

[0130] For example, the parameter identification optimization algorithm can be a PID parameter tuner in matrix lab software.

[0131] Figure 7 A flowchart illustrating flow control in a fluid passage according to an embodiment of this application is shown schematically.

[0132] Considering the dynamic impact of flow rate changes on pressure and that the flow rate response to control is faster than the pressure response, in some embodiments, the flow rate delivered in each fluid path is controlled based on flow feedback, taking into account and analyzing the correlation characteristics between pressure changes and flow rate changes to improve the control response speed and stability; specifically including operations S710 to S730.

[0133] In operation S710, the flow difference between the first reference flow rate value and the real-time flow rate value Q of the proportional valve 218 in the cleaning equipment is determined. .

[0134] When operating the S720, the flow difference is handled using preset flow control parameters. The opening adjustment signal is obtained.

[0135] In operation of S730, the proportional valve 218 of the control cleaning equipment operates based on the opening degree indicated by the opening degree adjustment signal to adjust the output flow of the proportional valve 218 so that the adjusted flow value is close to the first reference flow value.

[0136] According to an embodiment of this application, the first reference flow rate value represents the target flow rate value that is expected to be achieved and maintained in the flow adjustment loop. To ensure the response speed of flow control, before the pressure adjustment loop stabilizes, the first reference flow rate value is a manually set target value. After the pressure adjustment loop stabilizes, the first reference flow rate value is the ratio of the real-time flow rate value of the adjusted target pump output flow rate to the number of flow adjustment loops; flow difference. This indicates the degree of deviation between the real-time flow value Q and the first reference flow value.

[0137] For example, if the real-time traffic value Q is less than the first reference traffic value, then the traffic difference... A positive value indicates that the opening of the proportional valve 218 needs to be increased to increase the output flow rate; conversely, if the real-time flow rate value Q is greater than the first reference flow rate value, then the flow rate difference... A negative value indicates that the opening of the proportional valve 218 needs to be reduced to decrease the output flow rate and make the flow difference... Gradually decrease to 0, maintaining a constant current state.

[0138] For example, when cleaning the liquid cooling pipe 216 of a liquid-cooled server, the reference flow rate is 3L / min. When the real-time flow rate Q is 2L / min, the flow rate difference is... If the value is greater than 0, the opening of proportional valve 218 needs to be increased; when the real-time flow rate Q is 4 L / min, the flow rate difference... If the value is less than 0, the opening of proportional valve 218 needs to be reduced.

[0139] According to embodiments of this application, the flow control parameters include proportional parameters and integral parameters in the proportional-integral control algorithm, which is a proportional-integral controller (PI controller). The PI controller can quickly respond to dynamic flow changes.

[0140] According to an embodiment of this application, the hysteresis relationship of the flow adjustment loop is obtained by collecting the hysteresis parameters of the opening hysteresis parameter of the proportional valve 218 set in the flow adjustment loop and the flow value of the flow sensor 217, and the flow control parameters are obtained by simulating the hysteresis relationship.

[0141] The opening lag parameter indicates the response time of the proportional valve 218 to reach steady-state output after the opening adjustment signal is input, while the flow rate acquisition lag parameter indicates the response speed of the flow sensor 217 when the flow rate changes. Specifically, the flow rate acquisition lag parameter is calculated using the delay time of signal processing, the static gain of flow rate acquisition, and the inertial time constant of flow rate acquisition; the opening lag parameter is determined using the electromagnet time constant and the flow gain; and the lag relationship of the flow rate adjustment loop is determined based on the quantization mapping relationship between the input and output in the flow rate adjustment loop.

[0142] For example, the flow rate acquisition lag parameter Represented as:

[0143] ;

[0144] In the formula, Indicates the static gain of traffic acquisition. This represents the inertial time constant of flow acquisition. This indicates the signal processing delay time;

[0145] The opening lag parameter is expressed as:

[0146] ;

[0147] In the formula, Indicates flow gain. Indicates the time constant of an electromagnet;

[0148] proportional-integral transfer function Represented as:

[0149] ;

[0150] The lag relationship of the flow adjustment loop is then expressed as:

[0151] .

[0152] Based on this, the hysteresis relationship of the flow adjustment loop is constructed by all components involved in the flow path. The dynamic response characteristics of each component in the flow adjustment loop and the dynamic changes in the feedback process are realistically displayed in the form of a function, thereby improving the authenticity, reliability and stability of flow control.

[0153] According to an embodiment of this application, the flow difference is input into a PI controller, and after calculation by the proportional and derivative components, an opening adjustment signal is obtained.

[0154] To fully learn the correlation characteristics between pressure and flow rate, and considering the mutual influence between pressure feedback and flow rate feedback, in some embodiments, the pressure control parameters are obtained by characterizing the hysteresis relationship of the pressure adjustment loop based on the hysteresis relationship of the fluid adjustment loop, the hysteresis parameters of the target pump, and the hysteresis parameters of the pressure acquisition value.

[0155] For example, the hysteresis relationship of the pressure regulation loop is expressed as follows:

[0156] .

[0157] Figure 8 The schematic diagram illustrates the control principle of multiple fluid passages according to embodiments of this application.

[0158] When the liquid cooling pipelines 216 of multiple liquid-cooled servers need to be cleaned, multiple flow adjustment loops need to be configured to meet the cleaning needs of multiple liquid-cooled servers at the same time. In some embodiments, the fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters. Any one of the multiple sets of flow control parameters is obtained in advance based on the total opening hysteresis parameter after the multiple flow adjustment loops are superimposed and the total flow value after the superposition.

[0159] If the model and quantity of components such as proportional valve 218 in the flow adjustment loop are the same, then their corresponding hysteresis relationships are also the same. According to the embodiments of this application, for multiple flow adjustment loops, the overall hysteresis relationship is the superposition of the hysteresis relationships corresponding to each flow adjustment loop. When performing simulation calculations, the superimposed hysteresis relationships can be used to perform simulation calculations to obtain flow control parameters, thereby improving the efficiency of simulation calculations.

[0160] In some embodiments, fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters. The multiple sets of flow control parameters are obtained in advance based on the opening hysteresis parameter of the proportional valve 218 of the corresponding flow adjustment loop and the flow value of the flow sensor 217. The multiple sets of flow control parameters may be the same or different.

[0161] For newly added flow adjustment loops, the models of the proportional valve 218 and flow sensor 217 used may differ from those of existing flow paths, resulting in different hysteresis relationships compared to existing loops. According to the embodiments of this application, for each flow adjustment loop, the corresponding hysteresis relationship is obtained by pre-collecting hysteresis parameters based on the opening hysteresis parameters of the proportional valve 218 and the flow value of the flow sensor 217. The hysteresis relationship of each flow adjustment loop is simulated and calculated to obtain flow control parameters, so as to avoid interference between different flow adjustment loops and improve simulation accuracy.

[0162] For example, if the flow sensor 217 is a differential pressure flow meter, its corresponding flow acquisition hysteresis parameter is calculated with static sensitivity as the numerator and the product of time constant and complex frequency plus 1 as the denominator. This is different from the existing flow sensor acquisition hysteresis relationship, resulting in different hysteresis relationships between flow adjustment loops.

[0163] Here, the proportional-integral control algorithm is the proportional-integral controller, which performs proportional and integral calculations on the flow difference to obtain the opening adjustment signal.

[0164] Figure 9 A flowchart illustrating feedforward compensation according to an embodiment of this application is shown schematically. Figure 10 This schematic diagram illustrates the control principle of a cleaning device according to an embodiment of the present application, demonstrating the dynamic feedback relationships between various components during the cleaning process. Figure 11 A schematic diagram illustrating the hysteresis relationship of a cleaning device according to an embodiment of this application is shown. The hysteresis relationship diagram is obtained based on the hysteresis relationship described above.

[0165] To reduce the lag effects of pipeline propagation delay and sensor measurement, in some embodiments, feedforward compensation is performed on the control of the target pump; specifically, this includes operations S910 to S930.

[0166] In operation S910, based on the feedforward compensation parameters and the second reference flow rate value of the fluid. The speed compensation parameters are obtained.

[0167] When operating the S920, the speed indicated by the speed adjustment signal is compensated based on the speed compensation parameters.

[0168] When operating S930, the target pump is controlled to run based on the compensated speed.

[0169] According to an embodiment of this application, based on the feedforward compensation parameter and the second reference flow rate value of the output cleaning fluid... The obtained speed compensation parameters include: based on the second reference flow rate value The mapping relationship between the preset flow rate and the preset speed rate is used to determine the basic speed parameters. Based on the product of the feedforward compensation parameters and the basic speed parameters, the speed compensation parameters are determined so that the predicted flow rate increase is applied to the control of the target pump in advance to offset the delay of the pipeline system to pressure wave propagation, improve the response speed, and enable the cleaning equipment to better respond to step changes in flow rate.

[0170] For example, the target pump of the control cleaning equipment is operated at a speed indicated by a superposition of speed compensation parameters and speed adjustment signals to adjust the output flow of the target pump.

[0171] In this embodiment, the first reference flow rate value This represents the desired output flow rate of the target pump, which is manually set.

[0172] Considering the linear relationship between the target pump's output flow rate and its rotational speed, and the linear relationship between the rotational speed and the inverter's frequency, in this embodiment, the feedforward compensation parameter is the proportional parameter in the proportional control algorithm, and the proportional control algorithm is a proportional controller, which sets the second reference flow rate value... The input is processed by the proportional controller to obtain the speed compensation parameters; by utilizing the simplicity and speed of proportional control, the ability of feedforward compensation to correct measurable disturbances or reference inputs is enhanced.

[0173] To reflect the dynamic changes of the pressure adjustment loop, taking into account feedforward compensation and the correlation with flow changes in the flow adjustment loop, and to improve control accuracy and response speed, in some embodiments, pressure control parameters are obtained by characterizing the hysteresis relationship of the pressure adjustment loop based on the target pump hysteresis parameters, pressure acquisition hysteresis parameters, the hysteresis relationship of the flow adjustment loop, and the proportional control transfer function.

[0174] For example, the proportional control transfer function Represented as:

[0175] ;

[0176] The hysteresis relationship of the pressure regulation loop is expressed as:

[0177] .

[0178] Figure 12 The diagram illustrates an application example of the control method for a cleaning device according to an embodiment of this application.

[0179] like Figure 12 As shown, the processor 101 includes an industrial computer and a programmable logic controller (PLC). The cleaning equipment includes a target pump, a proportional valve 218, a pressure sensor 213, and a flow sensor 217. The industrial computer executes the control method of the cleaning equipment and transmits instructions such as speed adjustment signals and opening adjustment signals to the PLC controller via a network cable. The PLC controller converts the speed adjustment signal into a frequency using the speed conversion relationship given by the ProfiNet network protocol and transmits it to the frequency converter of the target pump for target pump control. The PLC controller converts the opening adjustment signal into a 4-20mA current signal and transmits it to the proportional valve 218 for opening control. The pressure sensor 213 and the flow sensor 217 transmit the collected signals to the PLC controller in the form of 4-20mA electrical signals, which are then converted into digital signals by the PLC controller and transmitted to the industrial computer.

[0180] Based on the control method for the aforementioned cleaning equipment, this application also provides a control device for the cleaning equipment. The following will be combined with... Figure 13 The device is described in detail.

[0181] Figure 13 A schematic block diagram of the control device of a cleaning apparatus according to an embodiment of this application is shown.

[0182] like Figure 13 As shown, the control device 1300 of the cleaning equipment in this embodiment includes a pressure difference determination module 1310, a speed control module 1320, and a flow regulation module 1330.

[0183] Pressure difference determination module 1310 is used to determine the reference pressure value. Pressure difference between the fluid and the real-time pressure P at the outlet of the target pump in the cleaning equipment In one embodiment, the pressure difference determination module 1310 can be used to perform the operation S313 described above, which will not be repeated here.

[0184] The speed control module 1320 is used to process the pressure difference based on preset pressure control parameters using a proportional-integral-derivative control algorithm. The speed adjustment signal is determined. In one embodiment, the speed control module 1320 can be used to perform the operation S320 described above, which will not be repeated here.

[0185] The flow regulation module 1330 is used to control the target pump to operate at the speed indicated by the speed regulation signal in order to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value. In one embodiment, the flow regulation module 1330 can be used to perform the operation S330 described above, which will not be repeated here.

[0186] According to embodiments of this application, any plurality of modules among the pressure difference determination module 1310, speed control module 1320, and flow regulation module 1330 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this application, at least one of the pressure difference determination module 1310, speed control module 1320, and flow regulation module 1330 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging the circuitry, or implemented in any one of software, hardware, and firmware methods, or in a suitable combination of any of these methods. Alternatively, at least one of the pressure difference determination module 1310, speed control module 1320, and flow regulation module 1330 may be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0187] Figure 14 A block diagram schematically illustrates an electronic device suitable for implementing a control method for a cleaning device according to an embodiment of this application.

[0188] like Figure 14 As shown, an electronic device 1400 according to an embodiment of this application includes a processor 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1402 or a program loaded from a storage portion 1408 into a random access memory (RAM) 1403. The processor 101 may include, for example, a general-purpose microprocessor 101 (e.g., a CPU), an instruction set processor 101, and / or a special-purpose microprocessor 101 (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 101 may also include onboard memory for caching purposes. The processor 101 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this application.

[0189] RAM 1403 stores various programs and data required for the operation of electronic device 1400. Processor 101, ROM 1402, and RAM 1403 are interconnected via bus 1404. Processor 101 executes various operations of the method flow according to embodiments of this application by executing programs in ROM 1402 and / or RAM 1403. It should be noted that the programs may also be stored in one or more memories other than ROM 1402 and RAM 1403. Processor 101 may also execute various operations of the method flow according to embodiments of this application by executing programs stored in said one or more memories.

[0190] According to embodiments of this application, the electronic device 1400 may further include an input / output (I / O) interface 1405, which is also connected to a bus 1404. The electronic device 1400 may also include one or more of the following components connected to the input / output (I / O) interface 1405: an input section 1406 including a keyboard, mouse, etc.; an output section 1407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1408 including a hard disk, etc.; and a communication section 1409 including a network interface card such as a LAN card, modem, etc. The communication section 1409 performs communication processing via a network such as the Internet. A drive 1410 is also connected to the input / output (I / O) interface 1405 as needed. A removable medium 1411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1410 as needed so that computer programs read from it can be installed into the storage section 1408 as needed.

[0191] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0192] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this application, the computer-readable storage medium may include ROM1402 and / or RAM1403 and / or one or more memories other than ROM1402 and RAM1403 described above.

[0193] Embodiments of this application also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the methods provided in the embodiments of this application.

[0194] When the computer program is executed by the processor 101, it performs the functions defined in the system / apparatus of this application embodiment. According to the embodiments of this application, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0195] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 1409, and / or installed from the removable medium 1411. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0196] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1409, and / or installed from the removable medium 1411. When the computer program is executed by the processor 101, it performs the functions defined in the system of this application embodiment. According to the embodiments of this application, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0197] According to embodiments of this application, program code for executing the computer programs provided in the embodiments of this application can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0198] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0199] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0200] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A control method for a cleaning device, characterized in that, The method includes: Determine the pressure difference between the reference pressure value and the real-time pressure value of the fluid at the outlet of the target pump in the cleaning equipment; The pressure difference is processed based on the hysteresis relationship using preset pressure control parameters to determine the speed adjustment signal. The hysteresis relationship indicates the degree of hysteresis between the moment the target pump speed changes and the moment the fluid pressure value changes. The target pump is controlled to operate at the speed indicated by the speed adjustment signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value; The target pump includes a motor and an impeller, and is connected to the fluid passage of the cleaning equipment. The pressure control parameters are obtained by simulation calculation of the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time, including: The transition rate from the actual change in fluid pressure to the steady-state state of the fluid pressure is calculated based on the inertial time constant to obtain the inertial delay parameter, which indicates the rate of change of the fluid flow in the fluid passage. The time difference from the change in the target pump speed to the time when the pressure wave reaches the pressure sensor is calculated based on the pressure wave propagation delay time to obtain the acquisition delay parameter. The fluid inertial parameter is obtained based on the inertial delay parameter, the acquisition delay parameter, and the pressure static gain, where the pressure static gain represents the ratio of the pressure change to the flow rate change in the fluid passage under steady-state conditions. Based on the winding inductance and rotor inertia of the motor, motor oscillation parameters that indicate the degree of motor oscillation are determined; based on the rotational inertia and damping coefficient of the impeller, impeller hysteresis parameters are determined, which represent the time difference between the moment the motor speed changes and the moment the flow rate of the fluid output from the impeller changes; the hysteresis relationship is characterized by the motor oscillation parameters, the impeller hysteresis parameters, and the fluid inertia parameters to obtain the pressure control parameters; The inertial time constant is obtained by the response time of the fluid flowing out from the beginning of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the beginning of the fluid passage to the end of the fluid passage.

2. The method according to claim 1, characterized in that, The target pump also includes a frequency converter; the pressure control parameters are obtained by characterizing the hysteresis relationship based on the fluid inertia parameters, including: Based on the frequency conversion parameters between the frequency and voltage of the inverter, the inverter inertial parameters are determined, which represent the time difference between the moment when the motor speed changes and the moment when the inverter outputs its frequency. The pressure control parameters are obtained by characterizing the hysteresis relationship using the motor oscillation parameters, the impeller hysteresis parameters, the frequency converter inertia parameters, and the fluid inertia parameters.

3. The method according to claim 2, characterized in that, The cleaning equipment also includes a pressure sensor; the pressure control parameters are obtained using the following method: The pressure sensor's pressure value is used to collect hysteresis parameters and target pump hysteresis parameters to characterize the hysteresis relationship of the pressure adjustment loop and obtain the pressure control parameters. The target pump and the pressure sensor are configured in the pressure adjustment loop. The hysteresis parameter of the target pump is obtained based on the motor oscillation parameter, the impeller hysteresis parameter, the inverter inertia parameter, and the fluid inertia parameter.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Determine the flow difference between the first reference flow rate value and the real-time flow rate value of the proportional valve output in the cleaning equipment; The flow difference is processed using preset flow control parameters to obtain an opening adjustment signal. The flow control parameters are obtained by collecting hysteresis parameters based on the opening hysteresis parameters of the proportional valve set in the flow adjustment loop and the flow value of the flow sensor. The proportional valve of the cleaning equipment is controlled to operate based on the opening degree indicated by the opening adjustment signal to adjust the output flow rate of the proportional valve so that the adjusted flow rate value is close to the reference flow rate value.

5. The method according to claim 4, characterized in that, The fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters; The multiple sets of flow control parameters are obtained in advance based on the opening hysteresis parameters of the proportional valve of the corresponding flow adjustment loop and the flow value of the flow sensor. The multiple sets of flow control parameters may be the same or different.

6. The method according to claim 4, characterized in that, The fluid flows through multiple flow adjustment loops, and the multiple flow adjustment loops correspond to multiple sets of flow control parameters; Any one of the multiple sets of flow control parameters is obtained in advance based on the total opening lag parameter after the superposition of multiple flow adjustment loops and the superimposed total flow value, by collecting lag parameters.

7. The method according to claim 4, characterized in that, The pressure control parameters include the proportional parameter, integral parameter, and derivative parameter in the proportional-derivative-integral control algorithm, and the flow control parameters include the proportional parameter and integral parameter in the proportional-integral control algorithm.

8. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Based on the feedforward compensation parameters and the second reference flow rate value of the fluid, the rotational speed compensation parameters are obtained; The rotational speed indicated by the rotational speed adjustment signal is compensated based on the rotational speed compensation parameters; The target pump is controlled to operate based on the compensated speed.

9. The method according to claim 8, characterized in that, The speed compensation parameters are obtained based on the feedforward compensation parameters and the second reference flow rate value of the fluid, including: Based on the mapping relationship between the second reference flow rate value and the preset flow rate speed, the basic speed parameters are determined; The speed compensation parameter is determined based on the product of the feedforward compensation parameter and the basic speed parameter.

10. A control device for a cleaning equipment, characterized in that, The device includes: The pressure difference determination module is used to determine the pressure difference between a reference pressure value and the real-time pressure value of the fluid at the outlet of the target pump in the cleaning equipment. The speed regulation signal determination module is used to process the pressure difference based on the hysteresis relationship using preset pressure control parameters to determine the speed regulation signal. The hysteresis relationship indicates the degree of hysteresis between the moment the target pump speed changes and the moment the fluid pressure value change is collected. The flow regulation module is used to control the target pump to operate at the speed indicated by the speed regulation signal to adjust the output flow of the target pump so that the adjusted pressure value is close to the reference pressure value. The target pump includes a motor and an impeller, and is connected to the fluid passage of the cleaning equipment. The pressure control parameters are obtained by simulation calculation of the hysteresis relationship based on the inertial time constant of the fluid at the outlet of the target pump and the pressure wave propagation delay time, including: The transition rate from the actual change in fluid pressure to the steady-state state of the fluid pressure is calculated based on the inertial time constant to obtain the inertial delay parameter, which indicates the rate of change of the fluid flow in the fluid passage. The time difference from the change in the target pump speed to the time when the pressure wave reaches the pressure sensor is calculated based on the pressure wave propagation delay time to obtain the acquisition delay parameter. The fluid inertial parameter is obtained based on the inertial delay parameter, the acquisition delay parameter, and the pressure static gain, where the pressure static gain represents the ratio of the pressure change to the flow rate change in the fluid passage under steady-state conditions. Based on the winding inductance and rotor inertia of the motor, motor oscillation parameters that indicate the degree of motor oscillation are determined; based on the rotational inertia and damping coefficient of the impeller, impeller hysteresis parameters are determined, which represent the time difference between the moment the motor speed changes and the moment the flow rate of the fluid output from the impeller changes; the hysteresis relationship is characterized by the motor oscillation parameters, the impeller hysteresis parameters, and the fluid inertia parameters to obtain the pressure control parameters; The inertial time constant is obtained by the response time of the fluid flowing out from the beginning of the fluid passage until the fluid fills the fluid passage and reaches the rated flow rate, and the pressure wave propagation delay time is obtained by the time required for the pressure wave of the fluid to propagate from the beginning of the fluid passage to the end of the fluid passage.

11. An electronic device, comprising: One or more processors; A memory for storing one or more computer programs, characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the steps of the method according to any one of claims 1 to 9.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 9.

Images