Indoor environment control method, system, device, and medium

Abstract

The application discloses an indoor environment control method and system, equipment and a medium, and the method comprises the following steps: setting controller parameters of a multivariable coupling control module based on a transfer function of a preset indoor environment dynamic model; determining target set values based on indoor environment parameters and initial set values of a terminal equipment module by using the set multivariable coupling control module; and generating control signals of the terminal equipment module based on the target set values, and controlling the indoor environment. The application can set the controller parameters of the multivariable coupling control module based on the transfer function of the indoor dynamic model, then suppress disturbances on the initial set values, quantify the disturbance suppression capability on the basis of considering the coupling effect of the indoor environment parameters, realize indirect decoupling through the suppression of the disturbances, and thus slow down the unstable phenomenon in the control process.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the field of air conditioning technology, and in particular to an indoor environment control method, system, device and medium. BACKGROUND

[0002] With the development of the construction industry, the indoor environment of a building is closely related to human health, and the control of the indoor environment has attracted widespread attention. In the prior art, the control method of the indoor environment usually uses a PID controller (proportional-integral-derivative controller) to detect and adjust the indoor environment. The specific steps of the PID controller to detect and adjust the indoor environment are as follows: based on a single parameter affecting the indoor environment, the proportional term, the integral term and the derivative term of the PID controller are set, wherein the proportional term is used to output the deviation between the current indoor environment and the target indoor environment, the integral term is used to control the steady-state error, and the derivative term reflects the change speed of the indoor environment; based on the synergistic effect of the three components of the set proportional, integral and derivative, the indoor environment is stabilized near the target indoor environment. However, since the indoor environment is a multi-input multi-output system with external disturbances, the multiple parameters in the system are coupled and affected by external disturbances. At this time, it is difficult to coordinate the coupling effect between multiple parameters and consider the influence of disturbances by setting the parameters of the PID controller based on a single parameter, resulting in unstable phenomena such as overshoot or oscillation when the indoor environment is controlled by the PID controller. SUMMARY

[0003] The embodiments of the present application provide an indoor environment control method, system, device and medium, which can alleviate the unstable phenomena such as overshoot or oscillation in the indoor environment control process.

[0004] In a first aspect, the embodiments of the present application provide an indoor environment control method, which is applied to an indoor environment control system, the indoor environment control system comprising an environment detection module, a multivariable coupling control module, a device control module and an end device module connected in sequence, and the control method of the indoor environment comprising:

[0005] The environment detection module acquires an indoor environment parameter;

[0006] The controller parameters of the multivariable coupling control module are set based on the transfer function of a preset indoor environment dynamic model, and the target set value is determined by the multivariable coupling control module based on the indoor environment parameter and the initial set value of the end device module after the setting;

[0007] The device control module generates a control signal of the end device module based on the target set value, and controls the indoor environment.

[0008] In a second aspect, the embodiments of the present application provide an indoor environment control system, the system being configured to implement the indoor environment control method of any one of the first aspect, and the indoor environment control system comprising:

[0009] an environment detection module configured to acquire indoor environment parameters;

[0010] a multivariable coupling control module configured to set controller parameters of the multivariable coupling control module based on a transfer function of a preset indoor environment dynamic model, and determine target set values based on the indoor environment parameters and initial set values of the end device module after the setting of the multivariable coupling control module;

[0011] a device control module configured to generate control signals of the end device module based on the target set values, and control the indoor environment.

[0012] In a third aspect, an electronic device is provided according to the embodiments of the present application, and the electronic device comprises:

[0013] at least one processor;

[0014] at least one memory configured to store at least one program;

[0015] when the at least one program is executed by the at least one processor, the indoor environment control method of any one of the first aspect is implemented.

[0016] In a fourth aspect, a computer readable storage medium is provided according to the embodiments of the present application, and the computer readable storage medium stores computer executable instructions, and the computer executable instructions are configured to implement the indoor environment control method of any one of the first aspect.

[0017] In summary, the method of the above embodiments of the present application is applied to an indoor environment control system, which comprises an environment detection module, a multivariable coupling control module, a device control module and an end device module connected in sequence. The control method of the indoor environment comprises: the environment detection module acquires indoor environment parameters; controller parameters of the multivariable coupling control module are set based on a transfer function of a preset indoor environment dynamic model, and the multivariable coupling control module after setting determines a target set value based on the indoor environment parameters and an initial set value of the end device module; the device control module generates a control signal of the end device module based on the target set value, and controls the indoor environment. The embodiments of the present application set the controller parameters of the multivariable coupling control module based on the variable coupling transfer function, quantize the disturbance suppression capability of the multivariable coupling control module on the basis of considering the coupling effect of the indoor environment parameters, then the multivariable coupling control module after setting suppresses disturbance to the initial set value based on the indoor environment parameters, indirectly decouples through suppressing disturbance, so as to slow down the unstable phenomena such as overshoot or oscillation in the indoor environment control process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is an architectural diagram of an indoor environment control system provided by an embodiment of the present application;

[0019] Figure 2 is a step flowchart of an indoor environment control method provided by an embodiment of the present application;

[0020] Figure 3 is a coupling effect diagram in an indoor environment provided by an embodiment of the present application;

[0021] Figure 4 is a control principle diagram of an active disturbance rejection controller provided by an embodiment of the present application;

[0022] Figure 5 is a step flowchart of determining a target temperature set value provided by an embodiment of the present application;

[0023] Figure 6 is a step flowchart of determining a control strategy of a ventilation device and the timer provided by an embodiment of the present application;

[0024] Figure 7 is a control effect diagram of indoor temperature, indoor concentration and indoor concentration under simulation condition control provided by an embodiment of the present application;

[0025] Figure 8 is a simulation effect diagram of indoor temperature control by an active disturbance rejection controller, a PID controller and a logic controller provided by an embodiment of the present application;

[0026] Figure 9 This is a hardware schematic diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0028] It is understandable that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0029] With the development of the construction industry, the indoor environment of buildings is closely related to human health, and the control of the indoor environment has received widespread attention. In existing technologies, indoor environment control methods typically employ PID controllers (Proportional-Integral-Derivative controllers) to detect and adjust the indoor environment. The specific steps of PID controller detection and adjustment are as follows: Based on a single parameter affecting the indoor environment, the proportional, integral, and derivative terms of the PID controller are tuned. The proportional term outputs the deviation between the current and target indoor environments, the integral term controls the steady-state error, and the derivative term reflects the rate of change of the indoor environment. Based on the synergistic effect of the tuned proportional, integral, and derivative components, the indoor environment is stabilized near the target environment. However, since the indoor environment is a multi-input, multi-output system with external disturbances, multiple parameters in the system are coupled and influenced by each other, and are subject to interference from external disturbances. In this case, tuning the PID controller parameters using a single parameter is insufficient to coordinate the coupling effects between multiple parameters and to address the impact of disturbances, leading to instability phenomena such as overshoot or oscillations when controlling the indoor environment using the PID controller.

[0030] Based on this, this application provides an indoor environment control method, system, device, and medium that can mitigate instability phenomena such as overshoot or oscillation that occur during the indoor environment control process.

[0031] The environmental control method of this application is applied to an indoor environmental control system, referring to... Figure 1 As shown, the indoor environmental control system includes an input layer, a control layer, and an execution layer. The input layer includes an environmental detection module, the control layer includes a multivariable coupling control module, and the execution layer includes a device control module and a terminal device module.

[0032] This application provides an indoor environment control method, referring to... Figure 2 As shown, indoor environmental control methods can be implemented through steps including but not limited to the following:

[0033] Step S100: The environmental detection module acquires indoor environmental parameters;

[0034] Step S110: The controller parameters of the multivariable coupled control module are tuned based on the transfer function of the preset indoor environment dynamic model. The tuned multivariable coupled control module determines the target setpoint based on the indoor environment parameters and the initial setpoint of the terminal device module.

[0035] In step S120, the equipment control module generates control signals for the terminal equipment module based on the target set value to control the indoor environment.

[0036] Therefore, this application embodiment is applied to an indoor environmental control system. The indoor environmental control system includes an environmental detection module, a multivariable coupling control module, an equipment control module, and a terminal equipment module connected in sequence. The indoor environment control method includes: the environmental detection module acquiring indoor environmental parameters; tuning the controller parameters of the multivariable coupling control module based on the transfer function of a preset indoor environmental dynamic model; the tuned multivariable coupling control module determining a target setpoint based on the indoor environmental parameters and the initial setpoint of the terminal equipment module; and the equipment control module generating a control signal for the terminal equipment module based on the target setpoint to control the indoor environment. This application embodiment tunes the controller parameters of the multivariable coupling control module based on the variable coupling transfer function, quantifies the disturbance suppression capability of the multivariable coupling control module considering the coupling effect of indoor environmental parameters, and then the tuned multivariable coupling control module suppresses disturbances to the initial setpoint based on the indoor environmental parameters. By suppressing disturbances, indirect decoupling is achieved, thereby mitigating instability phenomena such as overshoot or oscillation that occur during the indoor environment control process.

[0037] In some embodiments, refer to Figure 3 As shown, influenced by the terminal device modules within the indoor environment, the indoor environment is a coupled multiple-input multiple-output system, with a mutual coupling relationship between the outputs of the terminal devices and the indoor environment. For example, indoor environmental parameters include indoor temperature, indoor... Concentration and indoor Parameters such as concentration are considered. The terminal equipment module includes temperature control and ventilation equipment. An increase in indoor temperature controls the temperature control equipment to output cold air, resulting in a decrease in indoor temperature; conversely, a decrease in indoor temperature controls the temperature control equipment to output hot air, thereby maintaining a stable and suitable temperature in the indoor environment. Increased concentration and indoor Increased concentration led to the need for ventilation equipment and outdoor ventilation, resulting in indoor [contamination]. Concentration reduction and indoor Concentration decreases, and vice versa, indoor concentration increases. Concentration reduction and indoor The concentration is reduced by controlling ventilation equipment and stopping ventilation in the outdoor environment, thereby maintaining the indoor temperature. Concentration and indoor The concentration is at a stable and suitable level.

[0038] Furthermore, the indoor environment of a building is also affected by uncertain disturbances, such as the number of people indoors and outdoor environmental parameters. Outdoor environmental parameters can be obtained through urban meteorological data collection or external sensors. For example, taking outdoor temperature as an example, outdoor temperatures and outdoor temperatures influence each other through the heat conduction effect of the building walls; the operation of ventilation equipment causes outdoor temperature to affect indoor temperature through heat transfer.

[0039] Based on this, the embodiments of this application construct a preset indoor environment dynamic model, which can describe the coupling relationship between the output of the terminal device and the indoor environment parameters under disturbance. The preset indoor environment dynamic model can be constructed through the following steps: First, construct an indoor physical model based on indoor environment parameters and disturbances; then calculate the indoor environment based on computational fluid dynamics simulation tools and the indoor physical model to obtain an initial preset indoor environment dynamic model; then configure the parameters of the initial preset indoor environment dynamic model based on indoor environment parameters and indoor environment operating parameters to obtain the preset indoor environment dynamic model.

[0040] It is understood that the embodiments of this application can reduce the order of a preset indoor environment dynamic model to obtain a description of the transmission relationship between the output of the terminal device and the indoor environment under disturbance.

[0041] For example, transitive relationships may include: The transfer function for controlling the indoor temperature based on the temperature setpoint of the temperature control equipment. The transfer function for controlling indoor temperature using fan speed in temperature control equipment. For the status control room of ventilation equipment Concentration transfer function and For indoor The transfer function for concentration-controlled indoor temperature. The transfer relationship may also include the transfer function of the disturbance term, which includes: The transfer function for controlling indoor temperature based on outdoor temperature. Personnel number control room Concentration transfer function, Let be the transfer function of the ventilation equipment's state and the outdoor temperature controlling the indoor temperature. Here, s is a complex variable of the Laplace transform.

[0042] It is understandable that the indoor environment of a building is a coupled multi-input multi-output system, and is also affected by uncertain disturbances, such as the number of people indoors and the outdoor environment, which can cause disturbances to the indoor temperature. This application's embodiment uses a tuned multivariable coupled control module to suppress disturbances based on the initial setpoint of the terminal device module according to indoor environmental parameters. This allows the coupling effect to be treated as part of the disturbance, achieving decoupling by suppressing the disturbance. Compared to existing PID controllers tuned with a single parameter, which struggle to cope with system disturbances, this application can decouple multiple parameters and suppress disturbances, enabling the indoor temperature to quickly converge to the target setpoint and mitigating instability phenomena such as overshoot or oscillation during control.

[0043] It is understandable that instability phenomena such as overshoot or oscillation will cause more energy consumption in the control process. Therefore, the embodiments of this application reduce energy consumption in the control process by mitigating instability phenomena such as overshoot or oscillation that occur in the control process, thereby reducing carbon emissions.

[0044] In some embodiments, the environmental detection module of this application may include multiple sensors for real-time detection of indoor environmental parameters, outdoor environmental parameters, and disturbance parameters in the system. This application does not limit the specific type of sensor; the sensor may be a temperature sensor, a wind speed sensor, etc. Concentration sensor or For concentration sensors, the specific type of sensor can be selected based on actual needs.

[0045] It is understood that the indoor environment in this application embodiment includes multiple indoor environment parameters. The indoor environment is controlled by controlling these indoor environment parameters. These indoor environment parameters can be indoor temperature, indoor air ... Concentration or indoor Concentration and other parameters. This application does not limit the specific indoor environmental parameters; specific indoor environmental parameters can be selected according to actual needs.

[0046] In some embodiments, the device control module encodes and modulates the target setpoint based on a transmission protocol, converts it into a control signal that conforms to the requirements of the transmission protocol, and sends the control signal to the terminal device module through a communication interface (such as RS485, Modbus, etc.). The terminal device parses the control signal and executes the signal command, thereby achieving precise control of the indoor temperature.

[0047] In some embodiments, the multivariable coupled control module includes an active disturbance rejection controller, a PID controller, and a logic controller; the transfer function includes a first transfer function and a second transfer function, which correspond to the active disturbance rejection controller and the PID controller, respectively; the initial setpoint includes an initial temperature setpoint; the indoor environmental parameters include indoor temperature; the controller parameters of the multivariable coupled control module are tuned based on the transfer function of a preset indoor environmental dynamic model; and the indoor environment control method includes:

[0048] The parameters of the PID controller are tuned according to the first transfer function to obtain the first target PID parameters, and the parameters of the PID controller are tuned according to the second transfer function to obtain the second target PID parameters. The first transfer function is the transfer relationship between the initial temperature setpoint and the indoor temperature, and the second transfer function is the transfer relationship between the wind speed and the indoor temperature corresponding to the terminal control device module.

[0049] A reference temperature control system model is constructed based on the first target PID parameters and the second target PID parameters, and the reference active disturbance rejection parameters corresponding to the active disturbance rejection controller are determined based on the reference temperature control system model.

[0050] By using reinforcement learning algorithms, the reference active disturbance rejection parameters are iteratively optimized based on the benchmark temperature control system model and the preset indoor environment dynamic model to obtain the target active disturbance rejection parameters corresponding to the active disturbance rejection controller.

[0051] Therefore, the embodiments of this application can utilize the first transfer function to reflect the initial temperature setpoint and the temperature transfer characteristics in the indoor environment to tune the PID controller parameters and obtain the first target PID parameters, making the first target PID parameters more consistent with the initial temperature setpoint and the temperature transfer situation in the indoor environment; similarly, the second transfer function is used to reflect the wind speed and temperature transfer characteristics corresponding to the terminal control device module in the indoor environment to tune the PID controller parameters and obtain the second target PID parameters, making the second target PID parameters more consistent with the wind speed and temperature transfer situation corresponding to the terminal control device module in the indoor environment; a reference temperature control system model is constructed based on the first target PID parameters and the second target PID parameters, and reference active disturbance rejection parameters are determined according to the reference temperature control system model. By making the PID parameters more consistent with the transmission conditions of the indoor environment, the temperature control process of constructing a reference temperature control system model based on the first and second target PID parameters becomes more consistent with the indoor environment. This makes the reference active disturbance rejection parameters determined based on the reference temperature control system model more consistent with the indoor environment temperature control process. Using reinforcement learning algorithms, the reference active disturbance rejection parameters are iteratively optimized based on the reference temperature control system model and a preset indoor environment dynamic model to obtain the target active disturbance rejection parameters. Based on the reference active disturbance rejection parameters conforming to the indoor environment temperature control process, the target active disturbance rejection parameters are obtained by iteratively optimizing the reference active disturbance rejection parameters based on the reference temperature control system model and a preset indoor environment dynamic model using reinforcement learning algorithms, thereby improving the disturbance rejection capability of the target active disturbance rejection parameters.

[0052] In some embodiments, the parameters of the PID controller include a proportional term (P), an integral term (I), and a derivative term (D). The proportional term outputs the deviation between the current indoor temperature and the target temperature setpoint, the integral term controls the steady-state error, and the derivative term reflects the rate of change of the indoor temperature. In this application embodiment, the PID controller parameters can be tuned using methods such as the Lambda tuning method, the Ziegler-Nichols empirical formula method, or the frequency domain matching method, using the second target PID parameters as the parameters for subsequent PID controller tuning. This application embodiment does not limit the specific method of tuning the PID controller parameters; a specific parameter tuning method can be selected according to actual needs.

[0053] It is understandable that, since reinforcement learning algorithms stimulate the reference active disturbance rejection parameters of the sensing reference temperature control system model, thereby iteratively optimizing the reference active disturbance rejection parameters and maximizing the obtained reward, the target active disturbance rejection parameters obtained by iterative optimization have stronger disturbance rejection capabilities.

[0054] In some embodiments, the expression for the reference temperature control system model is as follows:

[0055] ;

[0056] in, As a reference temperature control system model, The gain coefficient is the transfer function of indoor temperature. Let be the order of the transfer function of indoor temperature. This is the order index of the transfer function for indoor temperature. This refers to the indoor temperature.

[0057] In some embodiments, the performance index of the reference temperature control system model is calculated based on the tuned PID controller, wherein the performance index may include IAE (IntegralAbsoluteError). (SettlingTime) and OS (OverShoot), IAE is the absolute error integral of the reference temperature control system model, OS is the settling time required for the reference temperature control system model to reach and maintain a position near the final steady-state value from the initial state, and the maximum extent by which the reference temperature control system model exceeds the final steady-state value during the response process.

[0058] It is understandable that the reference active disturbance rejection parameters of the active disturbance rejection controller include , , as well as .in, The observation state tracking gain is used to control the observation state tracking speed of the extended state observer to indoor temperature, reflecting the response speed to changes in indoor temperature. This represents the disturbance estimation gain for the extended state observer. The disturbance estimation gain controls the extended state observer's ability to estimate the temperature within the disturbance chamber. This is the preset proportional feedback gain of the proportional controller. The preset proportional feedback gain is used to control the deviation between the initial temperature setpoint and the target temperature setpoint. The preset disturbance compensation gain is used to compensate for normalized disturbances.

[0059] In some embodiments, determining the reference active disturbance rejection parameters based on the reference temperature control system model can be achieved through the following steps: first, deriving a preset disturbance compensation gain expression based on the reference temperature control system model, and then deriving a preset disturbance compensation gain based on the preset disturbance compensation gain expression; then setting the parameters according to the actual requirements of the indoor temperature in the controlled indoor environment. Then based on The expression for the bandwidth of the active disturbance rejection controller (ADRC) is determined, and the ADRC bandwidth is determined based on the expression for the ADRC bandwidth. Then, the ADRC bandwidth is used as the bandwidth of the extended state observer in the ADRC. Finally, the observation state tracking gain of the extended state observer, the disturbance estimation gain of the extended state observer, and the preset proportional feedback gain of the proportional controller are determined based on the ADRC bandwidth and the extended state observer bandwidth.

[0060] Among them, the preset disturbance compensation gain The expression is as follows:

[0061] ;

[0062] Let be the order of the transfer function of indoor temperature. Indoor temperature, The gain coefficient of the transfer function of indoor temperature;

[0063] Among them, the bandwidth of the active disturbance rejection controller The expression is as follows:

[0064] ;

[0065] The settling time required for the reference temperature control system model to reach and maintain near the final steady-state value within the allowable error range from the initial state;

[0066] Among them, the bandwidth of the extended state sensor The expression is as follows:

[0067] ;

[0068] For the bandwidth of the active disturbance rejection controller, To expand the bandwidth of the state observer;

[0069] Among them, the observation state tracking gain of the extended state observer Perturbation estimation gain of extended state observer And the expression for the preset proportional feedback gain of the proportional controller. The expression is as follows:

[0070] ;

[0071] For the observation state tracking gain of the extended state observer, To estimate the gain of the perturbation for the extended state observer, This is the preset proportional feedback gain of the proportional controller. The preset proportional feedback gain is used to control the deviation between the initial temperature setpoint and the target temperature setpoint. For the bandwidth of the active disturbance rejection controller, To expand the bandwidth of the state observer.

[0072] In some embodiments, when the reference temperature control system model is a large inertial system, the bandwidth of the extended state observer and the preset disturbance compensation gain are amplified and adjusted. The expressions for the adjusted bandwidth of the extended state observer and the adjusted preset disturbance compensation gain are as follows:

[0073] ;

[0074] in, For the adjusted bandwidth of the extended state observer, This is the adjusted preset disturbance compensation gain.

[0075] In some embodiments, a reinforcement learning algorithm is used to iteratively optimize the reference active disturbance rejection parameters based on a reference temperature control system model and a preset indoor environment dynamic model to obtain the target active disturbance rejection parameters corresponding to the active disturbance rejection controller. The indoor environment control method includes:

[0076] The initial probability density function is determined based on the preset indoor environment dynamic model, and the intermediate probability density function is obtained by optimizing the initial probability density function by referring to the active disturbance rejection parameter.

[0077] Generate intermediate active disturbance rejection parameters based on intermediate probability density function;

[0078] The performance index is calculated based on the intermediate active disturbance rejection parameters using the reference temperature control system model, and the performance index is evaluated using a preset cost function to obtain the evaluation results corresponding to the intermediate active disturbance rejection parameters. The intermediate probability density function is then updated based on the evaluation results.

[0079] The target active disturbance rejection parameters are obtained by iteratively optimizing the intermediate probability density function.

[0080] Therefore, this embodiment determines the initial probability density function based on the indoor dynamic model and optimizes the initial probability density function by referencing the active disturbance rejection (ADRR) parameters to obtain an intermediate probability density function. This makes the intermediate probability density function more consistent with the propagation characteristics of the indoor dynamic model. Intermediate ADRR parameters are generated based on the intermediate probability density function. Since the intermediate probability density function conforms to the propagation characteristics of the indoor dynamic model, the possibilities of ADRR controller parameters can be comprehensively considered. Performance indicators are calculated based on the intermediate ADRR parameters using a reference temperature control system model, and the performance indicators are evaluated using a preset cost function to obtain the evaluation results corresponding to the intermediate ADRR parameters. The intermediate probability density function is updated based on the evaluation results, and the intermediate probability density function is iteratively optimized to obtain the target ADRR parameters. This allows for the evaluation of performance indicators for each possible ADRR controller parameter using a preset cost function, and the intermediate probability density function is updated based on the evaluation results. This iterative optimization of the intermediate probability density function to obtain the target ADRR parameters enhances their anti-disturbance capability.

[0081] Understandably, the process begins by initially selecting the function type and range of the initial probability density function based on the statistical characteristics of the indoor dynamic model. The range of the initial probability density function is then optimized according to the reference active disturbance rejection parameters (ADRPs) to obtain an intermediate probability density function. Next, a set of intermediate ADRPs is randomly generated from the intermediate probability density function. The reference temperature control system model is then controlled using these intermediate ADRPs. A step signal is applied to the reference temperature control system model, and the response curve to the step signal is calculated. Based on the response curve, the performance index corresponding to the intermediate ADRPs is calculated. Then, the performance index is evaluated using a preset cost function to obtain the evaluation result corresponding to the intermediate ADRPs. Next, the evaluation result is compared with the evaluation result corresponding to the preset reference performance index. The evaluation result with better disturbance rejection performance is selected to update the intermediate probability density function, gradually bringing the evaluation result closer to the intermediate ADRPs with better disturbance rejection effect. Finally, the above steps are repeated to iteratively optimize the intermediate probability density function to a preset number of iterations, gradually bringing the target ADRPs closer to the optimal solution to improve the disturbance rejection capability of the target ADRPs.

[0082] In some embodiments, the initial probability density function (PDF) is a mathematical description of the probability distribution of a continuous random variable, characterizing the probability distribution of the active disturbance rejection parameter as a random variable. The initial probability density function can be used to calculate the statistical characteristics of an indoor dynamic model. Based on these statistical characteristics, an appropriate function type and range are selected to determine the initial probability density function. For example, if the indoor dynamic model exhibits high variance and multimodal characteristics, a Gaussian mixture model (GMM) is selected to accommodate the multimodal characteristics, and the function range is determined to be 17 to 27 based on historical data of the indoor dynamic model.

[0083] In some embodiments, the expression for minimizing the preset cost function is as follows:

[0084] ;

[0085] in, For the observation state tracking gain of the extended state observer, To estimate the gain of the perturbation for the extended state observer, The preset proportional feedback gain for the proportional controller. The preset disturbance compensation gain. The cost function is defined as , and IAE is the absolute error integral of the preset indoor environmental dynamic model. OS is the preset settling time required for the indoor environment dynamic model to reach and maintain a value close to the final steady state from the initial state.

[0086] In some embodiments, the target setpoint includes a target temperature setpoint and a target wind speed setpoint. The calibrated multivariable coupled control module suppresses disturbances in the initial setpoint of the terminal device module based on the indoor temperature to obtain the target setpoint. The indoor environment control method includes:

[0087] The logic controller calculates the temperature error between the initial temperature setpoint and the indoor temperature.

[0088] The tuned active disturbance rejection controller performs disturbance compensation based on temperature error to obtain a linear temperature control quantity;

[0089] The tuned PID controller calculates the linear wind speed control quantity based on the temperature error;

[0090] The logic controller determines the target temperature setpoint based on the linear temperature control quantity and the indoor temperature, and determines the target wind speed setpoint based on the linear wind speed control quantity.

[0091] Therefore, this embodiment first utilizes the disturbance rejection characteristics of the tuned active disturbance rejection controller to perform disturbance compensation based on temperature error, generating a linear temperature control quantity. This effectively suppresses oscillations and overshoot caused by external disturbances. Simultaneously, the tuned PID controller calculates a linear wind speed control quantity based on the temperature error, leveraging the smooth response advantage of the PID controller to ensure gradual changes in wind speed control quantity, further reducing the risk of overshoot in temperature control. Then, the logic controller determines the target temperature setpoint based on the linear temperature control quantity and the indoor temperature, and also determines the target wind speed setpoint based on the linear wind speed control quantity, providing a data foundation for the subsequent equipment control module to generate control signals. Next, the equipment control module generates a control signal for the wind speed loop corresponding to the temperature control device based on the target wind speed setpoint, and simultaneously generates a control signal for the temperature loop corresponding to the temperature control device based on the target temperature setpoint. The temperature control device drives the temperature loop to generate air at the specified temperature according to the temperature control signal, and smoothly adjusts the wind speed loop through the wind speed control signal to deliver constant temperature air to the indoor environment. Thus, dual-loop coordinated control enables temperature control equipment to have both anti-disturbance capabilities and smooth response characteristics, prompting the indoor temperature to quickly and stably converge to the initial temperature setpoint, significantly reducing oscillations and overshoot during the temperature control process.

[0092] Understandably, the extended state observer corresponding to the tuned active disturbance rejection controller estimates the total disturbance, including external disturbances, model uncertainties, and internal dynamic disturbances, in real time, and obtains the observed state of the total disturbance and the observed state of the system output. Then, through the error feedback mechanism of the linear state, the temperature error is compensated for based on the observed state of the total disturbance and the observed state of the system output, and a linear temperature error with enhanced disturbance rejection is obtained.

[0093] It is understood that the tuned PID controller includes a proportional term, an integral term, and a derivative term. The proportional term calculates a first intermediate value by weighting the temperature error and the proportional coefficient corresponding to the proportional term; the integral term integrates the first intermediate value to obtain a second intermediate value; the derivative term differentiates the second intermediate value to obtain a third intermediate value; and the first, second, and third intermediate values ​​are weighted and summed to obtain the linear wind speed control quantity. In this embodiment, the first intermediate value is first calculated by weighting the deviation between the indoor temperature and the initial temperature setpoint and the proportional coefficient corresponding to the proportional term, enabling the PID controller to respond quickly to changes in indoor temperature. Then, the integral term integrates the first intermediate value to obtain the second intermediate value, which can eliminate the steady-state error of the PID controller. Next, the derivative term differentiates the second intermediate value to obtain the third intermediate value, which can predict changes in indoor temperature. Finally, the first, second, and third intermediate values ​​are weighted and summed to obtain the linear wind speed control quantity, resulting in a smooth-responding linear wind speed control quantity that mitigates wind speed overshoot when adjusting the indoor temperature.

[0094] Understandably, the logic controller rounds the linear temperature control quantity to the nearest temperature setting within the temperature adjustable range of the temperature control device to obtain the target temperature setpoint, and the logic controller rounds the linear wind speed control quantity to the nearest wind speed setpoint within the wind speed gradient range of the temperature control device.

[0095] It is understood that the terminal device module can be used to control indoor temperature. The terminal device module may include a temperature control device, which can be a variable frequency temperature control device such as a central air conditioner, table air conditioner, or cabinet air conditioner. The embodiments of this application do not limit the specific type of temperature control device, and specific temperature control devices can be selected according to actual needs.

[0096] In some embodiments, the PID controller first outputs a linear wind speed control quantity proportional to the instantaneous magnitude of the temperature error at the current moment, accumulates the time integral of the historical temperature error, and then continuously corrects the small error of the control signal. In addition, based on the rate of change of the temperature error, a suppression signal is used to suppress the output of the linear wind speed control quantity before outputting the linear wind speed control quantity.

[0097] In some embodiments, the tuned active disturbance rejection controller includes an extended state observer and linear error feedback. The tuned active disturbance rejection controller performs disturbance compensation based on temperature error to obtain a linear temperature control quantity. The indoor environment control method includes:

[0098] The indoor temperature disturbance is observed in real time by using an extended state observer to obtain the observed state.

[0099] The temperature error is amplified by using a preset proportional feedback gain corresponding to the linear error feedback.

[0100] The amplified temperature error is compensated based on the preset disturbance compensation gain and the observation status to obtain the linear temperature control quantity.

[0101] Therefore, the embodiments of this application use an extended state observer to observe the disturbances to the indoor temperature in real time, and coordinate with a linear error feedback mechanism to accurately compensate for the amplified temperature error based on a preset disturbance compensation gain and the observation state. This can smooth the response while suppressing disturbances, reduce overshoot and oscillation, and improve the anti-interference capability of the linear temperature control quantity.

[0102] In some embodiments, refer to Figure 4 As shown, the expression for the active disturbance rejection controller is as follows:

[0103] ;

[0104] in, and These are the observation states of the extended state observer. yes The differential, yes The differential, For the observation state tracking gain of the extended state observer, To estimate the gain of the perturbation for the extended state observer, For linear temperature control, The preset proportional feedback gain for the proportional controller. The preset disturbance compensation gain. The initial temperature setting. This refers to the indoor temperature.

[0105] In some embodiments, the expression of the active disturbance rejection controller can be derived through the following steps:

[0106] (i) The extended state observer estimates in real time that the indoor temperature is subject to nondeterministic disturbances, including model uncertainties and external disturbances. The expression for the extended state observer is as follows:

[0107] ;

[0108] in, and These are the observation states of the extended state observer. yes The differential, yes The differential, For the observation state tracking gain of the extended state observer, To estimate the gain of the perturbation for the extended state observer, Indoor temperature, This is the preset disturbance compensation gain.

[0109] (II) Error Feedback Mechanism for Linear State: Based on the preset disturbance compensation gain and the observed state, a linear temperature control quantity is generated. The expression for the error feedback mechanism for linear state is as follows:

[0110] ;

[0111] in, and These are the observation states of the extended state observer. For linear temperature control, The preset proportional feedback gain for the proportional controller. The preset disturbance compensation gain. The initial temperature setting. This refers to the indoor temperature.

[0112] In some embodiments, the logic controller determines the target temperature setpoint based on a linear temperature control quantity and the indoor temperature, and the indoor environment control method includes:

[0113] The intermediate temperature setpoint is obtained by weighting the linear temperature control value and the indoor temperature.

[0114] Calculate the difference between the intermediate temperature setpoint and the reference target temperature setpoint, wherein the reference target temperature setpoint is read before the target temperature setpoint;

[0115] If the difference is greater than the preset temperature threshold corresponding to the logic controller, the target temperature setting value is updated based on the intermediate temperature setting value.

[0116] If the difference is less than or equal to the preset temperature threshold, the reference target temperature setting value will be used as the target temperature setting value.

[0117] Therefore, in this embodiment of the application, the logic controller compares the difference between the preset temperature threshold and the intermediate temperature setting and the reference target temperature setting to determine whether to update the target temperature value, thereby avoiding the unstable phenomenon of oscillation caused by frequent updates of the target temperature value during the control process.

[0118] In some embodiments, the indoor temperature is controlled through multiple consecutive first temperature cycles and second temperature cycles, wherein the first temperature cycle is acquired before the second temperature cycle is acquired, referring to... Figure 5As shown, the target temperature setpoint can be obtained through the following steps: First, obtain the indoor temperature of the first temperature cycle and the user-set initial temperature setpoint; then, determine whether the time interval between the adjustment of the target temperature setpoint of the first temperature cycle and the actual temperature is less than 30 seconds. If the time interval is less than 30 seconds, maintain the target temperature setpoint of the first temperature cycle and enter the second temperature cycle; otherwise, if the time interval is greater than or equal to 30 seconds, calculate the temperature error (Tin) between the initial temperature setpoint and the indoor temperature of the first temperature cycle, and input the temperature error (Tin) to the active disturbance rejection controller; then, compare the linear temperature control quantity (C) output by the active disturbance rejection controller with the first temperature setpoint. The indoor temperatures of the temperature cycles are added together to obtain a reference temperature setpoint (K). Then, the reference temperature setpoint (K) is rounded down to the nearest temperature level according to the actual adjustable temperature range of the temperature control device in the terminal device module to obtain an intermediate temperature setpoint (T). Finally, it is determined whether the absolute difference between the target temperature setpoint and the target temperature setpoint (T_memory) of the first temperature cycle is greater than 1℃. If the absolute difference is less than or equal to 1℃, the target temperature setpoint of the first temperature cycle is maintained as the target temperature setpoint of the second temperature cycle. Otherwise, if the absolute difference is less than or equal to 1℃, the target temperature setpoint of the second temperature cycle is updated to the intermediate temperature setpoint.

[0119] For example, the actual adjustable temperature range of the temperature control device is 16 to 32. Assuming the intermediate temperature setting is 23.7, the target temperature setting is obtained by rounding down to the nearest integer in the range of 16 to 32 at equal intervals of 0.5.

[0120] In some embodiments, the terminal device module includes a ventilation device, the target setpoint includes a target air setpoint, and the indoor environment control method further includes: Before the device control module generates a control signal for the terminal device module based on the target setpoint, the method further includes:

[0121] Environmental monitoring module acquires indoor data. Concentration and indoor concentration;

[0122] Logic controller determines indoor Concentration, indoor Whether the concentration and the timing of the timer corresponding to the ventilation equipment meet the preset conditions, and the preset conditions correspond one-to-one with the control strategies of the ventilation equipment and the timer;

[0123] The control strategy is converted to the target air setpoint.

[0124] Because people inside a building exhale carbon dioxide, however, when indoors... When the concentration exceeds a certain threshold, it can cause headaches, fatigue, or blood acidosis in humans. Furthermore, human activities (such as cooking fumes or dust accumulation) can also contribute to indoor air pollution. Concentration increases, however, when indoors When the concentration exceeds a certain threshold, it can harm human health. Therefore, embodiments of this application utilize a logic controller based on indoor... Concentration, indoor The concentration and the timing of the timer corresponding to the ventilation equipment determine the control strategy of the ventilation equipment and the timer, enabling the indoor environment to maintain a certain level of indoor air quality. Concentration and indoor The concentration should be maintained at a stable and appropriate level to avoid harming human health.

[0125] It is understood that the preset conditions in the embodiments of this application can be set according to actual needs, and the embodiments of this application do not limit the specific preset conditions.

[0126] For example, the control strategy corresponds to a continuous first control loop and a second control loop, wherein the acquisition time of the second control loop is before the acquisition time of the first control loop. The preset conditions include a first condition, a second condition, and a third condition. The control strategy includes an opening window strategy, a closing window strategy, and a forced opening window strategy. The first condition corresponds to a forced opening window strategy, and both the second and third conditions correspond to opening window strategies and closing window strategies. (Refer to...) Figure 6 As shown, the control strategy for ventilation equipment and timers can be obtained through the following steps: the environmental detection module acquires indoor... Concentration and indoor Concentration; the logic controller first maintains the control strategy of the first control loop, and then determines the indoor concentration. Does the concentration meet the first condition, where the first condition is indoor concentration? Concentration greater than 5000 ppm; indoors If the concentration meets the first condition, the ventilation equipment is controlled to execute a forced window opening strategy and the timer is started, entering the second control cycle; otherwise, indoor ventilation is controlled. If the concentration does not meet the first condition, determine the indoor concentration. Concentration and indoor Does the concentration meet the second condition, where the second condition is indoor concentration? Concentration below 700 ppm and indoor Concentration below 50 Then indoors Concentration and indoor If the concentration meets the second condition, control the ventilation equipment to implement a window-closing strategy; otherwise, keep the ventilation system indoors. Concentration and indoor If the concentration does not meet the second condition, determine the indoor concentration. Concentration, indoor Whether the concentration and the timer's reading meet the third condition, wherein the third condition is indoors. Concentration greater than 1000 ppm or indoor Concentration greater than 100 Based on this, the timer's duration is greater than 30 minutes; indoors Concentration, indoor If the concentration and the timer's reading meet the third condition, the ventilation equipment will be controlled to execute a window-opening strategy and the timer will continue to run; otherwise, indoor ventilation will be controlled. Concentration, indoor If the concentration and the timer's timing value do not meet the third condition, the control strategy corresponding to the first control cycle is maintained.

[0127] In some embodiments, the control strategy for ventilation equipment can be manually controlled to meet individual needs. For example, indoor... If the concentration does not meet the first condition, determine whether manual control is enabled. If manual control is enabled, when the input of manual control is "on", control the ventilation equipment to execute the forced window opening strategy and start the timer, and enter the second control cycle; when the input of manual control is "off", control the ventilation equipment to execute the forced window closing strategy and reset the timer to zero, and enter the second control cycle.

[0128] In some embodiments, when the ventilation equipment implements a window-opening strategy, for example, the outdoor temperature in the outdoor environment causes a disturbance to the indoor temperature in the indoor environment through heat transfer. Therefore, embodiments of this application use an active disturbance rejection controller to treat the ventilation equipment as part of the disturbance, and by suppressing the disturbance, mitigate the disturbance of the ventilation equipment's operating state to the indoor environment.

[0129] The following analysis is based on active disturbance rejection controllers, PID controllers, and logic controllers to assess indoor environment conditions (i.e., indoor temperature, indoor air quality). Concentration and indoor The process of controlling the concentration was simulated. The indoor environment measures 4.5 meters long × 4.1 meters wide × 3 meters high, with a volume that can accommodate 10 people. Data collected includes indoor temperature, temperature control device on / off status, temperature control device setpoint, and indoor temperature. Concentration, indoor Concentration, switching of the measuring equipment, outdoor temperature, and outdoor temperature concentration.

[0130] (I) Model Construction

[0131] The collected data is identified using the MWORKS platform to obtain an indoor dynamic model. Based on this model, the transfer function is derived, and its expression can be seen below:

[0132] ;

[0133] ;

[0134] ;

[0135] ;

[0136] ;

[0137] ;

[0138] ;

[0139] in, The transfer function for controlling the indoor temperature based on the temperature setpoint of the temperature control equipment. The transfer function for controlling the indoor temperature based on the fan speed setpoint of the temperature control equipment. For the status control room of ventilation equipment Concentration transfer function, For indoor The transfer function of concentration-controlled indoor temperature. The transfer function for controlling indoor temperature based on outdoor temperature. Personnel number control room The concentration transfer function, where s is a complex variable under Laplace transform.

[0140] (ii) Controller parameter tuning

[0141] The steps for parameter tuning of active disturbance rejection controllers and PID controllers are as follows:

[0142] Expressions based on transfer functions Tuning the parameters of the active disturbance rejection controller (the parameters of the active disturbance rejection controller include...) , , as well as ),get , , as well as .

[0143] Expressions based on transfer functions Tune the PID controller parameters (PID controller parameters include P, I, and D) to obtain , as well as .

[0144] (III) Simulation conditions

[0145] The simulation conditions are set as shown in Table 1 below for the simulation experiment.

[0146]

[0147] Table 1

[0148] Specifically, at time 40000 (i.e., 11 hours, 6 minutes, and 40 seconds), a step signal is applied to step up the indoor temperature to 29°C; at time 0, the initial temperature setpoint is set to 30°C, and at time 1, the initial temperature setpoint is stepped up to 25°C.

[0149] (iv) Results Analysis

[0150] Reference Figure 7 As shown, during the period from 0 to 40,000 seconds, the outdoor temperature is above 30°C. At this time, the control strategy of the ventilation equipment remains unchanged, meaning the ventilation equipment does not affect the indoor environment (i.e., indoor temperature). During this period, the temperature control section is a single-loop system where the temperature and airflow of the terminal equipment module's temperature control device affect the indoor temperature. During the period from 40,000 to 60,000 seconds, the outdoor temperature drops below 30°C. At this time, the control strategy of the ventilation equipment in the terminal equipment module is a window-opening strategy. Since the operation of the temperature control device in the terminal equipment module does not affect the indoor temperature... Concentration and indoor Concentration has a significant impact; in this case, the temperature control equipment of the terminal device module should be used to control the indoor temperature. Concentration and indoor The effect of concentration is considered zero. Therefore, the control section of the ventilation equipment uses an on / off control strategy for the ventilation equipment to affect the indoor environment. Concentration and indoor The single-loop system is affected by concentration, while the temperature control section is a multivariable control system that couples the effects of temperature control equipment and ventilation equipment on indoor temperature. The overall system is a system where temperature control equipment and ventilation equipment affect indoor temperature and indoor temperature. Concentration and indoor A multivariable control system with concentration coupling effect.

[0151] Reference Figure 8 As shown, the combination of active disturbance rejection controller, PID controller and logic controller can mitigate instability phenomena such as overshoot or oscillation that occur during indoor temperature control.

[0152] In some embodiments, this application provides an indoor environment control system, which implements any one of the indoor environment control methods described above. The indoor environment control system includes:

[0153] The environmental monitoring module is used to acquire indoor environmental parameters.

[0154] The multivariable coupling control module is used to acquire a preset indoor environment dynamic model constructed based on indoor environment parameters. The preset indoor environment dynamic model includes a variable coupling transfer function. The controller parameters of the multivariable coupling control module are tuned based on the variable coupling transfer function. The tuned multivariable coupling control module determines the target setpoint based on the indoor environment parameters and the initial setpoint of the terminal device module.

[0155] The equipment control module is used to generate control signals for the terminal equipment module based on the target set value, thereby controlling the indoor environment.

[0156] The specific embodiments of the indoor environment control system in this application are basically the same as the specific embodiments of the indoor environment control method described above, and will not be repeated here.

[0157] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described indoor environment control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0158] Please see Figure 9 As shown, Figure 9 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0159] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0160] The memory 902 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 to execute the indoor environment control method of the embodiments of this application.

[0161] The 903 input / output interface is used to implement information input and output.

[0162] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0163] Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904);

[0164] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0165] In some embodiments, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described indoor environment control method.

[0166] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0167] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0168] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0169] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0170] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0171] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0172] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0174] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0176] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method of controlling an indoor environment, characterized by, The method is applied to an indoor environment control system, the indoor environment control system comprising an environment detection module, a multivariable coupling control module, a device control module and a terminal device module connected in sequence, the indoor environment control method comprising: The environment detection module acquires indoor environment parameters; The controller parameters of the multivariable coupling control module are tuned based on the transfer function of a preset indoor environment dynamic model, and the tuned multivariable coupling control module determines target set values based on the indoor environment parameters and initial set values of the terminal device module; The device control module generates control signals of the terminal device module based on the target set values to control the indoor environment; The multivariable coupling control module comprises an active disturbance rejection controller, a PID controller and a logic controller, the transfer function comprises a first transfer function and a second transfer function, the first transfer function and the second transfer function are in a corresponding relationship with the active disturbance rejection controller and the PID controller respectively, the initial set values comprise an initial temperature set value, the indoor environment parameters comprise an indoor temperature, and the controller parameters of the multivariable coupling control module are tuned based on the transfer function of the preset indoor environment dynamic model, comprising: The parameters of the PID controller are tuned according to the first transfer function to obtain first target PID parameters, and the parameters of the PID controller are tuned according to the second transfer function to obtain second target PID parameters, wherein the first transfer function is a transfer relationship between the initial temperature set value and the indoor temperature, and the second transfer function is a transfer relationship between the wind speed corresponding to the terminal control device module and the indoor temperature; A reference temperature control system model is constructed based on the first target PID parameters and the second target PID parameters, and reference active disturbance rejection parameters corresponding to the active disturbance rejection controller are determined according to the reference temperature control system model; The reference active disturbance rejection parameters are iteratively optimized based on the reference temperature control system model and the preset indoor environment dynamic model by using a reinforcement learning algorithm to obtain target active disturbance rejection parameters corresponding to the active disturbance rejection controller; The target set values comprise target temperature set values and target wind speed set values, and the target set values obtained by the tuned multivariable coupling control module based on the indoor temperature to suppress disturbances on the initial set values of the terminal device module comprise: The logic controller calculates a temperature error between the initial temperature set value and the indoor temperature; The tuned active disturbance rejection controller performs disturbance compensation based on the temperature error to obtain a linear temperature control amount; The tuned PID controller calculates a linear wind speed control amount based on the temperature error; The logic controller determines the target temperature set value based on the linear temperature control amount and the indoor temperature, and determines the target wind speed set value based on the linear wind speed control amount.

2. The method of claim 1, wherein, The reference active disturbance rejection parameter is iteratively optimized based on the benchmark temperature control system model and the preset indoor environment dynamic model by using a reinforcement learning algorithm, and a target active disturbance rejection parameter corresponding to the active disturbance rejection controller is obtained. An initial probability density function is determined based on the indoor environment dynamic model, and the initial probability density function is optimized by using the reference active disturbance rejection parameter to obtain an intermediate probability density function. An intermediate active disturbance rejection parameter is generated based on the intermediate probability density function. A performance index is calculated based on the intermediate active disturbance rejection parameter by using the benchmark temperature control system model, and the performance index is evaluated by using a preset cost function to obtain an evaluation result corresponding to the intermediate active disturbance rejection parameter, and the intermediate probability density function is updated according to the evaluation result. The intermediate probability density function is iteratively optimized to obtain the target active disturbance rejection parameter.

3. The method of claim 1, wherein the step of determining the indoor environment control method is performed based on the indoor environment information and the user information. The tuned active disturbance rejection controller includes an extended state observer and a linear error feedback, and the tuned active disturbance rejection controller performs disturbance compensation based on the temperature error to obtain a linear temperature control quantity, including: The disturbance to which the indoor temperature is subjected is observed in real time by using the extended state observer to obtain an observed state. The temperature error is amplified by using a preset proportional feedback gain corresponding to the linear error feedback; The amplified temperature error is compensated according to a preset disturbance compensation gain and the observed state to obtain the linear temperature control quantity.

4. The method of claim 1, wherein the step of controlling the indoor environment is performed by a computer program. The logic controller determines a target temperature set value based on the linear temperature control quantity and the indoor temperature, including: The linear temperature control quantity and the indoor temperature are weighted and calculated to obtain an intermediate temperature set value; The difference between the intermediate temperature set value and a reference target temperature set value is calculated, wherein the reference target temperature set value is read in a sequence before the target temperature set value; In a case where the difference is greater than a preset temperature threshold corresponding to the logic controller, the target temperature set value is updated according to the intermediate temperature set value; In a case where the difference is less than or equal to the preset temperature threshold, the reference target temperature set value is taken as the target temperature set value.

5. The method of claim 1, wherein the step of controlling the indoor environment is performed by a computer. The end device module includes a ventilation device, and the target set value includes a target air set value, and before the device control module generates a control signal of the end device module based on the target set value, the control strategy is further converted into the target air set value. The environment detection module acquires indoor concentration and indoor concentration; The logic controller determines whether the indoor concentration, the indoor concentration, and whether the timing of the timer corresponding to the ventilation equipment satisfies a preset condition, the preset condition one-to-one corresponding to a control strategy of the ventilation equipment and the timer; The indoor environment control system is applied to the indoor environment control method of any one of claims 1 to 5, and the indoor environment control system includes:

6. An indoor environment control system characterized by, An environment detection module, which is configured to acquire indoor environment parameters; A multivariable coupling control module, which is configured to tune controller parameters of the multivariable coupling control module based on a transfer function of a preset indoor environment dynamic model, and the tuned multivariable coupling control module is configured to determine a target set value based on the indoor environment parameters and initial set values of end device modules; ​ An equipment control module is configured to generate a control signal of the end equipment module based on the target set value, and control the indoor environment.

7. An electronic device, comprising: The application relates to an indoor environment control method and device. At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the indoor environment control method as claimed in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing computer-executable instructions, the computer-executable instructions comprising: The computer executable instructions are used to execute the indoor environment control method as claimed in any one of claims 1 to 5.

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