Indoor temperature control method and device, equipment and medium

Abstract

The invention discloses an indoor temperature control method and device, equipment and a medium, and the method comprises the steps that a preset active-disturbance-rejection controller determines a linear temperature control quantity corresponding to a logic controller based on an indoor temperature and an initial temperature set value, and meanwhile, a preset PID controller is combined to generate a linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature set value. According to the embodiment of the invention, disturbance suppression can be carried out through the preset active disturbance rejection controller according to the indoor temperature and the initial temperature set value, the linear temperature control quantity with disturbance rejection is obtained, meanwhile, the smooth response advantage of the preset PID controller is combined, and the smooth linear wind speed control quantity is output; and a control signal of the air conditioner is generated by combining the anti-disturbance linear temperature control quantity and the smooth linear air speed control quantity, so that the unstable phenomena of overshoot or oscillation and the like occurring in the process of controlling the indoor temperature by the air conditioner are relieved.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of air conditioning technology, and in particular to an indoor temperature control method, device, equipment, and medium. Background Technology

[0002] With the development of the construction industry, air conditioning is widely used to regulate indoor temperature. In existing technologies, indoor temperature control typically relies on the air conditioner's built-in logic controller. The specific steps are as follows: The initial temperature setpoint input by the user is obtained; the logic controller queries a mapping table between the initial and target temperature setpoints to obtain the target temperature setpoint and its corresponding target fan speed setpoint; air is then generated at the target temperature setpoint, and finally, the air is delivered according to the target fan speed setpoint, thus controlling the indoor temperature. However, indoor temperature is affected not only by the air conditioner's output but also by external disturbances from occupants or ventilation equipment, as well as internal disturbances. A single logic controller cannot handle disturbances affecting indoor temperature, leading to instability such as overshoot or oscillations when using a single logic controller to regulate indoor temperature. When the indoor temperature oscillates around the initial setpoint, the air conditioner compressor needs to repeatedly start and stop to correct the deviation, increasing energy consumption. Furthermore, overshoot, where the indoor temperature deviates from the initial setpoint, requires the air conditioner to adjust in the opposite direction, further increasing energy consumption. Summary of the Invention

[0003] This application provides an indoor temperature control method, device, equipment, and medium that can reduce energy consumption during the process of air conditioning controlling indoor temperature.

[0004] In a first aspect, embodiments of this application provide an indoor temperature control method applied to an air conditioning control system. The air conditioning control system includes a preset active disturbance rejection controller, a preset PID controller, a logic controller, and a device controller. The preset active disturbance rejection controller and the preset PID controller are both communicatively connected to the logic controller, and the logic controller is communicatively connected to the device controller. The indoor temperature control method includes: Obtain the indoor temperature from the temperature sensor corresponding to the air conditioner and the initial temperature setpoint corresponding to the air conditioner; The preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, and at the same time, the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. The logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity. The device controller generates a control signal for the air conditioner based on the target temperature setpoint and the target wind speed setpoint, and then controls the air conditioner based on the control signal to control the indoor temperature.

[0005] Secondly, according to an embodiment of this application, an indoor temperature control device is provided, the indoor temperature control device comprising: The data acquisition module is used to acquire the indoor temperature of the temperature sensor corresponding to the air conditioner and the initial temperature set value corresponding to the air conditioner. The calculation module is used to determine the linear temperature control quantity corresponding to the logic controller by suppressing disturbances based on the indoor temperature and the initial temperature setpoint through a preset active disturbance rejection controller, and at the same time, to generate the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint through the preset PID controller. A conversion module is used to determine the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity through the logic controller. The control module is used to generate a control signal for the air conditioner based on the target temperature setpoint and the target wind speed setpoint through the device controller, and then control the air conditioner based on the control signal to control the indoor temperature.

[0006] Thirdly, an electronic device provided according to an embodiment of this application includes: At least one processor; At least one memory for storing at least one program; When at least one of the programs is executed by at least one of the processors, the indoor temperature control method according to any one of the first aspects is implemented.

[0007] Fourthly, according to the embodiments of the application, a computer-readable storage medium is provided, storing computer-executable instructions for executing the indoor temperature control method described in any of the first aspects.

[0008] In summary, the indoor temperature control method of the above embodiments of this application is applied to an air conditioning control system. The air conditioning control system includes a preset active disturbance rejection controller, a preset PID controller, a logic controller, and an equipment controller. The preset active disturbance rejection controller and the preset PID controller are both communicatively connected to the logic controller, and the logic controller and the equipment controller are communicatively connected. The indoor temperature control method includes: acquiring the indoor temperature from the temperature sensor corresponding to the air conditioner and the initial temperature setpoint of the air conditioner controller; the preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, and simultaneously generates the linear fan speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint in conjunction with the preset PID controller; the logic controller determines the target temperature setpoint and the target fan speed setpoint corresponding to the equipment controller based on the linear temperature control quantity and the linear fan speed control quantity; the equipment controller generates the control signal corresponding to the air conditioner based on the target temperature setpoint and the target fan speed setpoint, and then controls the air conditioner based on the control signal to control the indoor temperature. This application embodiment pre-determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. This leverages the anti-disturbance advantage of the pre-determined active disturbance rejection controller, ensuring that the linear temperature control quantity determined by the pre-determined active disturbance rejection controller based on the indoor temperature and the initial temperature setpoint possesses anti-disturbance capabilities. Simultaneously, combined with the pre-determined PID controller generating the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, this leverages the smooth response advantage of the pre-determined PID controller, ensuring that the linear wind speed control quantity generated by the pre-determined PID controller based on the indoor temperature and the initial temperature setpoint exhibits gradual changes. The logic controller, based on the linear temperature control quantity and the linear wind speed control quantity, determines the target temperature setpoint and target wind speed setpoint corresponding to the equipment controller, achieving an anti-disturbance linear temperature... Based on the control variables and the linear wind speed control variables with gradual changes, the logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control variables and the linear wind speed control variables. This gives the logic controller the advantages of being resistant to disturbances and having a smooth response. The device controller generates the corresponding control signal for the air conditioner based on the target temperature setpoint and target wind speed setpoint, and then controls the air conditioner based on the control signal. With the advantages of being resistant to disturbances and having a smooth response based on the target temperature setpoint and target wind speed setpoint, the air conditioner can drive the corresponding temperature loop to generate constant temperature air according to the control signal, reducing the oscillation phenomenon in the temperature control process. It also smoothly adjusts the corresponding wind speed loop of the air conditioner through the wind speed control signal, reducing the overshoot phenomenon in the temperature control process. The constant temperature air is delivered to the indoor environment to quickly converge the indoor temperature to near the initial temperature setpoint, thereby reducing the energy consumption of the air conditioner. Attached Figure Description

[0009] Figure 1This is an architecture diagram of an air conditioning control system provided in one embodiment of this application; Figure 2 This is a flowchart of the indoor temperature control method provided in one embodiment of this application; Figure 3 This is a schematic diagram of the architecture of an active disturbance rejection controller provided in one embodiment of this application; Figure 4 This is a hardware schematic diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0010] 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.

[0011] 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.

[0012] With the development of the construction industry, indoor temperature in buildings is closely related to human health, making indoor temperature control a major concern. In existing technologies, indoor temperature control typically relies on the built-in logic controller of the air conditioner. The specific steps are as follows: The initial temperature setpoint input by the user is obtained; the logic controller queries a mapping table between the initial and target temperature setpoints to obtain the target temperature setpoint and its corresponding target fan speed setpoint; air at the target temperature setpoint is generated accordingly; and air is then delivered according to the target fan speed setpoint, thus controlling the indoor temperature. However, indoor temperature is affected not only by the air conditioner's output but also by external disturbances from occupants or ventilation equipment, as well as internal disturbances. A single logic controller cannot handle disturbances affecting indoor temperature, leading to instability issues such as overshoot or oscillations when controlling indoor temperature using a single logic controller.

[0013] Based on this, the embodiments of this application provide an indoor temperature control method, device, equipment, and medium that can mitigate instability phenomena such as overshoot or oscillation during the process of air conditioning controlling indoor temperature.

[0014] The indoor temperature control method of this application is applied to an air conditioning control system, as described above. Figure 1As shown, the air conditioning control system includes a preset active disturbance rejection controller, a preset PID controller, a logic controller, and an equipment controller. The preset active disturbance rejection controller and the preset PID controller are both connected to the logic controller, and the logic controller is connected to the equipment controller.

[0015] It is understood that the air conditioning control system can be set up in the cloud, on a personal computer, or in an external controller, and this application embodiment does not limit this.

[0016] This application provides an indoor temperature control method, referring to... Figure 2 As shown, indoor temperature control methods can be implemented including, but not limited to, the following steps: Step S100: Obtain the indoor temperature from the temperature sensor corresponding to the air conditioner and the initial temperature setting value of the air conditioner controller. Step S110: The preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, and at the same time, the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. In step S120, the logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the equipment controller based on the linear temperature control quantity and the linear wind speed control quantity. In step S130, the device controller generates a control signal for the air conditioner based on the target temperature setpoint and the target wind speed setpoint, and then controls the air conditioner based on the control signal to control the indoor temperature.

[0017] Therefore, in this embodiment, the preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. This leverages the disturbance rejection advantage of the preset active disturbance rejection controller, ensuring that the linear temperature control quantity determined by the preset active disturbance rejection controller based on the indoor temperature and the initial temperature setpoint possesses disturbance rejection capabilities. Simultaneously, combined with the preset PID controller generating the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, this leverages the smooth response advantage of the preset PID controller, ensuring that the linear wind speed control quantity generated by the preset PID controller based on the indoor temperature and the initial temperature setpoint changes smoothly. The logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the equipment controller based on the linear temperature control quantity and the linear wind speed control quantity, thus enhancing its disturbance rejection capabilities. Based on the linear temperature control quantity and the gradually changing linear fan speed control quantity, the logic controller, by determining the target temperature setpoint and target fan speed setpoint corresponding to the device controller based on the linear temperature control quantity and linear fan speed control quantity, has the advantages of disturbance resistance and smooth response. The device controller generates the corresponding control signal for the air conditioner based on the target temperature setpoint and target fan speed setpoint, and then controls the air conditioner based on the control signal. Building on the advantages of disturbance resistance and smooth response of the target temperature setpoint and target fan speed setpoint, the air conditioner can drive its corresponding temperature loop to generate constant temperature air according to the control signal, reducing oscillations in the temperature control process. Furthermore, by smoothly adjusting the corresponding fan speed loop of the air conditioner through the fan speed control signal, it reduces overshoot in the temperature control process, delivering constant temperature air to the indoor environment to quickly converge the indoor temperature to near the initial temperature setpoint. Compared to existing single logic controllers that control air conditioners to regulate indoor temperature and experience instability such as overshoot or oscillations leading to increased energy consumption, this approach reduces overshoot or oscillations in the temperature control process, thereby reducing the energy consumption required for repeated air conditioner starts and reverse adjustments.

[0018] It is understood that the embodiments of this application may use a temperature sensor built into the air conditioner or a temperature sensor installed in an external device to obtain the indoor temperature. The embodiments of this application do not limit the type of temperature sensor used.

[0019] Understandably, air conditioner users first input an initial temperature setting value into the air conditioner, and when the air conditioner receives the initial temperature setting value, it obtains the indoor temperature from the temperature sensor. Then, utilizing the disturbance rejection characteristics of the tuned active disturbance rejection controller, based on the deviation between the indoor temperature and the initial temperature setpoint, it senses the external and internal disturbances affecting the indoor temperature and implements disturbance compensation, generating a linear temperature control quantity with disturbance rejection characteristics. This effectively suppresses oscillations and overshoot caused by external disturbances. Simultaneously, the tuned PID controller calculates the linear fan speed control quantity based on the deviation between the indoor temperature and the initial temperature setpoint, leveraging the smooth response advantage of the PID controller to ensure gradual changes in the fan 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 target fan speed setpoint based on the linear fan speed control quantity, providing a data foundation for the subsequent equipment controller to generate control signals. Next, the equipment controller generates control signals for the corresponding fan speed loop of the air conditioner based on the target fan speed setpoint, and simultaneously generates control signals for the corresponding temperature loop of the air conditioner based on the target temperature setpoint. The air conditioner drives the temperature loop to generate air at the specified temperature according to the temperature control signal, and smoothly adjusts the fan speed loop through the fan speed control signal to deliver constant temperature air to the indoor environment. Thus, dual-loop coordinated control enables the air conditioner to have both anti-disturbance capability and smooth response characteristics, which promotes the rapid and stable convergence of the indoor temperature to the initial temperature setpoint, significantly reducing oscillations and overshoot during the temperature control process, thereby reducing the energy consumption required for repeated start-ups and reverse adjustments of the air conditioner.

[0020] In some embodiments, a preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. The indoor temperature control method includes: an extended state observer corresponding to the preset active disturbance rejection controller determines a disturbance estimate and an output estimate based on the indoor temperature and the temperature setpoint; and a linear temperature control quantity is determined based on the disturbance estimate and the output estimate through linear error feedback corresponding to the preset active disturbance rejection controller.

[0021] Therefore, in this embodiment, the extended state observer corresponding to the preset active disturbance rejection controller determines the disturbance estimate and output estimate based on the indoor temperature and the temperature setpoint. The linear error feedback corresponding to the preset active disturbance rejection controller performs disturbance compensation based on the disturbance estimate and output estimate, thereby achieving disturbance rejection of the linear temperature control quantity. This can suppress disturbances in the subsequent temperature control process, improve the anti-interference capability of the air conditioner in the temperature control process, and reduce instability phenomena such as overshoot or oscillation in the subsequent indoor temperature control process, thereby reducing the energy consumption required for repeated start-up and reverse adjustment of the air conditioner.

[0022] In some embodiments, a linear temperature control quantity is determined based on a disturbance estimate and an output estimate using linear error feedback corresponding to a preset active disturbance rejection controller. The indoor temperature control method includes: determining a temperature error based on the indoor temperature and a temperature setpoint; amplifying the temperature error using a preset proportional feedback gain corresponding to a preset proportional controller; and compensating for the linear temperature error based on a preset disturbance compensation gain, a disturbance estimate, an output estimate, and the amplified temperature error, thereby obtaining the linear temperature control quantity.

[0023] Therefore, in this embodiment, the temperature error is first amplified by the preset proportional feedback gain corresponding to the linear error feedback of the preset active disturbance rejection controller. Then, the amplified temperature error is compensated for by the preset disturbance compensation gain, disturbance estimate, and output estimate corresponding to the preset active disturbance rejection controller, so as to obtain the disturbance-resistant linear temperature control quantity. This reduces the instability of overshoot or oscillation in the subsequent process of controlling the indoor temperature, thereby reducing the energy consumption required for repeated start-ups and reverse adjustments of the air conditioner.

[0024] For example, refer to Figure 3 As shown, the expression for the preset active disturbance rejection controller is as follows: ; in, The estimated output of the extended state observer, For the estimated perturbation 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.

[0025] For example, the expression for the preset active disturbance rejection controller can be derived and determined through the following steps: (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: ; in, The estimated output of the extended state observer, For the estimated perturbation 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.

[0026] (II) Error Feedback Mechanism for Linear State: Based on the 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: ; in, The estimated output of the extended state observer, For the estimated perturbation of the extended state observer, For linear temperature control, The preset proportional feedback gain for the proportional controller. For disturbance compensation gain, The initial temperature setting. This refers to the indoor temperature.

[0027] In some embodiments, the PID controller includes a proportional term, an integral term, and a derivative term. The PID controller is preset to generate a linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. The indoor temperature control method includes: the proportional term weighting the deviation between the indoor temperature and the initial temperature setpoint with the proportional coefficient corresponding to the proportional term to obtain a first intermediate value; the integral term integrating the first intermediate value to obtain a second intermediate value; the derivative term differentiating the second intermediate value to obtain a third intermediate value; and the first, second, and third intermediate values ​​being weighted and summed to obtain the linear wind speed control quantity.

[0028] Therefore, in this embodiment, the first intermediate value is calculated by weighting the deviation between the indoor temperature and the initial temperature setpoint with the proportional coefficient corresponding to the proportional term. This enables the PID controller to respond quickly to changes in indoor temperature. Then, the first intermediate value is integrated by the integral term to obtain the second intermediate value, which can eliminate the steady-state error of the PID controller. Next, the second intermediate value is differentiated by the derivative term 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 fan speed control quantity, resulting in a smooth-responding linear fan speed control quantity. This reduces the phenomenon of fan speed overshoot when adjusting the indoor temperature, thereby enabling the indoor temperature control system to respond smoothly and reducing the energy consumption of the air conditioner.

[0029] In some embodiments, the logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity. The indoor temperature control method includes: weighting the linear temperature control quantity and the indoor temperature to obtain an intermediate temperature setpoint; calculating 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; calculating the time interval between the acquisition time of the reference target temperature setpoint and the indoor temperature; determining the reference temperature setpoint based on the time interval, the difference, and a preset temperature threshold; rounding the reference temperature setpoint within the temperature gradient range of the air conditioner to obtain the target temperature setpoint corresponding to the device controller, and rounding the linear wind speed control quantity within the wind speed gradient range of the air conditioner to obtain the target wind speed setpoint corresponding to the device controller.

[0030] Therefore, in this embodiment, the logic controller compares the temperature threshold with the difference between the intermediate temperature setpoint and the reference target temperature setpoint to determine whether to update the target temperature setpoint. This avoids the instability caused by frequent updates of the target temperature setpoint during the control process, thereby reducing the energy consumption required for repeated starts of the air conditioner.

[0031] In some embodiments, a reference temperature setpoint is determined based on a time interval, a difference, and a preset temperature threshold. The indoor temperature control method includes: comparing the difference and the temperature threshold when the time interval is greater than the preset time interval; updating the target temperature setpoint based on an intermediate temperature setpoint when the difference is greater than the temperature threshold; and using the reference target temperature setpoint as the target temperature setpoint when the difference is less than or equal to the temperature threshold.

[0032] Therefore, this embodiment of the application sets the difference and temperature threshold to be compared when the time interval is greater than a preset time interval; when the difference is greater than the temperature threshold, the target temperature setting is updated based on the intermediate temperature setting; when the difference is less than or equal to the temperature threshold, the reference target temperature setting is used as the target temperature setting. This avoids the instability caused by frequent updates of the target temperature value during the control process, thereby reducing the energy consumption required for repeated starts and reverse adjustments of the air conditioner.

[0033] For example, the indoor temperature is controlled through multiple consecutive first and second temperature cycles. The first temperature cycle is acquired before the second temperature cycle. The target temperature setpoint can be obtained through the following steps: First, the indoor temperature of the first temperature cycle and the user-set initial temperature setpoint are acquired; then, it is determined 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, the target temperature setpoint of the first temperature cycle is maintained and the second temperature cycle is entered; otherwise, if the time interval is greater than or equal to 30 seconds, the temperature error (Tin) between the initial temperature setpoint and the indoor temperature of the first temperature cycle is calculated, and the temperature error (Tin) is input to the preset self-resistance. The system first sets up an active disturbance rejection controller (ADDC). Then, it adds the linear temperature control value (C) output by the preset ADDC to the indoor temperature of the first temperature cycle to obtain a reference temperature setpoint (K). Next, it rounds the reference temperature setpoint (K) to the nearest temperature range of the actual adjustable temperature range of the temperature control device in the terminal device module to obtain an intermediate temperature setpoint (T). Finally, it determines 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°C. If the absolute difference is less than or equal to 1°C, 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°C, the target temperature setpoint of the second temperature cycle is updated to the intermediate temperature setpoint.

[0034] 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 with equal intervals of 0.5.

[0035] In some embodiments, before the preset active disturbance rejection controller suppresses disturbances based on the indoor temperature and the initial temperature setpoint to determine the linear temperature control quantity corresponding to the logic controller, and the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, the indoor temperature control method further includes: obtaining a first transfer function and a second transfer function of a preset indoor environment dynamic model, wherein 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 corresponding to the air conditioner and the indoor temperature; tuning the parameters of the preset PID controller according to the first transfer function to obtain a first target PID parameter corresponding to the preset PID controller, and tuning the parameters of the preset PID controller according to the second transfer function to obtain a second target PID parameter corresponding to the preset PID controller; A reference temperature control system model is constructed based on the first target PID parameters and the second target PID parameters, and the target active disturbance rejection parameters corresponding to the preset active disturbance rejection controller are determined based on the reference temperature control system model.

[0036] Therefore, the embodiments of this application can utilize the first transfer function to reflect the initial temperature setpoint and the transmission characteristics of indoor temperature in the indoor environment, and tune the preset PID controller parameters to obtain the first target PID parameter, making the first target PID parameter more consistent with the initial temperature setpoint and indoor temperature transmission of the indoor environment; similarly, the second transfer function is used to reflect the initial wind speed setpoint and the transmission characteristics of indoor temperature in the indoor environment, and tune the preset PID controller parameters to obtain the second target PID parameter, making the second target PID parameter more consistent with the initial wind speed setpoint and indoor temperature transmission of the indoor environment; a reference temperature control system model is constructed based on the first target PID parameter and the second target PID parameter, and a reference active disturbance rejection parameter is determined according to the reference temperature control system model. Based on the fact that the first target PID parameter and the second target PID parameter are more consistent with the transmission characteristics of the indoor environment, the temperature control process of the reference temperature control system model constructed based on the first target PID parameter and the second target PID parameter is more consistent with the indoor environment. In this way, while determining the target active disturbance rejection parameter according to the reference temperature control system model is more consistent with the temperature control process of the indoor environment, the PID sensor and the active disturbance rejection sensor are associated, thereby improving the disturbance rejection capability of the target active disturbance rejection parameter.

[0037] For example, the preset PID controller parameters 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. The preset 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. The embodiments of this application do not limit the specific method for tuning the preset PID controller parameters; a specific parameter tuning method can be selected according to actual needs.

[0038] For example, the expression for the reference temperature control system model is as follows: ; 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.

[0039] For example, the performance index of the reference temperature control system model is calculated based on the tuned preset 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.

[0040] It is understandable that the preset reference active disturbance rejection parameters for 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 refers to the proportional feedback gain of the proportional controller, which is used to control the deviation between the initial temperature setpoint and the target temperature setpoint. This is the disturbance compensation gain, which is used to compensate for normalized disturbances.

[0041] For example, the reference active disturbance rejection parameters can be determined based on the reference temperature control system model through the following steps: First, derive the disturbance compensation gain expression based on the reference temperature control system model, and then derive the disturbance compensation gain based on the disturbance compensation gain expression; then set the parameters according to the actual indoor temperature requirements of the control room environment. Then based on The expression for the preset active disturbance rejection controller bandwidth is determined, and the preset active disturbance rejection controller bandwidth is determined based on the expression for the preset active disturbance rejection controller bandwidth. Then, the preset active disturbance rejection controller bandwidth is used as the bandwidth of the extended state observer in the preset active disturbance rejection controller. Finally, based on the preset active disturbance rejection controller bandwidth and the extended state observer bandwidth, 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 in the preset active disturbance rejection controller are determined. Among them, disturbance compensation gain The expression is as follows: ; Let be the order of the transfer function of indoor temperature. Indoor temperature, The gain coefficient of the transfer function of indoor temperature; Among them, the preset active disturbance rejection controller bandwidth The expression is as follows: ; 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; Among them, the bandwidth of the extended state sensor The expression is as follows: ; To preset the bandwidth of the active disturbance rejection controller, To expand the bandwidth of the state observer; Among them, the observation state tracking gain of the extended state observer Perturbation estimation gain of extended state observer And the expression for the proportional feedback gain of the proportional controller. The expression is as follows: ; For the observation state tracking gain of the extended state observer, To estimate the gain of the perturbation for the extended state observer, This refers to the proportional feedback gain of the proportional controller, which is used to control the deviation between the initial temperature setpoint and the target temperature setpoint. To preset the bandwidth of the active disturbance rejection controller, To expand the bandwidth of the state observer.

[0042] For example, when the reference temperature control system model is a large inertial system, the bandwidth and disturbance compensation gain of the extended state observer are amplified and adjusted. The expressions for the adjusted bandwidth and disturbance compensation gain of the extended state observer are as follows: ; in, For the adjusted bandwidth of the extended state observer, This is the adjusted disturbance compensation gain.

[0043] In some embodiments, this application provides an indoor temperature control device, which includes: The data acquisition module is used to acquire the indoor temperature from the temperature sensor corresponding to the air conditioner and the initial temperature setpoint of the air conditioner controller. The calculation module is used to determine the linear temperature control quantity corresponding to the logic controller by suppressing disturbances based on the indoor temperature and the initial temperature setpoint through a preset active disturbance rejection controller, and at the same time, it generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint through a preset PID controller. The conversion module is used to determine the target temperature setpoint and target wind speed setpoint corresponding to the equipment controller based on the linear temperature control quantity and the linear wind speed control quantity through the logic controller. The control module is used to generate control signals for the air conditioner based on the target temperature setpoint and the target wind speed setpoint through the device controller, and then control the air conditioner based on the control signals to control the indoor temperature.

[0044] The specific embodiments of the indoor temperature control device for the air conditioner in this application are basically the same as the specific embodiments of the indoor temperature control method described above, and will not be repeated here.

[0045] 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 temperature control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0046] Please see Figure 4 , Figure 4 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 401 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. The memory 402 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 402 can store the operating system and other applications. 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 402 and is called and executed by the processor 401 to execute the indoor temperature control method of the embodiments of this application. Input / output interface 403 is used to implement information input and output; The communication interface 404 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.). Bus 405 transmits information between various components of the device (e.g., processor 401, memory 402, input / output interface 403, and communication interface 404); The processor 401, memory 402, input / output interface 403 and communication interface 404 are connected to each other within the device via bus 405.

[0047] 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 temperature control method.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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. An indoor temperature control method, characterized in that, An air conditioning control system is applied, comprising a preset active disturbance rejection controller, a preset PID controller, a logic controller, and a device controller. The preset active disturbance rejection controller and the preset PID controller are both communicatively connected to the logic controller, and the logic controller is communicatively connected to the device controller. The indoor temperature control method includes: Obtain the indoor temperature from the temperature sensor corresponding to the air conditioner and the initial temperature setpoint corresponding to the air conditioner; The preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, and at the same time, the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint. The logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity. The device controller generates a control signal for the air conditioner based on the target temperature setpoint and the target wind speed setpoint, and then controls the air conditioner based on the control signal to control the indoor temperature.

2. The indoor temperature control method according to claim 1, characterized in that, The preset active disturbance rejection controller determines the linear temperature control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, including: The extended state observer corresponding to the preset active disturbance rejection controller determines the disturbance estimate and outputs the estimate based on the indoor temperature and the temperature setpoint. The linear error feedback corresponding to the preset active disturbance rejection controller determines the linear temperature control quantity based on the disturbance estimate and the output estimate.

3. The indoor temperature control method according to claim 2, characterized in that, The linear error feedback corresponding to the preset active disturbance rejection controller determines the linear temperature control quantity based on the disturbance estimate and the output estimate, including: The temperature error is determined based on the indoor temperature and the temperature setpoint. The preset proportional feedback gain of the proportional controller corresponding to the preset active disturbance rejection controller amplifies the temperature error. The linear temperature control quantity is obtained by compensating for the preset disturbance compensation gain corresponding to the linear error feedback, the disturbance estimate, the output estimate, and the amplified temperature error.

4. The indoor temperature control method according to claim 1, characterized in that, The PID controller includes a proportional term, an integral term, and a derivative term. Simultaneously, the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, including: The proportional term calculates a first intermediate value by weighting the deviation between the indoor temperature and the initial temperature setpoint with the proportional coefficient corresponding to the proportional term. The integral term integrates the first intermediate value to obtain the second intermediate value; The differential term differentiates the second intermediate value to obtain the third intermediate value; The first intermediate value, the second intermediate value, and the third intermediate value are weighted and summed to obtain the linear wind speed control value.

5. The indoor temperature control method according to claim 4, characterized in that, The logic controller determines the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity, including: The intermediate temperature setpoint is obtained by weighting the linear temperature control value and the indoor temperature. 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; Calculate the time interval between the reference target temperature setpoint and the acquisition time corresponding to the indoor temperature; The reference temperature setting value is determined based on the time interval, the difference, and the preset temperature threshold; The reference temperature setpoint is rounded down to the nearest integer within the temperature gradient range of the air conditioner to obtain the target temperature setpoint corresponding to the device controller, and the linear fan speed control value is rounded down to the nearest integer within the fan speed gradient range of the air conditioner to obtain the target fan speed setpoint corresponding to the device controller.

6. The indoor temperature control method according to claim 4, characterized in that, The step of determining the reference temperature setpoint based on the time interval, the difference, and the preset temperature threshold includes: When the time interval is greater than the preset time interval, and the difference is greater than the temperature threshold, the reference temperature setting value is updated according to the intermediate temperature setting value. If the difference is less than or equal to the temperature threshold, the reference target temperature setting value is used as the reference temperature setting value.

7. The indoor temperature control method according to claim 1, characterized in that, Before the preset active disturbance rejection controller suppresses disturbances based on the indoor temperature and the initial temperature setpoint to determine the linear temperature control quantity corresponding to the logic controller, and before the preset PID controller generates the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint, the following steps are included: Obtain the first transfer function and the second transfer function of the preset indoor environment dynamic model, wherein 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 air conditioner's corresponding fan speed and the indoor temperature; The parameters of the preset PID controller are tuned according to the first transfer function to obtain the first target PID parameters corresponding to the preset PID controller, and the parameters of the preset PID controller are tuned according to the second transfer function to obtain the second target PID parameters corresponding to the preset PID controller. A reference temperature control system model is constructed based on the first target PID parameter and the second target PID parameter, and the target active disturbance rejection parameter corresponding to the preset active disturbance rejection controller is determined according to the reference temperature control system model.

8. An indoor temperature control device, characterized in that, The indoor temperature control device includes: The data acquisition module is used to acquire the indoor temperature of the temperature sensor corresponding to the air conditioner and the initial temperature set value corresponding to the air conditioner. The calculation module is used to determine the linear temperature control quantity corresponding to the logic controller by suppressing disturbances based on the indoor temperature and the initial temperature setpoint through a preset active disturbance rejection controller, and at the same time, to generate the linear wind speed control quantity corresponding to the logic controller based on the indoor temperature and the initial temperature setpoint through the preset PID controller. A conversion module is used to determine the target temperature setpoint and target wind speed setpoint corresponding to the device controller based on the linear temperature control quantity and the linear wind speed control quantity through the logic controller. The control module is used to generate a control signal for the air conditioner based on the target temperature setpoint and the target wind speed setpoint through the device controller, and then control the air conditioner based on the control signal to control the indoor temperature.

9. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When at least one of the programs is executed by at least one of the processors, the indoor temperature control method as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the indoor temperature control method according to any one of claims 1 to 7.

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