Multi-parameter cooperative control method and incubator

Abstract

The invention relates to the technical field of parameter cooperative control, and discloses a multi-parameter cooperative control method and an incubator, and the method comprises the steps: carrying out the disturbance measurement of the heating power and carbon dioxide injection in an incubator body, and calculating a temperature-to-concentration influence coefficient and a concentration-to-temperature influence coefficient; identifying door opening disturbance according to the door state signal jump and the maximum temperature drop rate and the concentration drop rate of the N temperature sensors, and collecting maximum temperature deviation and concentration deviation; on the basis of the maximum temperature deviation and the concentration deviation, the opening degree of an electromagnetic proportional valve is set to be in a large-flow state to rapidly recover the carbon dioxide concentration, and after concentration recovery is completed, control parameter compensation is conducted according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient. According to the method, the problem that temperature adjustment and concentration adjustment interfere with each other is solved, and cooperative control over parameters is achieved.

Description

Technical Field

[0001] This invention relates to the field of parameter coordinated control technology, and in particular to a multi-parameter coordinated control method and an incubator. Background Technology

[0002] As a key piece of equipment for cell culture, the stability of the temperature and CO2 concentration fields in a carbon dioxide incubator directly affects the quality of cell growth. Existing incubators generally suffer from an unreasonable layout of temperature monitoring points, with monitoring points only placed in the center or on one side of the chamber. This fails to accurately reflect temperature differences between upper and lower layers and in corner areas, resulting in temperature non-uniformity exceeding 2°C in the sample placement area when fully loaded, thus affecting the consistency of culture results.

[0003] Regarding CO2 concentration control, existing technologies do not compensate for the cooling effect generated during CO2 gas injection. Each injection causes a temperature drop of 1.5℃ to 3℃ in the chamber, requiring a considerable amount of time to recover and stabilize. Furthermore, temperature and concentration control are independent of each other, lacking a coupling relationship, leading to mutual interference during the adjustment process. In addition, the temperature and concentration are recovered sequentially and independently after the door is opened, with a total recovery time exceeding 45 minutes, severely impacting experimental efficiency. Summary of the Invention

[0004] This invention provides a multi-parameter coordinated control method and an incubator. This invention solves the problem of mutual interference between temperature regulation and concentration regulation, and realizes coordinated control of the two parameters.

[0005] In a first aspect, the present invention provides a multi-parameter cooperative control method, the multi-parameter cooperative control method comprising: The heating power and carbon dioxide injection in the chamber were disturbed and measured respectively. The influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature were calculated. Based on the door status signal jump, the maximum temperature drop rate and concentration drop rate of N temperature sensors, the door opening disturbance is identified and the maximum temperature deviation and concentration deviation are collected. Based on the maximum temperature deviation and the concentration deviation, the electromagnetic proportional valve opening is set to a high flow rate state to quickly restore the carbon dioxide concentration. After the concentration is restored, the control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient. The heating power and the angle of the circulating fan guide plate are adjusted synchronously to obtain the total recovery time.

[0006] In conjunction with the first aspect, in a first implementation of the first aspect of the present invention, before performing disturbance measurements on the heating power and carbon dioxide injection in the chamber, the method further includes: M temperature sensors are set on the upper plane of the enclosure, M temperature sensors are set on the lower plane, and G temperature sensors are set at the geometric center, forming N temperature sensors; Connect the N temperature sensors to the temperature circulation detector and start the electric heating tube to adjust the temperature of the temperature sensor at the geometric center to the set temperature and collect temperature data. When all the temperature data are within the preset temperature range, the upper average temperature, the lower average temperature, and the temperature range are calculated respectively.

[0007] In conjunction with the first aspect, in a second implementation of the first aspect of the present invention, the multi-parameter cooperative control method further includes: The concentration deviation is obtained by subtracting the measured concentration value from the infrared concentration sensor from the concentration set value. The opening of the electromagnetic proportional valve is set according to the concentration deviation, and the carbon dioxide injection flow rate is controlled. During carbon dioxide injection, the concentration change rate is calculated by the ratio of the difference between the measured concentration values ​​at adjacent time points to the time interval. A preset compensation coefficient is then calculated based on the concentration change rate and the temperature influence coefficient of carbon dioxide injection. Multiply the concentration change rate by the preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, record the concentration establishment time.

[0008] In conjunction with the first aspect, in a third implementation of the first aspect of the present invention, the concentration change rate is multiplied by the preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, the concentration establishment time is recorded, including: Multiplying the concentration change rate by a preset compensation coefficient yields the PWM duty cycle increment; The initial entry time and the stable time within the target range are determined based on the measured concentration value. The difference between the stable time and the initial entry time is used to obtain the concentration establishment time.

[0009] In conjunction with the first aspect, in the fourth implementation of the first aspect of the present invention, disturbance measurements are performed on the heating power and carbon dioxide injection in the chamber, and the influence coefficients of temperature and concentration on temperature are calculated, including: The duty cycle increment of the PWM is added to the PID output value of the temperature sensor at the geometric center to obtain the duty cycle of the heating tube. Under steady-state conditions, the duty cycle of the heating tube is increased by a preset amount and maintained for a first preset duration. The temperature-concentration influence coefficient is calculated based on the ratio of the average temperature change to the concentration change before and after the disturbance. The electromagnetic proportional valve opening is increased from the holding state to the large opening state and injection is continued for a second preset time. The concentration-temperature influence coefficient is calculated based on the ratio of the temperature drop to the concentration increase before and after the disturbance.

[0010] In conjunction with the first aspect, in the fifth implementation of the first aspect of the present invention, identifying the door opening disturbance and collecting the maximum temperature deviation and concentration deviation based on the door state signal transition, the maximum temperature decrease rate of N temperature sensors, and the concentration decrease rate includes: When the door status signal is detected to change from closed to open, the observation window is activated according to the door status signal change. Calculate the temperature drop rate of each of the N temperature sensors within the observation window and take the maximum value to obtain the maximum temperature drop rate. Calculate the drop rate of the measured concentration value within the observation window to obtain the concentration drop rate. When the maximum temperature drop rate is less than the temperature drop rate threshold and the concentration drop rate is less than the concentration drop rate threshold, the door opening disturbance is confirmed. When the door status signal is detected to change from open to closed, the temperature and concentration values ​​at N measuring points are collected. The deviation between the temperature at each measuring point and the set temperature is calculated, and the maximum value is taken to obtain the maximum temperature deviation. The deviation between the concentration value and the set concentration value is calculated to obtain the concentration deviation.

[0011] In conjunction with the first aspect, in the sixth implementation of the first aspect of the present invention, the maximum temperature decrease rate is obtained by calculating the temperature decrease rate of each of the N temperature sensors within the observation window and taking the maximum value; the concentration decrease rate is obtained by calculating the decrease rate of the measured concentration value within the observation window; and when the maximum temperature decrease rate is less than a temperature decrease rate threshold and the concentration decrease rate is less than a concentration decrease rate threshold, an opening disturbance is confirmed, including: The temperature values ​​of each temperature sensor at the start and end of the observation window are obtained respectively. The difference is then divided by the observation window to obtain N temperature drop rates. The maximum value of the N temperature drop rates is then obtained to obtain the maximum temperature drop rate. Simultaneously, the difference between the measured concentration values ​​at the beginning and end of the observation window is divided by the observation window value to obtain the concentration decrease rate; If the maximum temperature drop rate is less than a preset temperature drop rate threshold and the concentration drop rate is less than a preset concentration drop rate threshold, the door opening disturbance is confirmed and the start time of the disturbance is recorded.

[0012] In conjunction with the first aspect, in the seventh implementation of the first aspect of the present invention, based on the maximum temperature deviation and the concentration deviation, the opening of the electromagnetic proportional valve is set to a high-flow state to quickly restore the carbon dioxide concentration. After the concentration is restored, control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, and the heating power and the angle of the circulating fan guide plate are adjusted synchronously to obtain the total recovery time, including: At the moment of closing, the opening of the electromagnetic proportional valve is set to the high flow state according to the concentration deviation and the speed of the circulating fan is increased. When the measured concentration value is within the target range, the concentration recovery time is calculated. After the concentration is restored, the temperature difference between the upper and lower layers is calculated based on the temperature-concentration influence coefficient and the concentration-temperature influence coefficient, respectively. Based on the temperature difference between the upper and lower layers, the heating power and the angle of the circulating fan guide plate are adjusted synchronously. When all measuring points meet the standard and remain stable, the time when the temperature recovery is completed is recorded. The difference between the time when the temperature recovery is completed and the time when the concentration recovery is completed is used to obtain the time when the temperature recovery is completed. The total recovery time is obtained by adding the time when the concentration recovery is completed and the time when the temperature recovery is completed.

[0013] In conjunction with the first aspect, in the eighth implementation of the first aspect of the present invention, after obtaining the total recovery time, it further includes: Simulated samples were evenly placed inside the chamber according to the sample placement rules to form a full-load condition. Under full-load conditions, heating power disturbance experiments and carbon dioxide injection disturbance experiments were repeatedly performed to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature under full-load conditions. The first load correction factor is obtained by comparing the temperature-concentration influence coefficient under full load with the temperature-concentration influence coefficient under no-load. The second load correction factor is obtained by comparing the concentration-temperature influence coefficient under full load with the concentration-temperature influence coefficient under no-load. When the load condition is determined to be full, the preset compensation coefficient is multiplied by the first load correction factor and the second load correction factor respectively to obtain the PWM duty cycle compensation coefficient.

[0014] In a second aspect, the present invention provides an incubator, the incubator comprising: The disturbance measurement module is used to measure the disturbance of the heating power and carbon dioxide injection in the chamber, and to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature. The identification module is used to identify door opening disturbances and collect the maximum temperature deviation and concentration deviation based on the door status signal jump, the maximum temperature drop rate and concentration drop rate of N temperature sensors; The recovery module is used to quickly restore the carbon dioxide concentration by setting the opening of the electromagnetic proportional valve to a high flow rate state based on the maximum temperature deviation and the concentration deviation. After the concentration is restored, the module compensates for the control parameters according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, and simultaneously adjusts the heating power and the angle of the circulating fan guide plate to obtain the total recovery time.

[0015] The technical solution provided by this invention establishes a nine-point spatially distributed temperature monitoring network to achieve comprehensive monitoring of the temperature field in the upper, lower, and central areas of the chamber, accurately obtaining the temperature range and temperature differences between the upper and lower layers. By quantifying the cooling effect of CO2 injection on the temperature field, a compensation relationship between the concentration change rate and the PWM duty cycle increment is established. During CO2 injection, real-time feedforward compensation of the heating power effectively counteracts the cooling effect and avoids large temperature fluctuations. The influence coefficients of temperature and concentration on temperature are calibrated through disturbance experiments, solving the problem of mutual interference between temperature and concentration regulation and achieving coordinated control of the two parameters. Door opening disturbances are accurately identified and their degree quantified by using door state signal jumps, maximum temperature drop rate, and concentration drop rate. A sequential control strategy of prioritizing rapid recovery of CO2 concentration and coordinated temperature recovery is adopted. Through high-flow injection, segmented adjustment, and differentiated heating between the upper and lower layers, the total recovery time is controlled within 30 minutes, an improvement of more than 50% compared to existing technologies. By calibrating the load correction factor and identifying the temperature response rate ratio in real time, the system can adaptively switch between no-load and full-load conditions, automatically adjust the compensation coefficient, and ensure the temperature stability of continuous operation for 24 hours under different load conditions. The temperature fluctuation is controlled within ±1℃, meeting the strict environmental requirements of cell culture.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of one embodiment of the multi-parameter collaborative control method in this invention; Figure 2 This is a schematic diagram of the spatial arrangement of nine temperature sensors inside the carbon dioxide incubator in an embodiment of the present invention; Figure 3 This is a schematic diagram comparing the correct and incorrect sample placement methods under full load conditions in a carbon dioxide incubator, as shown in this embodiment of the invention. Figure 4 This is a schematic diagram of one embodiment of the incubator in this invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The terms "comprising" and "having," and any variations thereof, used in the embodiments of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0021] To facilitate understanding of this embodiment, a multi-parameter cooperative control method disclosed in this invention will first be described in detail. For example... Figure 1 As shown, this method includes the following steps: 101. Perform disturbance measurements on the heating power and carbon dioxide injection in the chamber, and calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature. 102. Identify door opening disturbances and collect the maximum temperature deviation and concentration deviation based on door status signal jumps, the maximum temperature drop rate and concentration drop rate of N temperature sensors; 103. Based on the maximum temperature deviation and concentration deviation, the opening of the electromagnetic proportional valve is set to the high flow state to quickly restore the carbon dioxide concentration. After the concentration is restored, the control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient. The heating power and the angle of the circulating fan guide plate are adjusted synchronously to obtain the total recovery time.

[0022] Figure 2 This is a three-dimensional spatial arrangement diagram of nine temperature sensors within the working space of a carbon dioxide incubator. Sensors 1, 2, 3, and 4 are located on the upper plane of the incubator; sensors 6, 7, 8, and 9 are located on the lower plane; and sensor 5 is located at the geometric center of the incubator. This arrangement allows for comprehensive monitoring of the temperature distribution in the upper, lower, and central areas of the incubator.

[0023] Figure 3This diagram illustrates the comparison between correct and incorrect sample placement methods within the chamber during full-load performance testing. The correct method involves evenly distributing samples on the shelves with appropriate spacing to ensure unobstructed hot air circulation. The incorrect method involves piling or tightly arranging samples, blocking airflow channels and resulting in uneven temperature distribution. Correct placement requires samples to occupy no more than 1 / 3 of the shelf cross-sectional area and not obstruct the main airflow direction, meeting the calibration requirements for temperature and humidity parameters of environmental testing equipment and accurately reflecting the temperature field performance under full-load conditions.

[0024] In one specific embodiment, before performing disturbance measurements on the heating power and carbon dioxide injection in the chamber, the method further includes: M temperature sensors are set on the upper plane of the enclosure, M temperature sensors are set on the lower plane, and G temperature sensors are set at the geometric center, forming N temperature sensors; Connect N temperature sensors to the temperature circulation detector and start the electric heating tube. Adjust the temperature of the temperature sensor at the geometric center to the set temperature and collect temperature data. When all temperature data are within the preset temperature range, calculate the upper average temperature, lower average temperature, and temperature range respectively.

[0025] Specifically, measuring points are arranged inside the incubator according to spatial symmetry and temperature distribution characteristics. M temperature sensors are evenly distributed on the upper plane of the chamber, positioned at the four corners or edges at a certain distance from the chamber walls to capture the temperature distribution characteristics of the upper air. M more temperature sensors are arranged on the lower plane, with the same placement to maintain symmetry and improve the spatial resolution of temperature field identification. G temperature sensors are positioned at the geometric center of the chamber to acquire data representing the core location of global temperature fluctuations in real time; 1-3 sensors are used in this section to enhance the reliability of temperature data in the central area. N = M + M + G temperature sensors are connected to a temperature monitoring instrument via shielded cables. The instrument must have N input channels and support automatic scanning and recording of temperature data for each channel. The chamber heating system is activated, causing the internal electric heating elements to begin controlled heating. The heating power is controlled using a closed-loop mechanism. The controller uses the temperature value measured by the temperature sensor at the geometric center as the main control reference. A PID adjustment algorithm is used to compare the error between the center temperature and the preset temperature in real time, and the output PWM duty cycle is calculated to control the on / off ratio of the heating elements, achieving precise temperature control. During this process, the current temperature values ​​of all N sensors are automatically collected every set sampling period (e.g., 2 minutes), forming a temperature data vector T1, T2, ..., T nDuring the heating process, these temperature values ​​are continuously monitored. When all sensor temperatures are detected to be within the set temperature range (e.g., between 36.0℃ and 38.0℃), and this condition is met for several consecutive samplings, the temperature field is considered to have entered the initial steady-state stage. Under steady-state conditions, the upper M temperature values ​​are extracted and their arithmetic mean is calculated to obtain the upper average temperature. The lower M temperature values ​​are averaged to obtain the lower average temperature. The maximum and minimum values ​​are found from the N sensor temperature data, and the temperature range is calculated to measure the uniformity of the overall temperature field. The range value is controlled within the engineering set threshold (e.g., below 2.0℃); otherwise, it is determined that the temperature control system has a regional response unevenness problem. The upper average temperature, lower average temperature, and temperature range are stored as temperature field characteristic parameters in the system data structure.

[0026] In one specific embodiment, the multi-parameter cooperative control method further includes: The concentration deviation is obtained by subtracting the measured concentration value from the infrared concentration sensor from the concentration set value. The opening of the electromagnetic proportional valve is set according to the concentration deviation, and the carbon dioxide injection flow rate is controlled. During carbon dioxide injection, the concentration change rate is calculated by the ratio of the difference between the measured concentration values ​​at adjacent time points to the time interval. Based on the concentration change rate and the temperature influence coefficient of carbon dioxide injection, a preset compensation coefficient is calculated. Multiply the concentration change rate by the preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, record the concentration establishment time.

[0027] Specifically, the actual concentration value inside the chamber is obtained in real time using a non-dispersive infrared CO2 concentration sensor, and the measured value is recorded as C. a Meanwhile, the controller's preset concentration setpoint C s The actual value C is 5.0%. a With the set value C s Perform the difference calculation to obtain the concentration deviation ΔC=C at the current time. s C a The concentration deviation serves as the input parameter for the proportional valve control logic. The opening of the electromagnetic proportional valve is set in stages based on the absolute value of ΔC. For example, when ΔC is greater than 3.0%, the proportional valve opening is set to 90%, corresponding to a high-flow injection mode. When ΔC is between 1.5% and 3.0%, a medium opening, such as 60%, is used. When ΔC is less than 1.5%, a low-flow maintenance state, such as 20% or 5%, is adopted to achieve rapid and stable concentration adjustment. The opening of the proportional valve directly controls the injection flow rate of carbon dioxide gas, enabling the CO2 concentration inside the chamber to quickly approach the set target. During continuous CO2 gas injection, the concentration change trend is monitored in real time, and the measured concentration value C is recorded at two adjacent sampling times, t1 and t2. a(t1) and C a (t2), calculate the difference and divide by the time interval Δt=t2 t1, yielding the instantaneous concentration change rate dC / dt = (C a (t2) C a (t1) / Δt, the instantaneous concentration change rate reflects the rate of increase in the current CO2 concentration. When gas injection causes a cooling effect on the chamber temperature, to avoid abnormal temperature drops, the concentration change rate is combined with a pre-calibrated temperature influence coefficient α. t (For example Feedforward compensation is performed at 1.1℃ / %). The dC / dt is compared with the temperature influence coefficient α. t Multiplying these values ​​yields a corresponding temperature correction index, which is further multiplied by the proportional gain parameter β to form the PWM duty cycle increment ΔD = β × |dC / dt|. This PWM duty cycle increment is superimposed on the output of the conventional PID temperature control module to compensate for heat loss caused by CO2 injection, thereby preventing hysteresis temperature deviations in the temperature control system due to gas injection. The introduction of the duty cycle increment in this process allows the heating system to promptly increase its thermal power output to maintain a stable temperature field during rapid CO2 injection, while the circulating fan can simultaneously increase its speed to accelerate the gas mixing process and improve the local concentration gradient. When the system detects the measured CO2 concentration C... a When the concentration is continuously and stably maintained within the target range (e.g., 5.0% ± 0.5%) without significant fluctuations, the time elapsed from the start of injection to this point is recorded and defined as the concentration build-up time, reflecting the dynamic response capability and control accuracy of the CO2 injection system.

[0028] In one specific embodiment, the concentration change rate is multiplied by a preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, the concentration establishment time is recorded, including: Multiply the concentration change rate by the preset compensation coefficient to obtain the PWM duty cycle increment; The initial entry time and the stable time within the target range are determined based on the measured concentration values. The difference between the stable time and the initial entry time is used to obtain the concentration establishment time.

[0029] Specifically, the concentration change rate is calculated in real time during carbon dioxide injection. This rate is obtained by dividing the difference between the infrared sensor values ​​measured at two consecutive moments by the sampling time interval, and is denoted as dC / dt = (C...). a (t2) C a (t1)) / (t2 t1), reflecting the rate of concentration increase per unit time. Multiplying the concentration change rate by the temperature effect compensation coefficient β yields the feedforward increment of the PWM duty cycle ΔD = β × |dC / dt|. This feedforward increment is used to correct the output duty cycle of the standard PID control, thereby actively increasing the heating power to offset the heat loss caused by the low-temperature CO2 injection and preventing system temperature fluctuations due to gas introduction. Simultaneously, the concentration build-up time is recorded, and the measured concentration value C is continuously monitored after CO2 injection begins. a And determine whether it has entered the target concentration range for the first time, for example, 5.0% ± 0.5%, that is, determine C. a The condition 4.5% ≤ C is met for the first time. a The time point ≤5.5% is recorded as the initial entry time. Concentration data continues to be collected, and it is determined whether multiple consecutive sampled values ​​are within the target range. For example, if two or four consecutive sampled values ​​at intervals meet the target range condition, this is recorded as the stable time. The time difference between the stable time and the initial entry time is calculated to obtain the concentration establishment time.

[0030] In this embodiment, the PWM duty cycle increment is obtained by multiplying the concentration change rate by a preset compensation coefficient. This includes: recording the reference temperature value of a temperature sensor near the concentration sensor before carbon dioxide injection begins; continuously collecting the real-time temperature value of the temperature sensor near the concentration sensor during the injection process according to a preset monitoring cycle; obtaining the instantaneous temperature drop by subtracting the real-time temperature value from the reference temperature value; dividing the instantaneous temperature drop by the time interval from the start of injection to the current moment to obtain the real-time cooling rate; dynamically adjusting the compensation coefficient according to the magnitude of the real-time cooling rate; increasing the preset compensation coefficient by a first adjustment factor when the real-time cooling rate is greater than a first cooling rate threshold to obtain an enhanced compensation coefficient; decreasing the preset compensation coefficient by a second adjustment factor when the real-time cooling rate is less than a second cooling rate threshold to obtain a weakened compensation coefficient; and keeping the preset compensation coefficient unchanged when the real-time cooling rate is between the first and second cooling rate thresholds, wherein the first cooling rate threshold is greater than the second cooling rate threshold; multiplying the absolute value of the concentration change rate by the dynamically adjusted compensation coefficient to obtain the PWM duty cycle increment; and superimposing the PWM duty cycle increment onto the PID output to obtain the actual control duty cycle of the heating tube, so that the compensation intensity of the heating power changes synchronously with the actual cooling effect intensity of the carbon dioxide injection.

[0031] In one specific embodiment, disturbance measurements are performed on the heating power and carbon dioxide injection in the chamber, and the influence coefficients of temperature and concentration on temperature are calculated, including: The duty cycle of the heating element is obtained by adding the PWM duty cycle increment to the PID output value of the temperature sensor at the geometric center. Under steady-state conditions, the duty cycle of the heating tube is increased by a preset amount and maintained for a first preset duration. The temperature-concentration influence coefficient is calculated based on the ratio of the average temperature change to the concentration change before and after the disturbance. The electromagnetic proportional valve opening is increased from the holding state to the large opening state and injection is continued for a second preset time. The concentration-temperature influence coefficient is calculated based on the ratio of the temperature drop to the concentration increase before and after the disturbance.

[0032] Specifically, under normal operating conditions, the real-time temperature feedback value from the geometric center temperature sensor is acquired and input as the main control signal to the PID control module. The module calculates the proportional, integral, and derivative terms based on the error between the set temperature and the measured temperature, outputting a basic heating tube control signal, i.e., the PID duty cycle value, reflecting the basic heating power required to maintain a stable temperature under the current conditions. Simultaneously, during concentration adjustment, an increment of the PWM duty cycle, ΔD = β × |dC / dt|, is calculated based on the measured concentration change rate dC / dt and the preset temperature influence compensation coefficient β. This increment is used to offset the cooling effect caused by carbon dioxide injection. The duty cycle increment ΔD is directly superimposed with the duty cycle value output by the PID module to obtain the total PWM duty cycle to be applied to the heating tube within the current control cycle, thereby driving the heating tube to achieve a rapid thermal compensation response to gas disturbances. When the system enters the steady-state phase, i.e., the temperature at each measuring point is within the set temperature tolerance range and has been running stably for several sampling cycles, the controller actively triggers a temperature disturbance experiment to quantify the coupled effect of temperature change on concentration change. The total PWM duty cycle of the current heating element is increased by a preset amount, such as 10%, and maintained at this increased state for a first preset duration, such as 300 seconds. During the disturbance, the global average temperature and measured concentration are collected at fixed time intervals, and the average temperature and concentration values ​​before and at the end of the disturbance are recorded respectively. The temperature change ΔT is calculated as: Global Average Temperature (End of Disturbance) = Global average temperature (initial) and concentration change ΔC = measured concentration (final stage) Measured concentration (initial), compare the two, α TC =ΔC / ΔT, which gives the influence coefficient of temperature on concentration. This coefficient represents the apparent concentration decrease caused by a unit increase in temperature and is usually negative, reflecting the volume fraction dilution effect caused by gas thermal expansion. A concentration disturbance experiment is conducted to identify the degree of influence of concentration change on temperature. The opening of the electromagnetic proportional valve is increased from its initial holding state (e.g., 5%) to a maximum opening state (e.g., 60%), and carbon dioxide gas is continuously injected for a second preset duration, such as 120 seconds. During the injection, the low-temperature properties of CO2 will cause a cooling shock to the chamber's thermal field. The controller continuously collects temperature values ​​at the geometric center or sensitive area measuring points during this period and simultaneously records the change in CO2 concentration. The temperature decrease ΔT is calculated before and after the disturbance, equal to the initial temperature value. Final temperature value and concentration increase ΔC = Final concentration value Initial concentration value, obtain the influence coefficient α of concentration on temperature. CT =ΔT / ΔC, usually a positive value and in units of ℃ / %, representing the degree of temperature decrease caused by a 1% increase in CO2 concentration.

[0033] After collecting the maximum temperature deviation and concentration deviation, and before executing rapid recovery, a disturbance severity assessment process is also included: A comprehensive disturbance severity index is calculated based on the values ​​of the maximum temperature deviation and concentration deviation. The maximum temperature deviation is divided by a preset temperature deviation normalization coefficient to obtain a normalized temperature disturbance value, and the concentration deviation is divided by a preset concentration deviation normalization coefficient to obtain a normalized concentration disturbance value. The normalized temperature disturbance value and the normalized concentration disturbance value are then weighted and summed according to preset weighting coefficients to obtain the comprehensive disturbance severity index. Based on the numerical range of the comprehensive disturbance severity index, the disturbance is divided into three levels: mild disturbance, moderate disturbance, and severe disturbance. When the comprehensive disturbance severity index is less than the first disturbance threshold, it is judged as a mild disturbance, and the concentration recovery target time is set to the [number missing]. The first feedforward coefficient is the target time and temperature recovery feedforward coefficient. When the comprehensive disturbance level index is between the first and second disturbance thresholds, it is determined to be a moderate disturbance, and the concentration recovery target time and temperature recovery feedforward coefficient are set as the second target time and the second feedforward coefficient, respectively. When the comprehensive disturbance level index is greater than the second disturbance threshold, it is determined to be a severe disturbance, and the concentration recovery target time and temperature recovery feedforward coefficient are set as the third target time and the third feedforward coefficient, respectively. The concentration recovery target time and temperature recovery feedforward coefficient corresponding to the disturbance level are used as the parameter configuration for subsequent recovery control. This allows for low-power fast recovery to avoid overshoot in mild disturbances, and high-power enhanced recovery to shorten the recovery time in severe disturbances, thus achieving an adaptive balance between recovery speed and control accuracy.

[0034] In one specific embodiment, the door opening disturbance is identified and the maximum temperature deviation and concentration deviation are collected based on the door state signal transition, the maximum temperature decrease rate of N temperature sensors, and the concentration decrease rate. This includes: When the door status signal is detected to change from closed to open, the observation window is activated according to the door status signal change. Calculate the temperature drop rate of N temperature sensors within the observation window and take the maximum value to obtain the maximum temperature drop rate. Calculate the drop rate of the measured concentration value within the observation window to obtain the concentration drop rate. When the maximum temperature drop rate is less than the temperature drop rate threshold and the concentration drop rate is less than the concentration drop rate threshold, the door opening disturbance is confirmed. When the door status signal is detected to change from open to closed, the temperature and concentration values ​​at N measuring points are collected. The deviation between the temperature at each measuring point and the set temperature is calculated, and the maximum value is taken to obtain the maximum temperature deviation. The deviation between the concentration value and the set concentration value is calculated to obtain the concentration deviation.

[0035] Specifically, a magnetic proximity switch or Hall effect sensor, or other digital detection element, is installed in the door structure of the CO2 incubator to output the door's status signal. When the door is fully closed, the status signal outputs a low level (0), and when the door is opened, the signal jumps to a high level (1). The system controller periodically samples and monitors the door status signal, for example, scanning the input port level every 100 milliseconds. When a continuous transition from low to high level to the door status signal is detected, a disturbance confirmation observation window is initiated, and the current moment is recorded as the starting reference point for disturbance detection. The observation window duration is set to 10 seconds. During this window, the controller collects data from all N temperature sensors and the infrared CO2 concentration sensor deployed inside the chamber every second. For the temperature channel, the temperature drop rate R of each temperature sensor i within the observation window is calculated. i The calculation method is to use the initial temperature T at the start of the observation window. i (0) Subtract the temperature T after 10 seconds i (10), then divide by the observation window duration, i.e., R i =[T i (0) T i (10)] / 10, in °C / second, reflects the downward trend of temperature at each point over time. The maximum temperature decrease rate R is obtained by extracting the maximum value from all N temperature decrease rates. max =max(R1, R2, ..., R n The value is used to characterize the location of the strongest thermal field disturbance. For the CO2 channel, the difference between the measured concentration values ​​C(0) and C(10) over 10 seconds is calculated and divided by the time interval to obtain the concentration decrease rate R. c =[C(0) C(10)] / 10, in % / second, assesses the degree of concentration loss due to gas diffusion during door opening. A preset temperature drop rate threshold (e.g., 0.013℃ / s) and concentration decrease rate threshold (e.g., 0.005% / s), if the observed results simultaneously satisfy R max <Temperature decrease rate threshold and R c If the concentration decrease rate threshold is reached, indicating a significant decrease in both temperature and concentration exceeding the range of natural fluctuations, consistent with typical door-opening disturbance characteristics, then the door-opening disturbance event is confirmed, and the current time is marked as t. 开始Enter disturbance response mode. During the disturbance response duration, the controller continuously monitors the door status signal. When it detects a signal transition from high to low, indicating that the door has closed again, it immediately records the current time as t. 结束 Simultaneously, all N temperature sensor values ​​and concentration sensor values ​​are collected at this moment. Based on this, a snapshot of the thermo-mass state at the end of the disturbance is constructed. For the temperature index, the temperature T at each measuring point is calculated individually. i With temperature setpoint T 设 The absolute deviation ΔT between (e.g., 37.0℃) i =|T i T 设 | and extract the maximum deviation value ΔT from it. max =max(ΔT1, ΔT2, ..., ΔT n This is used to identify the intensity of the disturbance's impact on the spatial temperature uniformity, and to record the location number i of the point of maximum deviation. max For gas concentration indicators, the difference ΔC between the measured concentration at the moment the door is closed and the set value (e.g., 5.0%) is calculated as a measure of the intensity of the gas disturbance caused by this disturbance.

[0036] In one specific embodiment, the temperature decrease rate of each of the N temperature sensors within the observation window is calculated, and the maximum value is taken to obtain the maximum temperature decrease rate. The decrease rate of the measured concentration value within the observation window is calculated to obtain the concentration decrease rate. When the maximum temperature decrease rate is less than a temperature decrease rate threshold and the concentration decrease rate is less than a concentration decrease rate threshold, an opening disturbance is confirmed, including: The temperature values ​​of each temperature sensor at the beginning and end of the observation window are obtained respectively. The difference is then divided by the observation window to obtain N temperature drop rates. The maximum value of the N temperature drop rates is then obtained to obtain the maximum temperature drop rate. Simultaneously, the difference between the measured concentration values ​​at the beginning and end of the observation window is divided by the observation window value to obtain the concentration decrease rate; If the maximum temperature drop rate is less than the preset temperature drop rate threshold and the concentration drop rate is less than the preset concentration drop rate threshold, then the door opening disturbance is confirmed and the start time of the disturbance is recorded.

[0037] Specifically, the system continuously monitors the gate status signal during operation. When the gate status signal changes from low to high (i.e., from closed to open), the current moment is set as the start time of the observation window, and a timer is started simultaneously to limit the time interval for this disturbance assessment. The duration of the observation window is set to a fixed value, such as 10 seconds. At the instant the observation window begins, the measured values ​​of all temperature sensors are sequentially acquired, and the measured concentration value at that moment is recorded simultaneously. Subsequently, at the end of the observation window, the real-time values ​​of the same batch of sensors and the CO2 sensor value are acquired again. The controller subtracts the initial and final temperature values ​​of each temperature sensor and divides the difference by the duration of the observation window to obtain the temperature drop rate of each measuring point, in degrees Celsius per second. This process is repeated to calculate N temperature drop rate values. These N rate values ​​are compared, and the maximum value is extracted to obtain the maximum temperature drop rate, reflecting the dynamic response intensity of the local area where the temperature drop is most significant during the disturbance. At the same time, the concentration signal is processed similarly: the difference between the measured concentration value at the end and start of the observation window is calculated and divided by Δt to obtain the concentration drop rate, in percentage concentration per second. Compare the maximum temperature decrease rate and the concentration decrease rate with a pre-set judgment threshold, i.e., the maximum temperature decrease rate versus the temperature decrease threshold (e.g., ...). The relationship between the rate of concentration decrease (0.013℃ / s) and the concentration decrease threshold (e.g., 0.013℃ / s). The relationship between 0.005% / s, if R is satisfied simultaneously max <Temperature drop threshold and R c If both conditions of concentration decrease threshold are met, the current disturbance is considered a typical door opening disturbance event, and the start time of the observation window is marked as the disturbance start time.

[0038] In one specific embodiment, based on the maximum temperature deviation and concentration deviation, the electromagnetic proportional valve opening is set to a high-flow state to quickly restore the carbon dioxide concentration. After the concentration is restored, control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, and the heating power and the angle of the circulating fan guide vane are adjusted synchronously to obtain the total recovery time, including: At the moment of closing, the opening of the electromagnetic proportional valve is set to the high flow state according to the concentration deviation and the speed of the circulating fan is increased. When the actual concentration value is within the target range, the concentration recovery time is calculated. After the concentration is restored, the temperature difference between the upper and lower layers is calculated based on the temperature-concentration influence coefficient and the concentration-temperature influence coefficient, respectively. The heating power and the angle of the circulating fan guide plate are adjusted synchronously according to the temperature difference between the upper and lower layers. When all measuring points meet the standard and remain stable, the time when the temperature recovery is completed is recorded. The difference between the time when the temperature recovery is completed and the time when the concentration recovery is completed is used to obtain the time when the temperature recovery is completed. The total recovery time is obtained by adding the time when the concentration recovery is completed and the time when the temperature recovery is completed.

[0039] Specifically, when the door status signal is detected to transition from a high level to a low level, indicating that the door has closed again from an open state, the current time is immediately recorded as the closing time, and the current measured value of carbon dioxide concentration C is simultaneously acquired. a and the system set concentration value C s (e.g., 5.0%), the absolute value of the difference between the two is the concentration deviation ΔC = |C a C s If the deviation is significant, it indicates that the concentration inside the chamber remains in the low range after disturbance even after the door is closed. In this case, the opening of the electromagnetic proportional valve should be directly set to a high flow rate, for example, increasing the valve opening to 90%, corresponding to an injection flow rate of 900 mL / min. Simultaneously, the speed of the circulating fan should be increased, for example, from the original 1200 rpm to 1800 rpm, to accelerate the spatial mixing of the gas and the uniform diffusion of concentration. During the high-flow injection process of the concentration control module, the measured CO2 value output by the infrared sensor is collected in real time at fixed sampling intervals (e.g., 30 seconds), and a logical judgment is made as to whether it has entered the target concentration range, for example, determining whether C... a Whether two consecutive samples fall within the tolerance range of 4.5% to 5.5%. If this condition is met, it indicates that concentration recovery is complete. Record the current time, and then calculate the concentration recovery time by the difference between the current time and the gate closing time. Enter the temperature recovery control stage. Based on the thermal disturbance characteristics that may be caused by gas introduction during the concentration recovery process, use the pre-calibrated temperature-to-concentration influence coefficient α. TC The effect coefficient of concentration on temperature α CT The average values ​​measured by the temperature sensors of the upper and lower layers are compared to calculate the temperature difference between the upper and lower layers. Based on the current temperature difference, the heating power is adjusted through feedforward control. The PID output based on the geometric center temperature is superimposed with the compensation increment to form the total duty cycle D=D. PID +γ·|ΔT 温差 | where γ is the temperature difference gain coefficient. Simultaneously, the angle and magnitude of the circulating fan guide vane are controlled. For example, when the average temperature value of the temperature sensors in the upper space is greater than the average temperature value of the temperature sensors in the lower space, the guide vane is deflected downwards by 20° to guide the hot airflow to concentrate in the lower area; conversely, it is deflected upwards. During temperature control correction, the temperature values ​​of all N temperature sensors are continuously collected at a fixed frequency (e.g., every 2 minutes), and it is determined how many measuring points are currently within the set temperature range (e.g., 36.0℃~38.0℃). When all measuring points meet the standard and remain stable for two sampling cycles (e.g., no measuring points exceed the limit for 4 consecutive minutes), the temperature recovery is considered complete, and the current time is recorded as t. 恢复 Through t 恢复 With t CO2The difference is used to calculate the temperature recovery time, and the concentration recovery time is added to the temperature recovery time to obtain the total recovery time of the entire door closing disturbance response process.

[0040] When the number of compliant points reaches the first threshold, the coefficient of the PWM duty cycle feedforward increment is reduced. This includes: during the temperature recovery phase, continuously collecting temperature data from N measurement points according to a preset monitoring cycle and counting the current number of compliant measurement points; calculating the difference between the number of compliant measurement points in two adjacent monitoring cycles to obtain the compliant measurement point increment; dividing the compliant measurement point increment by the preset monitoring cycle to obtain the compliance rate; calculating the power attenuation coefficient based on the proportion of the current number of compliant measurement points to the total number of measurement points; when the proportion is less than the first proportional threshold, the power attenuation coefficient is set to the first attenuation value to maintain enhanced heating; when the proportion is between the first and second proportional thresholds, the power attenuation coefficient is calculated by linear interpolation to obtain the transition value. The attenuation value is set to the second attenuation value when the ratio is greater than the second proportional threshold, thus entering the precision control mode. The first attenuation value is greater than the transition attenuation value and the transition attenuation value is greater than the second attenuation value. The PWM duty cycle feedforward increment is multiplied by the power attenuation coefficient to obtain the adjusted feedforward increment, which is then added to the PID output. At the same time, the target rate is monitored. When the target rate is less than the preset rate threshold, the power attenuation is paused and the current feedforward increment is kept unchanged until the target rate recovers. When all N measurement points meet the target and remain stable for a preset time, the power attenuation coefficient is set to zero to cancel the feedforward increment, thus achieving a smooth transition from enhanced recovery to precision control and suppressing temperature overshoot.

[0041] In one specific embodiment, after obtaining the total recovery time, the method further includes: Simulated samples were evenly placed inside the chamber according to the sample placement rules to form a full-load condition. Under full-load conditions, heating power disturbance experiments and carbon dioxide injection disturbance experiments were repeatedly performed to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature under full-load conditions. The first load correction factor is obtained by comparing the temperature-concentration influence coefficient under full load with that under no-load conditions, and the second load correction factor is obtained by comparing the concentration-temperature influence coefficient under full load with that under no-load conditions. When the load condition is determined to be full, the preset compensation coefficient is multiplied by the first load correction factor and the second load correction factor respectively to obtain the PWM duty cycle compensation coefficient.

[0042] Specifically, according to the sample placement rules, representative simulated samples are evenly placed inside the chamber to create a full-load condition. The simulated samples are made of materials with physical properties similar to cell culture media, such as glass bottles containing deionized water. Their volume, mass, heat capacity, and other parameters should simulate real culture containers. They are evenly distributed on the upper and lower shelves to ensure that the samples do not obstruct the airflow channels, while ensuring that the total cross-sectional area does not exceed one-third of the working cross-sectional area of ​​the incubator to meet ventilation and heat conduction requirements. Under this structure, the chamber will exhibit higher thermal inertia and gas adsorption capacity, thus affecting heating dynamics and CO2 injection efficiency. After constructing the full-load condition, heating power perturbation experiments and CO2 injection perturbation experiments under no-load conditions are repeated to re-obtain the temperature-concentration coupling coefficient under load conditions. In the temperature disturbance experiment, the controller increases the PWM duty cycle of the heating element from the steady-state output value by a fixed amount (e.g., 10%) and maintains it for a preset time window (e.g., 300 seconds). During this period, the system continuously collects the average temperature and concentration measurements at fixed intervals, and records the temperature change ΔT and concentration change ΔC at the start and end of the disturbance. Then, the influence coefficient α′ of temperature on concentration under full load is calculated by ΔC / ΔT. TC This value is compared to α under no-load conditions. TC The smaller value reflects the reduced impact of temperature fluctuations on concentration fluctuations due to increased heat capacity. A CO2 injection disturbance experiment was conducted by suddenly opening the electromagnetic proportional valve from its maintenance state to a high opening degree (e.g., 60%) and continuously injecting CO2 gas for a short period (e.g., 120 seconds). During this process, the temperature drop ΔT and concentration rise ΔC at local sensitive measuring points were recorded in real time. The concentration-temperature influence coefficient α′ under full-load conditions was calculated. CT =ΔT / ΔC, this value is compared to α under no-load conditions. CT The larger value indicates that the absorption of cold gas by the sample surface amplifies the temperature disturbance effect during gas injection. The coefficient α′ representing the effect of temperature on concentration under full load is used to calculate this effect. TC α under no-load conditions TC By comparison, the first load correction factor f1 is obtained, which is less than 1; similarly, the concentration-temperature influence coefficient α′ under full load is calculated. CT α under no-load conditions CT The second load correction factor f2 is obtained by comparison, and this correction factor is greater than 1. By monitoring the response rate ratio R of the average temperature of the upper and lower layers, and combining it with the response asymmetry threshold (such as R < 0.85 or R > 1.15), it is determined whether the current state is full load. If it is determined to be a full load condition, the original preset compensation coefficient is immediately multiplied by these two load correction factors respectively, that is, the corrected PWM duty cycle compensation coefficient D is obtained. 补偿 =β×f2×|dC / dt| and valve compensation amount V in concentration control 补偿 =γ×f1×(dT平均 / dt), thereby dynamically adapting to changes in current thermal inertia and gas diffusion characteristics.

[0043] The system synchronously adjusts the heating power and the angle of the circulating fan guide vane based on the temperature difference between the upper and lower layers. It also includes predictive adjustment based on temperature evolution trends: During temperature recovery, a historical temperature data queue is maintained, storing temperature data from N measurement points across multiple recent consecutive acquisition cycles. For each measurement point, the temperature change rate for three consecutive acquisition cycles is calculated. The difference between the current cycle temperature and the previous cycle temperature is divided by the acquisition cycle duration to obtain the first change rate. The difference between the previous cycle temperature and the temperatures of the two previous cycles is divided by the acquisition cycle duration to obtain the second change rate. The difference between the first and second change rates is used to obtain the temperature change acceleration. The temperature evolution trend at each measurement point is determined based on the temperature change acceleration. When the temperature change acceleration at a certain measurement point is positive and its absolute value is... When the acceleration exceeds a preset threshold, the temperature at that measurement point is determined to be rapidly increasing. When the acceleration of temperature change at a measurement point is negative and its absolute value exceeds a preset threshold, the temperature at that measurement point is determined to be slowing down. The number of measurement points showing a rapid increasing trend and the number showing a slowing down trend are counted among N measurement points. When the number of measurement points showing a rapid increasing trend exceeds a preset rapid ratio threshold for the total number of measurement points, the PWM duty cycle feedforward increment is reduced in advance to prevent temperature overshoot. When the number of measurement points showing a slowing down trend exceeds a preset slowing ratio threshold for the total number of measurement points, the PWM duty cycle feedforward increment is appropriately increased to accelerate the recovery process, thereby achieving predictive power regulation based on the temperature field evolution trend rather than simply responding to the current deviation.

[0044] Immediately upon closing the door, the electromagnetic proportional valve opening is set to the maximum flow rate, and the circulating fan speed is simultaneously increased to the highest speed. This also includes an adaptive fan speed adjustment process based on concentration uniformity: During the rapid concentration recovery phase, in addition to collecting the concentration sensor readings at the return air vent of the enclosure, the temperature differences between multiple temperature sensors near and far from the concentration sensor are simultaneously monitored. The temperature gradient index is obtained by subtracting the average temperature of the temperature sensors near and far from the concentration sensor. This temperature gradient index reflects the spatial non-uniformity of carbon dioxide concentration distribution. The circulating fan speed is dynamically adjusted based on the absolute value of the temperature gradient index. When the absolute value of the temperature gradient index is greater than the first gradient threshold, the concentration distribution is determined to be highly uneven, and the fan speed is increased to the second highest speed to enhance mixing. When the absolute value of the temperature gradient index is less than the second gradient threshold, the concentration distribution is determined to be relatively uniform, and the fan speed is reduced to a medium speed to save energy and reduce noise. When the absolute value of the temperature gradient index is between the first and second gradient thresholds, the fan speed is maintained at the first highest speed. When the measured concentration value enters the target range and the absolute value of the temperature gradient index remains less than the second gradient threshold for more than the preset homogenization time, the circulating fan speed is restored from the medium speed to the normal speed to ensure rapid concentration recovery and achieve spatial uniformity.

[0045] After obtaining the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, bidirectional coupling compensation is continuously executed during normal operation: In each control cycle, the temperature from the geometric center temperature sensor and the concentration from the concentration sensor are synchronously acquired. The changes in geometric center temperature and concentration between the current and previous cycles are calculated. The temperature change rate is obtained by dividing the geometric center temperature change by the control cycle duration, and the concentration change rate is obtained by dividing the concentration change by the control cycle duration. Based on the temperature change rate and the temperature-to-concentration influence coefficient, the impact of temperature change on concentration is calculated. The predicted concentration is obtained by multiplying the temperature change rate by the temperature-to-concentration influence coefficient. The temperature offset is calculated by feedforward compensation of the electromagnetic proportional valve opening based on the predicted concentration offset. When the predicted concentration is about to decrease, the valve opening is increased in advance, and when the predicted concentration is about to increase, the valve opening is decreased in advance. At the same time, the influence of concentration change on temperature is calculated based on the concentration change rate and the concentration-temperature influence coefficient. The predicted temperature offset is obtained by multiplying the concentration change rate and the concentration-temperature influence coefficient. The PWM duty cycle is then fedforward compensation based on the predicted temperature offset. When the predicted temperature is about to decrease, the duty cycle is increased in advance, and when the predicted temperature is about to increase, the duty cycle is decreased in advance. This achieves bidirectional real-time decoupling compensation between the temperature control loop and the concentration control loop.

[0046] The temperature of the temperature sensor at the geometric center is controlled to a set temperature using a PID algorithm. This includes: calculating the spatial temperature gradient characteristic values ​​between N temperature sensors; calculating the absolute value of the temperature difference between each pair of adjacent measuring points in the upper layer to obtain the upper-layer local gradient; calculating the absolute value of the temperature difference between each pair of adjacent measuring points in the lower layer to obtain the lower-layer local gradient; calculating the absolute value of the difference between the upper-layer average temperature and the lower-layer average temperature to obtain the vertical gradient; taking the maximum value among all local gradients and vertical gradients as the temperature field gradient characteristic value; classifying the temperature field state into three categories based on the temperature field gradient characteristic value: uniform state, transitional state, and high gradient state; when the temperature field gradient characteristic value is less than the first gradient threshold, it is determined to be a uniform state; when the temperature field gradient characteristic value is between the first and second gradient thresholds, it is determined to be a transitional state; when the temperature field gradient characteristic value is greater than the second gradient threshold, it is determined to be a high gradient state; and dynamically adjusting the proportional coefficient and integral time constant of the PID controller according to the temperature field state, using the standard proportional coefficient when in a uniform state. Kp0 and the standard integral time constant Ti0 are precisely controlled. When in the transient state, the proportional coefficient is adjusted so that Kp1 equals Kp0 multiplied by the first gain factor, and the integral time constant is adjusted so that Ti1 equals Ti0 divided by the first acceleration factor to enhance the response speed. When in the high gradient state, the proportional coefficient is adjusted so that Kp2 equals Kp0 multiplied by the second gain factor, and the integral time constant is adjusted so that Ti2 equals Ti0 divided by the second acceleration factor to maximize the response intensity. The second gain factor is greater than the first gain factor, and the second acceleration factor is greater than the first acceleration factor. The circulating fan speed is adjusted synchronously. In the uniform state, the normal speed is maintained. In the transient and high gradient states, the speed is increased to medium and high speeds, respectively, to accelerate the homogenization of the temperature field. The temperature field gradient characteristic value is recalculated and the temperature field state is updated according to the preset evaluation cycle. When the temperature field state changes from the high gradient state or the transient state to the uniform state and remains so for several consecutive evaluation cycles, the PID parameters are restored to the standard value and the fan speed is restored to the normal speed, and the temperature field is determined to have reached a steady state.

[0047] The heating power and the angle of the circulating fan guide vane are adjusted synchronously based on the temperature difference between the upper and lower layers. This includes: collecting temperature data from N measuring points at the moment of concentration recovery and calculating the deviation of each measuring point from the set temperature; calculating the average deviation of the four measuring points in the upper layer, the average deviation of the four measuring points in the lower layer, the average deviation of the nine measuring points globally, and the standard deviation of the temperature deviation; identifying the type of temperature field imbalance based on the average deviation and the standard deviation of the temperature deviation; identifying a globally uniformly low temperature type when the absolute value of the global average deviation is greater than the first threshold and the standard deviation of the temperature deviation is less than the second threshold; identifying a vertically unbalanced type when the absolute value of the difference between the average deviations of the upper and lower layers is greater than the third threshold; and identifying a locally low temperature type when the standard deviation of the temperature deviation is greater than the fourth threshold and the absolute value of the deviation of a single measuring point exceeds the fifth threshold. The corresponding control parameter combination is selected from the preset control strategy library based on the type of temperature field imbalance. For the globally uniformly low temperature type, the selected control strategy is to set the PWM duty cycle feedforward increment to the first increment value, maintain the fan speed at normal speed, and keep the guide vane angle horizontal. For the upper and lower layer imbalance type, the selected control strategy is to set the PWM duty cycle feedforward increment to the second increment value, increase the fan speed to medium speed, and adjust the guide vane angle to a preset angle value pointing to the low temperature layer. For the local low temperature type, the selected control strategy is to set the PWM duty cycle feedforward increment to the third increment value, increase the fan speed to high speed, and adjust the guide vane angle to a preset angle value pointing to the low temperature measuring point. The first increment value is greater than the second increment value, and the second increment value is greater than the third increment value. The temperature data of N measuring points are collected according to the preset monitoring cycle, and the absolute value of the deviation between the current global average temperature and the set temperature is calculated. The deviation improvement rate is obtained by comparing the absolute value of the deviation with the initial absolute value of the deviation. When the deviation improvement rate is greater than the preset improvement threshold, the current control strategy is determined to be effective and continues to be executed. When the deviation improvement rate is less than the preset improvement threshold, the current control strategy is determined to be ineffective, and the PWM duty cycle feedforward increment is additionally compensated. The actual recovery time and the number of control parameter adjustments under each imbalance type are recorded to optimize the preset control strategy library.

[0048] The multi-parameter coordinated control method in the embodiments of the present invention has been described above. The incubator in the embodiments of the present invention is described below. Please refer to [link / reference needed]. Figure 4 One embodiment of the incubator in this invention includes: The disturbance measurement module 401 is used to measure the disturbance of the heating power and carbon dioxide injection in the chamber, and to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature. The identification module 402 is used to identify door opening disturbances and collect the maximum temperature deviation and concentration deviation based on the door status signal jump, the maximum temperature drop rate and concentration drop rate of N temperature sensors; The recovery module 403 is used to quickly restore the carbon dioxide concentration by setting the opening of the electromagnetic proportional valve to a high flow state based on the maximum temperature deviation and concentration deviation. After the concentration is restored, the control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, and the heating power and the angle of the circulating fan guide plate are adjusted synchronously to obtain the total recovery time.

[0049] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0050] 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 the present invention, 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 several 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 described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0051] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-parameter cooperative control method, characterized in that, include: The heating power and carbon dioxide injection in the chamber were disturbed and measured respectively. The influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature were calculated. Based on the door status signal jump, the maximum temperature drop rate and concentration drop rate of N temperature sensors, the door opening disturbance is identified and the maximum temperature deviation and concentration deviation are collected. Based on the maximum temperature deviation and the concentration deviation, the electromagnetic proportional valve opening is set to a high flow rate state to quickly restore the carbon dioxide concentration. After the concentration is restored, the control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient. The heating power and the angle of the circulating fan guide plate are adjusted synchronously to obtain the total recovery time.

2. The multi-parameter cooperative control method according to claim 1, characterized in that, Before performing disturbance measurements on the heating power and carbon dioxide injection in the chamber, the following steps are also included: M temperature sensors are set on the upper plane of the enclosure, M temperature sensors are set on the lower plane, and G temperature sensors are set at the geometric center, forming N temperature sensors; Connect the N temperature sensors to the temperature circulation detector and start the electric heating tube to adjust the temperature of the temperature sensor at the geometric center to the set temperature and collect temperature data. When all the temperature data are within the preset temperature range, the upper average temperature, the lower average temperature, and the temperature range are calculated respectively.

3. The multi-parameter cooperative control method according to claim 2, characterized in that, The multi-parameter collaborative control method also includes: The concentration deviation is obtained by subtracting the measured concentration value from the infrared concentration sensor from the concentration set value. The opening of the electromagnetic proportional valve is set according to the concentration deviation, and the carbon dioxide injection flow rate is controlled. During carbon dioxide injection, the concentration change rate is calculated by the ratio of the difference between the measured concentration values ​​at adjacent time points to the time interval. A preset compensation coefficient is then calculated based on the concentration change rate and the temperature influence coefficient of carbon dioxide injection. Multiply the concentration change rate by the preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, record the concentration establishment time.

4. The multi-parameter coordinated control method according to claim 3, characterized in that, Multiply the concentration change rate by the preset compensation coefficient to obtain the PWM duty cycle increment. Once the measured concentration value remains stable within the target range, record the concentration establishment time, including: Multiplying the concentration change rate by a preset compensation coefficient yields the PWM duty cycle increment; The initial entry time and the stable time within the target range are determined based on the measured concentration value. The difference between the stable time and the initial entry time is used to obtain the concentration establishment time.

5. The multi-parameter coordinated control method according to claim 4, characterized in that, Disturbance measurements were performed on the heating power and carbon dioxide injection in the chamber, and the influence coefficients of temperature and concentration on temperature were calculated, including: The duty cycle increment of the PWM is added to the PID output value of the temperature sensor at the geometric center to obtain the duty cycle of the heating tube. Under steady-state conditions, the duty cycle of the heating tube is increased by a preset amount and maintained for a first preset duration. The temperature-concentration influence coefficient is calculated based on the ratio of the average temperature change to the concentration change before and after the disturbance. The electromagnetic proportional valve opening is increased from the holding state to the large opening state and injection is continued for a second preset time. The concentration-temperature influence coefficient is calculated based on the ratio of the temperature drop to the concentration increase before and after the disturbance.

6. The multi-parameter cooperative control method according to claim 5, characterized in that, Based on the door status signal transition, the maximum temperature decrease rate and concentration decrease rate of N temperature sensors, door opening disturbances are identified, and the maximum temperature deviation and concentration deviation are collected, including: When the door status signal is detected to change from closed to open, the observation window is activated according to the door status signal change. Calculate the temperature drop rate of each of the N temperature sensors within the observation window and take the maximum value to obtain the maximum temperature drop rate. Calculate the drop rate of the measured concentration value within the observation window to obtain the concentration drop rate. When the maximum temperature drop rate is less than the temperature drop rate threshold and the concentration drop rate is less than the concentration drop rate threshold, the door opening disturbance is confirmed. When the door status signal is detected to change from open to closed, the temperature and concentration values ​​at N measuring points are collected. The deviation between the temperature at each measuring point and the set temperature is calculated, and the maximum value is taken to obtain the maximum temperature deviation. The deviation between the concentration value and the set concentration value is calculated to obtain the concentration deviation.

7. The multi-parameter cooperative control method according to claim 6, characterized in that, The maximum temperature decrease rate is obtained by calculating the temperature decrease rate of each of the N temperature sensors within the observation window and taking the maximum value. The concentration decrease rate is obtained by calculating the decrease rate of the measured concentration value within the observation window. When both the maximum temperature decrease rate and the concentration decrease rate are less than a temperature decrease rate threshold, an opening disturbance is confirmed, including: The temperature values ​​of each temperature sensor at the start and end of the observation window are obtained respectively. The difference is then divided by the observation window to obtain N temperature drop rates. The maximum value of the N temperature drop rates is then obtained to obtain the maximum temperature drop rate. Simultaneously, the difference between the measured concentration values ​​at the beginning and end of the observation window is divided by the observation window value to obtain the concentration decrease rate; If the maximum temperature drop rate is less than a preset temperature drop rate threshold and the concentration drop rate is less than a preset concentration drop rate threshold, the door opening disturbance is confirmed and the start time of the disturbance is recorded.

8. The multi-parameter cooperative control method according to claim 7, characterized in that, Based on the maximum temperature deviation and the concentration deviation, the electromagnetic proportional valve opening is set to a high-flow state to quickly restore the carbon dioxide concentration. After the concentration is restored, control parameters are compensated according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient. The heating power and the angle of the circulating fan guide vane are adjusted synchronously to obtain the total recovery time, including: At the moment of closing, the opening of the electromagnetic proportional valve is set to the high flow state according to the concentration deviation and the speed of the circulating fan is increased. When the measured concentration value is within the target range, the concentration recovery time is calculated. After the concentration is restored, the temperature difference between the upper and lower layers is calculated based on the temperature-concentration influence coefficient and the concentration-temperature influence coefficient, respectively. Based on the temperature difference between the upper and lower layers, the heating power and the angle of the circulating fan guide plate are adjusted synchronously. When all measuring points meet the standard and remain stable, the time when the temperature recovery is completed is recorded. The difference between the time when the temperature recovery is completed and the time when the concentration recovery is completed is used to obtain the time when the temperature recovery is completed. The total recovery time is obtained by adding the time when the concentration recovery is completed and the time when the temperature recovery is completed.

9. The multi-parameter cooperative control method according to claim 8, characterized in that, After obtaining the total recovery time, it also includes: Simulated samples were evenly placed inside the chamber according to the sample placement rules to form a full-load condition. Under full-load conditions, heating power disturbance experiments and carbon dioxide injection disturbance experiments were repeatedly performed to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature under full-load conditions. The first load correction factor is obtained by comparing the temperature-concentration influence coefficient under full load with the temperature-concentration influence coefficient under no-load. The second load correction factor is obtained by comparing the concentration-temperature influence coefficient under full load with the concentration-temperature influence coefficient under no-load. When the load condition is determined to be full, the preset compensation coefficient is multiplied by the first load correction factor and the second load correction factor respectively to obtain the PWM duty cycle compensation coefficient.

10. An incubator, characterized in that, A method for performing the multi-parameter cooperative control method as described in any one of claims 1-9, comprising: The disturbance measurement module is used to measure the disturbance of the heating power and carbon dioxide injection in the chamber, and to calculate the influence coefficient of temperature on concentration and the influence coefficient of concentration on temperature. The identification module is used to identify door opening disturbances and collect the maximum temperature deviation and concentration deviation based on the door status signal jump, the maximum temperature drop rate and concentration drop rate of N temperature sensors; The recovery module is used to quickly restore the carbon dioxide concentration by setting the opening of the electromagnetic proportional valve to a high flow rate state based on the maximum temperature deviation and the concentration deviation. After the concentration is restored, the module compensates for the control parameters according to the temperature-to-concentration influence coefficient and the concentration-to-temperature influence coefficient, and simultaneously adjusts the heating power and the angle of the circulating fan guide plate to obtain the total recovery time.

Images