Water pump rotating speed adjusting method and device, water pump and computer readable storage medium

Abstract

This application discloses a method, apparatus, pump, and computer-readable storage medium for regulating water pump speed. The method includes the following steps: acquiring the current operating state of the water pump, including current operating parameters and current state data; determining the current water pump operating condition corresponding to the current operating parameters; matching an initial control coefficient corresponding to the current water pump operating condition; compensating the initial control coefficient using the current state data to obtain a target control coefficient; and regulating the water pump speed based on the target control coefficient. By determining the initial control coefficient based on the water pump's operating parameters, the initial control coefficient can be made to roughly match the water pump's operating conditions. Further compensation of the initial control coefficient based on the water pump's state data ensures that the target control coefficient simultaneously meets the requirements of both the water pump's operating conditions and the scenario's state. Regulating the water pump speed based on the target control coefficient improves the accuracy of water pump speed regulation.

Description

Technical Field

[0001] This application relates to the field of water pump control, and in particular to a method, apparatus, water pump, and computer-readable storage medium for regulating water pump speed. Background Technology

[0002] As a core device for fluid transport, electronic water pumps are widely used in automotive cooling systems, central air conditioning, industrial fluid transport, and other scenarios. The accuracy of their speed control directly determines the fluid transport efficiency, system stability, and energy consumption level.

[0003] The mainstream speed control method for electronic water pumps is based on proportional-integral (PI) or proportional-integral-derivative (PID) regulation. However, in existing technologies, the coefficients in PID regulation are usually fixed or set based on different modes. This setting method is difficult to adapt to complex water pump operating environments, and thus cannot meet the speed regulation requirements of water pumps in specific scenarios. Summary of the Invention

[0004] The main purpose of this application is to propose a method, device, pump, and computer-readable storage medium for regulating the speed of a water pump, aiming to solve the problem that the existing methods for regulating the speed of water pumps cannot meet the regulation requirements of specific application scenarios.

[0005] To achieve the above objectives, this application provides a method for regulating the speed of a water pump, the method comprising the following steps: Obtain the current operating status of the water pump, which includes current operating parameters and current status data; Determine the current pump operating condition corresponding to the current operating parameters; Match the initial control coefficients corresponding to the current pump operating condition; The initial control coefficient is compensated using the current state data to obtain the target control coefficient; The speed of the water pump is adjusted based on the target control coefficient.

[0006] Optionally, determining the current pump operating condition corresponding to the current operating parameters includes: Obtain parameter ranges corresponding to multiple types of water pump operating conditions, wherein the load levels corresponding to the different types of water pump operating conditions are different; Within the parameter range, determine the current parameter range in which the current operating parameter falls; Update the current pump operating condition to the pump operating condition corresponding to the current parameter range.

[0007] Optionally, updating the current pump operating condition to the pump operating condition corresponding to the current parameter range includes: Obtain the current pump operating condition and determine whether the pump operating condition corresponding to the current parameter range is the same as the current pump operating condition; If the pump operating condition corresponding to the current parameter range is different from the current pump operating condition, then the duration for which the current operating parameter is within the current parameter range is obtained. Determine whether the duration is greater than a preset duration; If the duration exceeds the preset duration, the current pump condition is updated to the pump condition corresponding to the current parameter range.

[0008] Optionally, the step of compensating the initial control coefficients using the current state data to obtain the target control coefficients includes: For each sub-coefficient in the initial control coefficients, the compensation characteristics of the sub-coefficients are determined, wherein the compensation characteristics of the proportional coefficients in the initial control coefficients are negatively correlated with the compensation characteristics of the integral coefficients; The compensation coefficient corresponding to the current state data is determined based on the compensation characteristics. The target control sub-coefficient is obtained by compensating the sub-coefficient using the compensation coefficient. Generate the target control coefficients that include all the target control sub-coefficients.

[0009] Optionally, the step of compensating the initial control coefficients using the current state data to obtain the target control coefficients includes: Obtain the current temperature from the current status data, and obtain the rated temperature of the water pump; Calculate the temperature difference between the current temperature and the rated temperature; Determine the temperature compensation coefficient corresponding to the temperature difference; The initial control coefficient is compensated by the temperature compensation coefficient to obtain the target control coefficient.

[0010] Optionally, the step of compensating the initial control coefficients using the current state data to obtain the target control coefficients includes: Obtain the cumulative operating time and expected lifespan of the water pump from the current status data; A reliability compensation coefficient is calculated based on the cumulative operating time of the water pump and the expected lifespan, wherein the reliability compensation coefficient is positively correlated with the cumulative operating time of the water pump. The initial control coefficient is compensated using the reliability compensation coefficient to obtain the target control coefficient.

[0011] Optionally, the step of compensating the initial control coefficients using the current state data to obtain the target control coefficients includes: Obtain the current head and current flow rate from the current status data, and obtain the rated head and rated flow rate of the water pump; Calculate the head difference between the current head and the rated head, and the flow difference between the current flow rate and the rated flow rate; Obtain the initial head coefficient and initial flow coefficient; The target head coefficient is determined by the initial head coefficient and the head difference, and the target flow coefficient is determined by the initial flow coefficient and the flow difference. Calculate the fluid compensation coefficient based on the target head coefficient and the target flow coefficient; The initial control coefficient is compensated using the fluid compensation coefficient to obtain the target control coefficient.

[0012] Optionally, the step of compensating the initial control coefficients using the current state data to obtain the target control coefficients includes: Obtain multiple sub-state data from the state data; For each of the sub-state data, determine the sub-compensation coefficient corresponding to the sub-state data; The initial control coefficient is compensated by combining all the aforementioned sub-compensation coefficients to obtain the target control coefficient.

[0013] To achieve the above objectives, this application also provides a water pump speed regulating device, the water pump speed regulating device comprising: The first acquisition module is used to acquire the current operating status of the water pump, which includes the current operating parameters and the current status data. The first determining module is used to determine the current pump operating condition corresponding to the current operating parameters; The first matching module is used to match the initial control coefficients corresponding to the current water pump operating condition; The first compensation module is used to compensate the initial control coefficient using the current state data to obtain the target control coefficient; The first adjustment module is used to adjust the speed of the water pump based on the target control coefficient.

[0014] To achieve the above objectives, this application also provides a water pump, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the water pump speed regulation method described above.

[0015] To achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the water pump speed regulation method described above.

[0016] This application proposes a method, apparatus, pump, and computer-readable storage medium for adjusting the speed of a water pump. The method involves acquiring the current operating state of the water pump, which includes current operating parameters and current state data; determining the current pump operating condition corresponding to the current operating parameters; matching an initial control coefficient corresponding to the current pump operating condition; compensating the initial control coefficient using the current state data to obtain a target control coefficient; and adjusting the pump speed based on the target control coefficient. By determining the initial control coefficient based on the pump's operating parameters, the initial control coefficient generally matches the pump's operating conditions. Further compensation based on the pump's state data allows for targeted fine-tuning of the target control coefficient based on the specific state of the pump, while still satisfying the pump's operational requirements. This ensures that the target control coefficient simultaneously meets the needs of both the pump's operating conditions and the scenario's state. Adjusting the pump speed based on the target control coefficient improves the accuracy of the pump speed regulation. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of the water pump speed regulation method of this application; Figure 2 This is a detailed flowchart of the pump speed regulation method of this application; Figure 3 This is a schematic diagram illustrating the determination of the current pump operating condition in the second embodiment of the pump speed regulation method of this application; Figure 4 This is a schematic diagram of the module structure of the water pump in this application. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application. To enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0021] This application provides a method for adjusting the speed of a water pump, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the pump speed regulation method of this application. The method includes the following steps: Step S10: Obtain the current operating status of the water pump, wherein the current operating status includes the current operating parameters and the current status data; The current operating status indicates the actual operating condition of the water pump; the current operating status may include the working condition of the water pump, the condition of the water pump itself, and the condition of the environment.

[0022] The current operating parameters indicate the pump's operating status; the specific parameter types included in the current operating parameters can be set according to actual needs, such as pump speed, pump head, and pump bus current.

[0023] The current status data indicates the status of the pump itself and the environmental status. The specific parameter types included in the status data can be set according to actual needs, such as pump temperature, aging degree, head, flow rate, etc. Among them, the aging degree indicates the pump's own status, while the pump temperature, head, and flow rate indicate the environmental status.

[0024] The specific methods for collecting each parameter in the current operating state can be achieved using corresponding acquisition devices; for example: The pump speed is collected using a Hall effect sensor; The water pump head is calculated by collecting the pressure at the pump outlet using a pressure sensor.

[0025] Among them, H act Where P is the pump head, ρ is the outlet pressure, g is the fluid density of the fluid pumped by the pump, and g is the acceleration due to gravity. The pump bus current is collected by setting a sampling resistor on the bus. The water pump temperature is obtained by collecting the motor temperature of the water pump using a thermistor.

[0026] To avoid data anomalies caused by sensor malfunctions, the collected parameters can be processed. The specific processing method can be set according to actual needs, such as performing moving average filtering.

[0027] Among them, X act The parameters for performing the moving average filter; X act，i X is the i-th parameter detected in the sliding window; act，filter These are the parameters after the moving average filtering; here, we take a sliding window length of 5 as an example for explanation.

[0028] To further avoid the influence of large outlier values, parameter ranges can be set for each parameter. When a detected parameter exceeds its corresponding parameter range, the previous valid parameter will be used. The parameter ranges for each parameter can be set based on the actual parameter characteristics. For example, the parameter range for pump head is (0m, 10m); the parameter range for pump speed is (0 rpm, 5500rpm); and the parameter range for pump bus current is (0A, 20A).

[0029] Step S20: Determine the current pump operating condition corresponding to the current operating parameters; Understandably, the current operating parameters indicate the working status of the water pump. Therefore, the current operating parameters can directly reflect the real-time load level of the water pump, that is, the operating condition of the water pump.

[0030] The levels, classifications, and indication methods of water pump operating conditions can be set according to actual needs. For example, water pump operating conditions can be classified from light to heavy as idling, light load, normal, heavy load, and overload.

[0031] The correspondence between operating parameters and pump conditions can be set based on actual needs.

[0032] Step S30: Match the initial control coefficients corresponding to the current pump operating condition; The control coefficients are the coefficients corresponding to the proportional unit, integral unit, and derivative unit in PID or PI control. Specifically, they include the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd. When setting the control coefficients, one or more can be selected for numerical settings.

[0033] The initial control coefficient is the specific value of the control coefficient that needs to be set based on the current operating conditions of the water pump.

[0034] The specific values ​​of the initial control coefficients and their correspondence with the pump operating conditions can be set based on actual needs; for example, in practical applications, the higher the pump operating condition level, the larger the initial control coefficient should be set, such as:

[0035] In the table above, A1 < A2 < A3 < A4 < A5, B1 < B2 < B3 < B4 < B5.

[0036] Understandably, under idling conditions, the load is light, and an excessively large control coefficient will cause the water pump motor to vibrate at high frequency near zero. Using a smaller control coefficient can ensure stable operation. As the operating level increases, the load becomes larger, and a larger load requires a faster response speed. However, it is important to avoid excessive control coefficients that could lead to overshoot. Therefore, the control coefficient is set to increase as the operating level of the water pump increases.

[0037] Step S40: Compensate the initial control coefficients using the current state data to obtain the target control coefficients; Understandably, the current state data indicates both the pump's own state and the environmental state. Both the pump's own state and the environmental state affect the pump's capacity and performance. For example, the more severely the pump ages, the more severely the motor characteristics deteriorate, which can easily lead to system instability. Therefore, the initial control coefficient can be compensated based on the pump's aging level to eliminate the interference of pump aging. Similarly, the motor characteristics change at different pump temperatures, resulting in different control effects under the same control coefficient. Therefore, the initial control coefficient can be compensated based on temperature to eliminate temperature interference. Furthermore, at different flow rates, the reference data for speed regulation, such as pressure, may differ, easily leading to oscillations under complex operating conditions. Therefore, to eliminate nonlinear interference from the fluid, the initial control coefficient can be compensated based on the flow rate.

[0038] The specific relationship between the current status data and the compensation coefficient can be set based on actual needs; it is understandable that the greater the impact of the status data on speed regulation, the greater the degree of compensation of the corresponding compensation coefficient.

[0039] Step S50: Adjust the speed of the water pump based on the target control coefficient.

[0040] The obtained target control coefficients meet the needs of the current pump operating conditions and eliminate interference from the state data. Therefore, adjusting the pump speed based on the target control coefficients can improve the reliability of speed regulation.

[0041] Specifically, after obtaining the target control coefficients, the corresponding coefficients in the PID or PI control are adjusted to match the target control coefficients to complete the setting of the target control coefficients. For example:

[0042] Where u(t) is the motor drive duty cycle output at time t, which is output to the actuator of the water pump to perform water pump speed regulation; Kp* is the proportional coefficient; Ki* is the integral coefficient; e(t) is the speed deviation at time t, which is obtained from the difference between the current speed and the target speed; Let t be the integral of the speed deviation from the start time to time t; τ is the integration variable.

[0043] The target control coefficient includes the target proportional coefficient and the target integral coefficient. The target control coefficient can be set by substituting the value of the target proportional coefficient into the proportional coefficient in the above formula and the target integral coefficient into the integral coefficient in the above formula.

[0044] This embodiment determines the initial control coefficient based on the pump's operating parameters, ensuring that the initial control coefficient largely matches the pump's operating conditions. Furthermore, it compensates for the initial control coefficient based on the pump's state data, resulting in a target control coefficient that, while meeting the pump's operational requirements, is specifically fine-tuned based on the pump's specific state. This allows the target control coefficient to simultaneously satisfy both the pump's operating conditions and the scenario's requirements. Adjusting the pump's speed based on the target control coefficient improves the accuracy of pump speed regulation.

[0045] Further details will follow. Figure 2 In the second embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S20 includes the following steps: Step S21: Obtain parameter ranges corresponding to multiple types of water pump operating conditions, wherein the load levels corresponding to different types of water pump operating conditions are different; Step S22: Determine the current parameter range in which the current operating parameter is located within the parameter range; Step S23: Update the current pump operating condition to the pump operating condition corresponding to the current parameter range.

[0046] The parameter range is used to indicate the parameter status under specific pump operating conditions. It can be understood that for different parameters, under the same pump operating conditions, the corresponding parameter range is set based on the characteristics of the parameter.

[0047] The current parameter range is the range into which the running parameters fall.

[0048] The specific numerical correspondence between pump operating conditions and parameter ranges can be set based on actual needs. Taking operating parameters including pump speed, pump head, and pump bus current as an example, there is a positive correlation between pump speed and pump operating condition level, that is, the higher the pump speed, the higher the pump operating condition level. There is also a positive correlation between pump head and pump operating condition level, and between pump bus current and pump operating condition level.

[0049] The specific numerical relationship between operating parameters and pump operating conditions can be set based on actual needs. For example, parameter values ​​under different pump operating conditions can be determined experimentally, and then the correspondence between pump operating conditions and operating parameters can be statistically obtained; for example:

[0050] The table above shows a feasible numerical correspondence between operating parameters and water pump conditions; the [0, 850] in the second row and second column represents the parameter range corresponding to the water pump speed under idling conditions.

[0051] When the pump speed, pump head, and pump bus current all fall within the same operating condition range, the pump operating condition is considered the current pump operating condition. For example, when the pump speed is 800, the pump head is 1, and the pump bus current is 0.3, the parameter range corresponding to the pump speed is [0, 850], the parameter range corresponding to the pump head is [0, 1.2], and the parameter range corresponding to the pump bus current is (0, 0.4]. All three correspond to the idling condition, so the current pump operating condition is determined to be the idling condition.

[0052] It should be noted that in actual applications of water pumps, there may be fluctuating scenarios. In such scenarios, the parameters are not stable, which causes the water pump speed, water pump head, and water pump bus current to not fall into the range corresponding to the same operating condition. In this case, in order to avoid system oscillation, the current water pump operating condition is maintained unchanged.

[0053] In this embodiment, by setting corresponding parameter ranges for the pump operating conditions, the current pump operating conditions can be accurately determined based on the operating parameters.

[0054] Further, see Figure 3 Step S23 includes the following steps: Step S231: Obtain the current pump operating condition and determine whether the pump operating condition corresponding to the current parameter range is the same as the current pump operating condition. Step S232: If the pump operating condition corresponding to the current parameter range is different from the current pump operating condition, then obtain the duration of the current operating parameter being in the current parameter range; Step S233: Determine whether the duration is greater than a preset duration; Step S234: If the duration is longer than the preset duration, then update the current pump condition to the pump condition corresponding to the current parameter range.

[0055] The current pump operating condition is the one that has been set; the current pump operating condition is determined based on the operating parameters from the previous period.

[0056] If the pump operating condition corresponding to the current parameter range is the same as the current pump operating condition, then the current pump operating condition will remain unchanged.

[0057] If the pump operating condition corresponding to the current parameter range is different from the current pump operating condition, it means that the pump operating condition has changed. Therefore, update the current pump operating condition to the pump operating condition corresponding to the current parameter range.

[0058] In this embodiment, in order to further ensure system stability and the accuracy of pump condition determination, a preset duration is set; the specific value of the preset duration can be set based on actual needs, such as 30ms.

[0059] After the pump's operating condition changes, the duration for which the current operating parameters remain within the current parameter range is compared with the preset duration. If the duration is longer than the preset duration, the pump's operating condition is considered stable after the change, and therefore, it can be updated. If the duration is shorter than or equal to the preset duration, the pump's operating condition is considered unstable after the change, and the current pump operating condition is maintained.

[0060] If the current pump operating condition is normal, and the pump operating condition corresponding to the current parameter range is detected to be heavy load, then if the duration of the heavy load condition is less than the preset duration, the current pump operating condition will remain as normal. If the pump operating condition switches to another condition or does not meet any condition before the duration exceeds the preset duration, the duration will be set to zero. If the duration of the heavy load condition exceeds the preset duration, the current pump operating condition will be updated to heavy load.

[0061] It should be noted that during the initial pump startup, when the pump's operating condition is determined for the first time, there is no current pump operating condition. Therefore, it is not necessary to compare it with the current pump operating condition. However, it is still necessary to compare it with a preset time. The current pump operating condition is determined only after the duration exceeds the preset time. However, during the initial pump startup, since most parameters change significantly from their initial state to the current pump operating condition, the required time and fluctuation range are substantial. To ensure the accuracy of the initial pump operating condition determination, the preset duration for the initial determination can be set relatively large. For example, the first preset duration for the initial determination can be set to 50ms, and the second preset duration for subsequent operating condition switching can be set to 30ms.

[0062] Understandably, under overload conditions, the water pump is overloaded. To ensure the safety of the water pump, overload protection is triggered. Therefore, when switching operating conditions, overload protection is triggered as soon as the overload condition is reached, without the need for a preset duration comparison. However, when the water pump operating condition is determined for the first time, due to the large fluctuations in the parameters, a small first preset duration, such as 30ms, is set for the overload condition. When the duration of the detected overload condition reaches 30ms, overload protection is triggered.

[0063] Furthermore, in the third embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S40 includes the following steps: Step S41: For each sub-coefficient in the initial control coefficients, determine the compensation characteristic of the sub-coefficient, wherein the compensation characteristic of the proportional coefficient in the initial control coefficients is negatively correlated with the compensation characteristic of the integral coefficient. Step S42: Determine the compensation coefficient corresponding to the current state data based on the compensation characteristics; Step S43: The target control sub-coefficient is obtained by compensating the sub-coefficient using the compensation coefficient. Step S44: Generate the target control coefficients, which include all the target control sub-coefficients.

[0064] The sub-coefficients include the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd.

[0065] It is understandable that different sub-coefficients provide different feedback to the state data. Therefore, it is necessary to set the compensation characteristics of the sub-coefficients based on their specific features.

[0066] The compensation characteristic indicates how the sub-coefficient is affected by the state data. The specific compensation characteristic is set based on the type of sub-coefficient and the type of state data. For example, if the state data represents the pump's aging level and the sub-coefficient is a proportional coefficient, then as the pump's aging level increases, the pump's motor gain decreases, resulting in reduced power under the same drive. Therefore, the proportional coefficient needs to be increased to amplify the control strength, thereby eliminating the negative impact of the reduced gain. Thus, for the pump aging state data, the compensation characteristic corresponding to the proportional coefficient is positively correlated with the pump's aging level. The compensation characteristics for other types of state data and sub-coefficients can be set based on the actual situation.

[0067] In practical applications, the proportional coefficient is adjusted based on the compensation characteristics to ensure the system response speed. However, when the proportional coefficient changes, it is easy to cause overshoot or oscillation. Therefore, in this embodiment, the compensation characteristics of the proportional coefficient and the integral coefficient are set to be negatively correlated, so that when the proportional coefficient increases, the integral coefficient decreases, thereby suppressing the excessive correction caused by integral accumulation and avoiding system overshoot. The proportional coefficient and the integral coefficient are used to coordinate and balance the system response speed and stability.

[0068] The compensation coefficient is a value used to compensate for the sub-coefficients determined based on the compensation characteristics under the state data; the specific calculation method of the compensation coefficient can be set based on the corresponding compensation characteristics and state data.

[0069] After obtaining the compensation coefficient, the sub-coefficients can be compensated using the compensation coefficient to obtain the target control sub-coefficient; the specific compensation method can be set based on actual needs, such as multiplying the compensation coefficient with the sub-coefficient to obtain the target control sub-coefficient.

[0070] Once all target control sub-coefficients are determined, the target control coefficients, which include all target control sub-coefficients, can be obtained. The specific form of the target control coefficients can be set according to actual needs, such as the target control coefficients being a set containing all target control sub-coefficients.

[0071] Furthermore, in the fourth embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S40 includes the following steps: Step S45: Obtain the current temperature from the current status data, and obtain the rated temperature of the water pump; Step S46: Calculate the temperature difference between the current temperature and the rated temperature; Step S47: Determine the temperature compensation coefficient corresponding to the temperature difference; Step S48: The initial control coefficient is compensated by the temperature compensation coefficient to obtain the target control coefficient.

[0072] The current temperature is the real-time temperature of the motor windings of the water pump under the current operating conditions.

[0073] The rated temperature is the temperature of the motor windings of the water pump under rated operating conditions. The specific value of the rated temperature can be set based on the parameters of the water pump, such as 85℃.

[0074] Changes in the pump temperature can cause changes in the motor characteristics. Therefore, compensation is needed based on the actual temperature of the motor windings to eliminate the effects of temperature differences.

[0075] The temperature compensation coefficient is a compensation coefficient set for the water pump temperature.

[0076] It should be noted that since the effects of the current temperature being greater than or less than the rated temperature are different, when calculating the temperature difference, it can be set as the current temperature minus the rated temperature, and the sign of the temperature difference can be used to represent the magnitude relationship between the current temperature and the rated temperature.

[0077] The temperature compensation coefficient can be determined based on actual needs. It should be noted that the effect of temperature on motor characteristics is non-linear. Therefore, when setting the temperature compensation coefficient, non-linear compensation methods can be used to obtain the coefficient, such as using a hyperbolic tangent function to construct the temperature compensation coefficient.

[0078] Where T is the current temperature; T0 is the rated temperature; and np1 is the temperature compensation coefficient.

[0079] The setting of 0.01 (T-T0) is used to scale the temperature difference to control the rate of change of the hyperbolic tangent function.

[0080] As can be seen from the above formula, by using the hyperbolic tangent function, the output temperature compensation coefficient is kept in the range of [-1, 1], and nonlinear compensation is performed smoothly to avoid abrupt changes; the maximum value of the temperature compensation coefficient is 1 + 0.15 = 1.15, that is, the maximum compensation amplitude of the initial control coefficient is 15%.

[0081] In actual compensation, the motor characteristics change due to temperature, requiring direct adjustment via the proportional coefficient. Therefore, the temperature compensation coefficient ηp calculated by the above formula can be used as the temperature compensation coefficient ηp1 corresponding to the proportional coefficient. Meanwhile, the compensation characteristics of the proportional coefficient and the integral coefficient are negatively correlated. Therefore, the temperature compensation coefficient ηi1 corresponding to the integral coefficient is set to 2-ηp1, so that when no compensation is performed, the temperature compensation coefficients corresponding to both are 1. When the temperature compensation coefficient ηp1 corresponding to the proportional coefficient increases, the temperature compensation coefficient ηi1 corresponding to the integral coefficient decreases, thereby ensuring a balance between the system's response speed and stability.

[0082] Furthermore, in the fifth embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S40 includes the following steps: Step S49: Obtain the cumulative operating time and expected lifespan of the water pump from the current status data; Step S410: Calculate the reliability compensation coefficient based on the cumulative operating time of the water pump and the expected lifespan, wherein the reliability compensation coefficient is positively correlated with the cumulative operating time of the water pump; Step S411: The initial control coefficient is compensated by the reliability compensation coefficient to obtain the target control coefficient.

[0083] The cumulative operating time of the water pump is the cumulative running time of the water pump.

[0084] The expected lifespan is the life cycle of the water pump, which can be set based on the design goals of the water pump, such as 15,000 hours.

[0085] The reliability compensation coefficient is a compensation coefficient set according to the aging degree of the water pump.

[0086] In this embodiment, the aging of the water pump is determined by the cumulative operating time and expected lifespan of the water pump. It is understood that, without considering other factors, the longer the cumulative operating time of the water pump, the greater the water pump wear and the closer it is to failure. Therefore, the reliability of the water pump is lower. The decrease in the reliability of the water pump will lead to a decrease in the motor gain of the water pump and a decrease in power under the same drive. Therefore, a higher compensation is needed to eliminate the impact of aging. Therefore, in this embodiment, the reliability compensation coefficient is set to be positively correlated with the water pump operating time.

[0087] Since the expected lifespan is a fixed parameter of the water pump, the degree of aging of the pump can be obtained by varying the cumulative operating time of the pump and comparing it with the fixed expected lifespan. The specific determination method can be set based on actual needs, such as using the Weibull life model.

[0088] Where h is the cumulative working time of the water pump; h0 is the expected lifespan; R is the reliability of the water pump, which is negatively correlated with the degree of aging. When the water pump is brand new, R=1, and when the water pump reaches the expected lifespan, R=0; k is a shape parameter that reflects the changing law of the water pump aging rate. The specific value can be set based on the water pump selection, such as 1.8.

[0089] In actual compensation, due to temperature-induced changes in motor characteristics, direct adjustment via a proportional coefficient is necessary. A decrease in pump reliability leads to a reduction in pump motor gain, resulting in reduced power under the same drive conditions. Therefore, the proportional coefficient needs to be increased to amplify the control strength and eliminate the negative impact of reduced gain. Thus, based on pump aging data, the reliability compensation coefficient corresponding to the proportional coefficient is set to be positively correlated with the pump's cumulative operating time, such as ηp2 = 1.1 - 0.2 × R; the range of the reliability compensation coefficient corresponding to the proportional coefficient is [0.9, 1.1]. When the pump is not aging... When the motor characteristics are at their optimal state, no compensation is needed, and the corresponding reliability compensation coefficient is 0.9. After the water pump approaches or reaches its expected lifespan, the motor characteristics degrade significantly, and the corresponding reliability compensation coefficient reaches its maximum value of 1.1. At the same time, the compensation characteristics of the proportional coefficient and the integral coefficient are negatively correlated. Therefore, the reliability compensation coefficient corresponding to the integral coefficient is set to ηi2 = 1 + 0.2 × R. The range of the reliability compensation coefficient corresponding to the integral coefficient is [1, 1.2]. When the water pump is not aging, the reliability compensation coefficient corresponding to the integral coefficient is 1.2, which enhances steady-state accuracy. After the water pump approaches or reaches its expected lifespan, the reliability compensation coefficient corresponding to the integral coefficient is 1, which avoids overshoot.

[0090] Furthermore, in the sixth embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S40 includes the following steps: Step S412: Obtain the current head and current flow rate from the current status data, and obtain the rated head and rated flow rate of the water pump. Step S413: Calculate the head difference between the current head and the rated head, and the flow difference between the current flow rate and the rated flow rate; Step S414: Obtain the initial head coefficient and initial flow coefficient; Step S415: Determine the target head coefficient by using the initial head coefficient and the head difference, and determine the target flow coefficient by using the initial flow coefficient and the flow difference; Step S416: Calculate the fluid compensation coefficient based on the target head coefficient and the target flow coefficient; Step S417: The target control coefficient is obtained by compensating the initial control coefficient with the fluid compensation coefficient.

[0091] The current head is the actual head of the water pump at present.

[0092] Rated head is the head of the water pump under rated operating conditions.

[0093] The current flow rate is the actual flow rate of the water pump at present.

[0094] Rated flow rate is the flow rate of the water pump under rated operating conditions.

[0095] The initial head coefficient and initial flow coefficient are the initial compensation coefficients set. The specific values ​​of the initial head coefficient and initial flow coefficient can be set according to actual needs. For example, for the proportional coefficient, the initial head coefficient is set to 0.32 and the initial flow coefficient is set to 0.21; for the integral coefficient, the initial head coefficient is set to 0.26 and the initial flow coefficient is set to 0.16.

[0096] It is understandable that there is an adaptive variation between head and flow rate; that is, an increase in head will lead to a decrease in flow rate, and an increase in flow rate will lead to a decrease in head.

[0097] The head difference indicates the difference between the current head and the rated value; the flow difference indicates the difference between the current flow and the rated value. In practical applications, when the current head exceeds the rated head, the proportional coefficient needs to be increased to offset the decrease in flow caused by the increase in head, thereby speeding up the response; when the current flow exceeds the rated flow, the proportional coefficient needs to be decreased to avoid a sudden drop in head.

[0098] It should be noted that head and flow rate are two different physical quantities. This embodiment requires combining both to determine the flow rate compensation coefficient. Therefore, the current head and current flow rate can be dimensionless; for example:

[0099] Where H is the current head after dimensionless processing; H1 is the current head before dimensionless processing; H_rated is the rated head;

[0100] Where Q is the current flow rate after dimensionless processing; Q1 is the current flow rate before dimensionless processing; and Q_rated is the rated flow rate. The fluid compensation coefficient is a compensation coefficient set for specific fluid conditions.

[0101] Regarding the proportional coefficient, the fluid compensation coefficient is:

[0102] Where ηp3 is the fluid compensation coefficient corresponding to the proportional coefficient; GA_H is the initial head coefficient corresponding to the proportional coefficient; and DA_Q is the initial flow coefficient corresponding to the proportional coefficient.

[0103] Meanwhile, the compensation characteristics of the proportional coefficient and the integral coefficient are negatively correlated. Therefore, a fluid compensation coefficient corresponding to the integral coefficient is set as follows:

[0104] Where ηi3 is the fluid compensation coefficient corresponding to the integral coefficient; GB_H is the initial head coefficient corresponding to the integral coefficient; and DB_Q is the initial flow coefficient corresponding to the integral coefficient.

[0105] In this embodiment, compensation is achieved through head and flow rate, enabling adaptive adjustment based on head-flow rate to adapt to sudden load changes. Integral and proportional parameters are adapted to fluid characteristics, thereby improving pump operating efficiency.

[0106] Furthermore, in the seventh embodiment of the pump speed regulation method proposed in the first embodiment of this application, step S40 includes the following steps: Step S418: Obtain multiple sub-state data from the state data; Step S419: For each of the sub-state data, determine the sub-compensation coefficient corresponding to the sub-state data; Step S420: Compensate the initial control coefficient by combining all the sub-compensation coefficients to obtain the target control coefficient.

[0107] Sub-state data refers to data corresponding to specific factors in the state data; for example, the current temperature mentioned above is sub-state data set for temperature; the cumulative working time and expected life of the water pump are sub-state data set for aging; and the current head and current flow rate are sub-state data set for the fluid.

[0108] Sub-compensation coefficients are compensation coefficients set for specific factors. For example, the compensation coefficients for temperature, aging degree, fluidity, etc., given in the previous embodiments can each be used as a sub-compensation coefficient. In practical applications, to further improve the compensation accuracy of the control coefficient, one or more of these three or more types of compensation coefficients can be selected and set. The final compensation coefficient is obtained by combining multiple compensation coefficients, such as:

[0109] Where Kp* is the proportional coefficient in the target control coefficient; Ai is the proportional coefficient in the initial control coefficient.

[0110] In this embodiment, the temperature compensation coefficient, reliability compensation coefficient, and fluid compensation coefficient corresponding to the proportional coefficient are superimposed on the initial control coefficient corresponding to the proportional coefficient to obtain the compensation coefficient corresponding to the proportional coefficient.

[0111] For example:

[0112] Where Ki* is the integral coefficient in the target control coefficient; Bi is the integral coefficient in the initial control coefficient.

[0113] In this embodiment, the temperature compensation coefficient, reliability compensation coefficient, and fluid compensation coefficient corresponding to the integral coefficient are superimposed on the initial control coefficient corresponding to the integral coefficient to obtain the compensation coefficient corresponding to the integral coefficient.

[0114] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0116] This application also provides a pump speed regulating device for implementing the above-described pump speed regulating method, the pump speed regulating device comprising: The first acquisition module is used to acquire the current operating status of the water pump, which includes the current operating parameters and the current status data. The first determining module is used to determine the current pump operating condition corresponding to the current operating parameters; The first matching module is used to match the initial control coefficients corresponding to the current water pump operating condition; The first compensation module is used to compensate the initial control coefficient using the current state data to obtain the target control coefficient; The first adjustment module is used to adjust the speed of the water pump based on the target control coefficient.

[0117] This water pump speed regulation device determines the initial control coefficient based on the water pump's operating parameters, ensuring that the initial control coefficient largely matches the water pump's operating conditions. Furthermore, it compensates for the initial control coefficient based on the water pump's state data, resulting in a target control coefficient that, while meeting the water pump's operational requirements, is specifically fine-tuned based on the water pump's particular state. This allows the target control coefficient to simultaneously satisfy both the water pump's operating conditions and the scenario's requirements. Adjusting the water pump speed based on the target control coefficient improves the accuracy of water pump speed regulation.

[0118] It should be noted that the first acquisition module in this embodiment can be used to execute step S10 in this application embodiment, the first determination module in this embodiment can be used to execute step S20 in this application embodiment, the first matching module in this embodiment can be used to execute step S30 in this application embodiment, the first compensation module in this embodiment can be used to execute step S40 in this application embodiment, and the first adjustment module in this embodiment can be used to execute step S50 in this application embodiment.

[0119] Furthermore, the first determining module includes: The first acquisition unit is used to acquire parameter ranges corresponding to multiple types of water pump operating conditions, wherein the different types of water pump operating conditions correspond to different load levels; The first determining unit is used to determine the current parameter range in which the current operating parameter is located within the parameter range; The first update unit is used to update the current pump operating condition to the pump operating condition corresponding to the current parameter range.

[0120] Further, the first update unit includes: The first acquisition subunit is used to acquire the current pump operating condition and determine whether the pump operating condition corresponding to the current parameter range is the same as the current pump operating condition. The second acquisition subunit is used to acquire the duration of the current operating parameter being in the current parameter range if the pump operating condition corresponding to the current parameter range is different from the current pump operating condition. The first judgment subunit is used to determine whether the duration is greater than a preset duration; The first update subunit is used to update the current pump condition to the pump condition corresponding to the current parameter range if the duration is longer than the preset duration.

[0121] Furthermore, the first compensation module includes: The second determining unit is used to determine the compensation characteristics of each sub-coefficient in the initial control coefficients, wherein the compensation characteristics of the proportional coefficient in the initial control coefficients are negatively correlated with the compensation characteristics of the integral coefficient. The third determining unit is used to determine the compensation coefficient corresponding to the current state data based on the compensation characteristics; The first compensation unit is used to compensate the sub-coefficients using the compensation coefficients to obtain the target control sub-coefficients; The first execution unit is used to generate the target control coefficients, which include all the target control sub-coefficients.

[0122] Furthermore, the first compensation module includes: The second acquisition unit is used to acquire the current temperature in the current status data and to acquire the rated temperature of the water pump; The first calculation unit is used to calculate the temperature difference between the current temperature and the rated temperature; The fourth determining unit is used to determine the temperature compensation coefficient corresponding to the temperature difference. The second compensation unit is used to compensate the initial control coefficient using the temperature compensation coefficient to obtain the target control coefficient.

[0123] Furthermore, the first compensation module includes: The third acquisition unit is used to acquire the cumulative working time and expected lifespan of the water pump in the current status data. The second calculation unit is used to calculate a reliability compensation coefficient based on the cumulative working time of the water pump and the expected lifespan, wherein the reliability compensation coefficient is positively correlated with the cumulative working time of the water pump. The third compensation unit is used to compensate the initial control coefficient using the reliability compensation coefficient to obtain the target control coefficient.

[0124] Furthermore, the first compensation module includes: The fourth acquisition unit is used to acquire the current head and current flow rate in the current status data, and to acquire the rated head and rated flow rate of the water pump. The third calculation unit is used to calculate the head difference between the current head and the rated head, and the flow difference between the current flow rate and the rated flow rate; The fifth acquisition unit is used to acquire the initial head coefficient and the initial flow coefficient; The fifth determining unit is used to determine the target head coefficient by means of the initial head coefficient and the head difference, and to determine the target flow coefficient by means of the initial flow coefficient and the flow difference; The fourth calculation unit is used to calculate the fluid compensation coefficient based on the target head coefficient and the target flow coefficient; The fourth compensation unit is used to compensate the initial control coefficient using the fluid compensation coefficient to obtain the target control coefficient.

[0125] Furthermore, the first compensation module includes: The sixth acquisition unit is used to acquire multiple sub-state data from the state data; The sixth determining unit is used to determine the sub-compensation coefficient corresponding to each of the sub-state data. The fifth compensation unit is used to compensate the initial control coefficient by combining all the sub-compensation coefficients to obtain the target control coefficient.

[0126] Reference Figure 4 In terms of hardware structure, the water pump may include components such as a communication module 10, a memory 20, and a processor 30. In the water pump, the processor 30 is connected to both the memory 20 and the communication module 10. The memory 20 stores a computer program, which is executed by the processor 30. When the computer program is executed, it implements the steps of the above-described method embodiment.

[0127] The communication module 10 can connect to external communication devices via a network. The communication module 10 can receive requests from the external communication devices and can also send requests, instructions, and information to the external communication devices, which can be other water pumps, servers, or IoT devices, such as televisions, etc.

[0128] The memory 20 can be used to store software programs and various data. The memory 20 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as obtaining the current operating status of the water pump), etc.; the data storage area may include a database, and may store data or information created based on system usage. Furthermore, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0129] The processor 30 is the control center of the water pump. It connects various parts of the water pump via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 20, and by calling data stored in the memory 20, it performs various functions of the water pump and processes data, thereby providing overall monitoring of the water pump. The processor 30 may include one or more processing units; optionally, the processor 30 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 30.

[0130] although Figure 4 Not shown, but the aforementioned water pump may also include a circuit control module, which is used to connect to a power source to ensure the normal operation of other components. Those skilled in the art will understand that... Figure 4 The pump structure shown does not constitute a limitation on the pump and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0131] This application also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be... Figure 4 The memory 20 in the water pump can also be at least one of ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk, etc. The computer-readable storage medium includes several instructions to cause a terminal device with a processor (which may be a television, automobile, mobile phone, computer, server, terminal, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0132] In this application, the terms "first," "second," "third," "fourth," and "fifth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0133] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0134] Although embodiments of this application have been shown and described above, the scope of protection of this application is not limited thereto. It is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, and substitutions to the above embodiments within the scope of this application, and such changes, modifications, and substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of speed regulation of a water pump, characterized in that, The method for adjusting the water pump speed includes: Obtain the current operating status of the water pump, which includes current operating parameters and current status data; Determine the current pump operating condition corresponding to the current operating parameters; Match the initial control coefficients corresponding to the current pump operating condition; The initial control coefficient is compensated using the current state data to obtain the target control coefficient; The speed of the water pump is adjusted based on the target control coefficient.

2. The water pump rotation speed adjusting method according to claim 1, wherein Determining the current pump operating condition corresponding to the current operating parameters includes: Obtain parameter ranges corresponding to multiple types of water pump operating conditions, wherein the load levels corresponding to the different types of water pump operating conditions are different; Within the parameter range, determine the current parameter range in which the current operating parameter falls; Update the current pump operating condition to the pump operating condition corresponding to the current parameter range.

3. The water pump speed adjustment method as described in claim 2, characterized in that, The step of updating the current pump operating condition to the pump operating condition corresponding to the current parameter range includes: Obtain the current pump operating condition and determine whether the pump operating condition corresponding to the current parameter range is the same as the current pump operating condition; If the pump operating condition corresponding to the current parameter range is different from the current pump operating condition, then the duration for which the current operating parameter is within the current parameter range is obtained. Determine whether the duration is greater than a preset duration; If the duration exceeds the preset duration, the current pump condition is updated to the pump condition corresponding to the current parameter range.

4. The pump speed adjustment method as described in claim 1, characterized in that, The step of compensating the initial control coefficient using the current state data to obtain the target control coefficient includes: For each sub-coefficient in the initial control coefficients, the compensation characteristics of the sub-coefficients are determined, wherein the compensation characteristics of the proportional coefficients in the initial control coefficients are negatively correlated with the compensation characteristics of the integral coefficients; The compensation coefficient corresponding to the current state data is determined based on the compensation characteristics. The target control sub-coefficient is obtained by compensating the sub-coefficient using the compensation coefficient. Generate the target control coefficients that include all the target control sub-coefficients.

5. The method for adjusting the speed of a water pump as described in claim 1, characterized in that, The step of compensating the initial control coefficient using the current state data to obtain the target control coefficient includes: Obtain the current temperature from the current status data, and obtain the rated temperature of the water pump; Calculate the temperature difference between the current temperature and the rated temperature; Determine the temperature compensation coefficient corresponding to the temperature difference; The initial control coefficient is compensated by the temperature compensation coefficient to obtain the target control coefficient.

6. The method for adjusting the speed of a water pump as described in claim 1, characterized in that, The step of compensating the initial control coefficient using the current state data to obtain the target control coefficient includes: Obtain the cumulative operating time and expected lifespan of the water pump from the current status data; A reliability compensation coefficient is calculated based on the cumulative operating time of the water pump and the expected lifespan, wherein the reliability compensation coefficient is positively correlated with the cumulative operating time of the water pump. The initial control coefficient is compensated using the reliability compensation coefficient to obtain the target control coefficient.

7. The method for adjusting the speed of a water pump as described in claim 1, characterized in that, The step of compensating the initial control coefficient using the current state data to obtain the target control coefficient includes: Obtain the current head and current flow rate from the current status data, and obtain the rated head and rated flow rate of the water pump; Calculate the head difference between the current head and the rated head, and the flow difference between the current flow rate and the rated flow rate; Obtain the initial head coefficient and initial flow coefficient; The target head coefficient is determined by the initial head coefficient and the head difference, and the target flow coefficient is determined by the initial flow coefficient and the flow difference. Calculate the fluid compensation coefficient based on the target head coefficient and the target flow coefficient; The initial control coefficient is compensated using the fluid compensation coefficient to obtain the target control coefficient.

8. The method for adjusting the speed of a water pump as described in claim 1, characterized in that, The step of compensating the initial control coefficient using the current state data to obtain the target control coefficient includes: Obtain multiple sub-state data from the state data; For each of the sub-state data, determine the sub-compensation coefficient corresponding to the sub-state data; The initial control coefficient is compensated by combining all the aforementioned sub-compensation coefficients to obtain the target control coefficient.

9. A water pump speed regulating device, characterized in that, The water pump speed regulating device includes: The first acquisition module is used to acquire the current operating status of the water pump, which includes the current operating parameters and the current status data. The first determining module is used to determine the current pump operating condition corresponding to the current operating parameters; The first matching module is used to match the initial control coefficients corresponding to the current water pump operating condition; The first compensation module is used to compensate the initial control coefficient using the current state data to obtain the target control coefficient; The first adjustment module is used to adjust the speed of the water pump based on the target control coefficient.

10. A water pump, characterized in that, The water pump includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of the water pump speed regulation method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the water pump speed regulation method as described in any one of claims 1 to 8.

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