A temperature control method, controller, water dispenser and storage medium

Abstract

A temperature control method, controller, water dispenser and storage medium, the method is applied to the controller in a temperature control system, the temperature control system further comprises: a heating module, a first temperature sensor, the heating module is used for heating the flowing medium, and the first temperature sensor is used for detecting the first temperature value when the flowing medium flows into the heating module; the control method comprises: periodically receiving the first temperature value detected by the first temperature sensor; calculating the flowing time required for the flowing medium from entering the heating module to leaving as a flowing delay time, selecting a reference temperature value from historical temperature data according to the flowing delay time, and judging temperature change trend data according to the first temperature value and the obtained reference temperature value; determining the heating power of the heating module according to the target outflow temperature and the temperature change trend data. The embodiment of the application avoids the overshoot or undershoot phenomenon of the related control algorithm based on the assumption of constant water inlet temperature control.

Description

Technical Field

[0001] This article relates to temperature control technology for electronic devices, and more particularly to a temperature control method, controller, water dispenser, and storage medium. Background Technology

[0002] With the increasing popularity of smart home devices, instant water heaters, smart thermostatic showers, and other devices that require real-time heating of flowing media are widely used in households. These devices typically need to quickly and accurately heat the flowing media (such as water) to the user-set target temperature within a short period of time as it passes through the heating module, in order to provide a comfortable user experience.

[0003] In related technologies, temperature control methods are often based on an assumed constant inlet water temperature. Therefore, when the actual inlet water temperature fluctuates drastically, the incorrectly assumed constant inlet water temperature can lead to overshoot or undershoot of the outlet water temperature, resulting in fluctuating water temperature that seriously affects the user experience. Summary of the Invention

[0004] This application provides a temperature control method, controller, water dispenser, and storage medium, which avoids overshoot or undershoot phenomena that occur when related control algorithms control based on an assumed constant inlet water temperature, and effectively overcomes the control lag problem, significantly improving the response speed and control accuracy of temperature regulation.

[0005] The temperature control method provided in this application embodiment is applied to a controller in a temperature control system. The temperature control system further includes: a heating module and a first temperature sensor. The heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module. The control method includes: The system periodically receives the first temperature value detected by the first temperature sensor. The flow time required for the flowing medium to flow from entering the heating module to leaving is calculated and used as the flow delay time; at least one first temperature value is selected from historical temperature data based on the obtained flow delay time as a reference temperature value, and the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power that the heating module should use is determined based on the preset target outflow temperature and the temperature change trend data.

[0006] In some exemplary embodiments, the temperature control system further includes: a flow meter for measuring the flow velocity of the medium in the heating module; the calculation of the flow time required for the medium to flow from entering the heating module to leaving the module includes: Obtain the flow velocity measured by the flow meter; The required flow time for the flowing medium to flow from entering the heating module to leaving the heating module is calculated based on the volume of the heating module and the obtained flow velocity.

[0007] In some exemplary embodiments, the historical temperature data further includes: historical detection times corresponding to a plurality of first temperature values ​​detected and stored historically; the step of selecting at least one temperature value from the historical temperature value data as a reference temperature value based on the obtained flow delay time includes: The detection time of the currently received first temperature value is obtained, the historical detection time that is separated from the obtained detection time by the flow delay time is determined from the historical temperature set, and the first temperature value corresponding to the determined historical detection time is obtained as the reference temperature value.

[0008] In some exemplary embodiments, the temperature change trend data includes: the temperature difference between the received first temperature value and the obtained reference temperature value.

[0009] In some exemplary embodiments, determining the heating power that the heating module should employ based on a pre-set target outflow temperature and the temperature change trend data includes: The compensation temperature is calculated based on the obtained temperature difference and the preset temperature compensation coefficient, and the control temperature is calculated based on the target outflow temperature and the calculated compensation temperature. The heating power of the heating module is determined based on the obtained control temperature.

[0010] In some exemplary embodiments, the step of calculating the compensation temperature based on the obtained temperature difference and a preset temperature compensation coefficient, and calculating the control temperature based on the target outflow temperature and the calculated compensation temperature, includes: The compensated temperature is obtained by multiplying the calculated temperature difference value by a pre-set temperature compensation coefficient; wherein the temperature compensation coefficient is not less than -1 and is less than 0. The control temperature is obtained by calculating the sum of the target outflow temperature and the calculated compensation temperature.

[0011] In some exemplary embodiments, the temperature control system further includes: a second temperature sensor, the second temperature sensor being used to detect a second temperature value when the flowing medium leaves the heating module; Determining the heating power of the heating module based on the obtained control temperature includes: After obtaining the control temperature, the second temperature value detected by the second temperature sensor is periodically received. Based on the deviation between the control temperature and the second temperature value, the heating power of the heating module is calculated using a PID control algorithm.

[0012] The temperature controller provided in this application embodiment is applied to a temperature control system. The temperature control system further includes: a heating module and a first temperature sensor. The heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module. The temperature controller includes: a memory and a processor. The memory is configured to store an executable program. The processor is configured to read and execute the executable program to perform the temperature control method as described above.

[0013] The water dispenser provided in this application embodiment includes: a primary preheating device and a secondary instant heating device connected in sequence. The primary preheating device is used to preheat the incoming water to a preset intermediate temperature range, and the secondary instant heating device is used to heat the incoming preheated water to a preset target outflow temperature. The secondary instant heating device includes: a heating module, a first temperature sensor, and a temperature control module. The heating module is used to heat the incoming water, the first temperature sensor is used to detect a first temperature value when the water flows into the heating module, and the temperature control module is used to perform the following steps: The system periodically receives the first temperature value detected by the first temperature sensor. The flow time required for water to flow from entering the heating module to leaving is calculated and used as the flow delay time. At least one first temperature value is selected from historical temperature data based on the obtained flow delay time as a reference temperature value, and the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power of the heating module is determined based on the preset target outlet water temperature and the temperature change trend data.

[0014] The storage medium of this application embodiment stores a computer program, wherein when the computer program is executed by a processor, it can implement the temperature control method described above.

[0015] Compared with related technologies, the temperature control method, controller, water dispenser, and storage medium provided in this application utilize a first temperature sensor to detect the first temperature value when the flowing medium flows into the heating module during a single heating process. By calculating the flow delay time required for the flowing medium to leave the heating module, and selecting at least one reference temperature value from historical temperature data based on the flow delay time, the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power of the heating module is determined based on the preset target outflow temperature and the temperature change trend data. Therefore, it avoids the overshoot or undershoot phenomenon that occurs when related control algorithms control based on the assumed constant inlet water temperature. Since the heating power is determined based on the temperature change trend, predictive temperature control can be achieved, effectively overcoming the control lag problem and significantly improving the response speed and control accuracy of temperature regulation.

[0016] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0018] Figure 1 This is a schematic flowchart of a temperature control method according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a temperature controller according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a water dispenser according to an embodiment of this application; Figure 4 This is a schematic flowchart illustrating a temperature control method for an instant hot water dispenser according to an embodiment of this application. Detailed Implementation

[0019] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0020] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0021] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0022] The temperature control method provided in this application embodiment is applied to a controller in a temperature control system. The temperature control system further includes a heating module and a first temperature sensor. The heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module. Figure 1 As shown, the control method includes: Step 100: Periodically receive the first temperature value detected by the first temperature sensor; Step 101: Calculate the flow time required for the flowing medium to flow from entering the heating module to leaving, and use it as the flow delay time; select at least one first temperature value from historical temperature data as a reference temperature value based on the obtained flow delay time, and determine the temperature change trend data based on the currently received first temperature value and the obtained reference temperature value. Step 102: Determine the heating power that the heating module should use based on the preset target outflow temperature and the temperature change trend data.

[0023] For example, the temperature control method provided in this disclosure embodiment can be applied to each heating process. When applied to each heating process, step 100 means: during the heating process, periodically receiving the first temperature value detected by the first temperature sensor.

[0024] For example, the implementation method for calculating the flow delay time can be: by acquiring the flow velocity parameters of the flowing medium in real time (e.g., converting the pulse signal output by the electromagnetic flowmeter installed at the pipe inlet into instantaneous flow velocity), and combining them with the geometric parameters of the flow channel inside the heating module (including the total length of the flow channel, cross-sectional area, and tortuosity coefficient), and using the fluid dynamics formula "flow delay time = equivalent length of flow channel / average flow velocity" for dynamic calculation.

[0025] In another embodiment, the flow delay time can be calibrated by the tracer signal step response method: when the first sensor detects a sudden change in the tracer signal, the time difference required for the sudden change signal to be transmitted to the outlet is recorded, and the moving average filtering algorithm is used to optimize the multiple measurement results to eliminate the instantaneous error caused by fluid turbulence or sensor response delay, thereby establishing a dynamic mapping relationship table of flow velocity-delay time for real-time reference.

[0026] For example, judging the temperature change trend based on the currently received first temperature value and the obtained reference temperature value can be based on the prediction of the temperature rise ratio: the prediction based on the temperature rise ratio can be to perform a difference operation between the current first temperature value and the reference temperature value. If the difference is greater than a set threshold (the difference between the target outflow temperature and the reference temperature value) and the sampling of a preset number of consecutive samples shows an increasing trend, it is determined to be in the state of "overshoot risk"; if the difference is less than another set threshold (the set threshold is less than the previous set threshold) and the sampling of a preset number of consecutive samples shows a decreasing trend, it is determined to be in the state of "insufficient temperature rise".

[0027] In other exemplary instances, judging the temperature change trend based on the currently received first temperature value and the obtained reference temperature value may be based on trend analysis using a sliding window and linear regression: a sliding window mechanism is introduced, and the least squares method is used to perform linear fitting on the set of first temperature values ​​at the most recent N moments to calculate the slope and acceleration characteristics of the temperature change. If both the slope and acceleration are consistently positive and exceed the set threshold, a rapid temperature rise trend can be identified in advance; if the slope approaches zero, it is determined that the temperature has entered a "stable approximation" state.

[0028] In other exemplary instances, judging the temperature change trend based on the currently received first temperature value and the obtained reference temperature value may be based on deviation trend tracking of a baseline curve: a preset ideal temperature rise baseline curve is constructed, the deviation value between the current first temperature value and the corresponding baseline temperature is calculated in real time, and the cumulative deviation sum is obtained by accumulating the relative changes in deviation over multiple consecutive times. If the cumulative deviation sum is greater than a preset trend threshold, it indicates that the actual temperature is moving away from the baseline curve, thereby accurately identifying the trend of temperature runaway or abnormal fluctuation.

[0029] In other exemplary instances, determining the temperature change trend based on the currently received first temperature value and the obtained reference temperature value may be based on a composite determination using multiple thresholds and a state machine: Multiple temperature thresholds are set (such as a lower and upper limit threshold for the target outflow temperature). When the real-time temperature crosses different threshold ranges, and combined with the current heating rate, the state flags of complex trend modes such as "linear heating," "exponential decay," or "oscillatory approximation" are dynamically switched.

[0030] For example, the implementation method for determining the heating power can be: constructing a dual closed-loop regulation mechanism, whereby the outer loop generates a basic power command based on the deviation between the target outflow temperature and the current first temperature value, and the inner loop dynamically adjusts the PID parameters based on the temperature change trend determined in step 101. When an "overshoot risk" is detected, the derivative coefficient is automatically increased to suppress overshoot, while the integral gain is reduced. When an "insufficient heating" is determined, the proportional coefficient is increased and integral accumulation is activated.

[0031] For example, the calculation of the flow time required for the flowing medium to go from entering the heating module to leaving is also performed periodically, but it may be the same as or different from the period for receiving the first temperature value.

[0032] The temperature control method provided in this application embodiment utilizes a first temperature sensor to detect the first temperature value when the flowing medium flows into the heating module during a single heating process. It calculates the flow delay time required for the flowing medium to leave the heating module and selects at least one reference temperature value from historical temperature data based on this delay time. It then determines the temperature change trend data based on the currently received first temperature value and the obtained reference temperature value, and determines the heating power of the heating module based on the pre-set target outflow temperature and the temperature change trend data. Therefore, it avoids the overshoot or undershoot phenomena that occur when related control algorithms control based on an assumed constant inlet water temperature. Since the heating power is determined based on the temperature change trend, predictive temperature control can be achieved, effectively overcoming the control lag problem and significantly improving the response speed and control accuracy of temperature regulation.

[0033] In some exemplary instances, the temperature control system further includes: a flow meter for measuring the flow velocity of the medium in the heating module; the calculation of the flow time required for the medium to flow from entering the heating module to leaving the module includes: The flow velocity measured by the flow meter when the received first temperature value is obtained; The required flow time for the flowing medium to flow from entering the heating module to leaving the heating module is calculated based on the volume of the heating module and the obtained flow velocity.

[0034] For example, a flow meter can be installed at key nodes in the flow channel of the heating module, such as the inlet pipe, outlet pipe, or inside the heating chamber, to monitor the instantaneous flow velocity of the flowing medium in real time. The flow meter can be selected as one or more combinations of electromagnetic flow meter, ultrasonic flow meter, Coriolis mass flow meter, or turbine flow meter, and its range covers the maximum and minimum flow velocities of the heating module under rated operating conditions to ensure the reliability of flow velocity data and dynamic response capability.

[0035] For example, a specific implementation method for calculating the flow time based on the volume of the heating module and the obtained flow velocity can be as follows: Assuming the volume of the heating module is V, the flow velocity v measured by the flow meter when the first temperature value is received is obtained. If it is assumed that the flow velocity of the fluid remains constant during the process of flowing through the heating module, the theoretical flow time t can be directly calculated by the formula t=V / v, and used as the flow time required for the flow medium to go from entering the heating module to leaving. This calculation method is based on the static flow velocity assumption and is suitable for scenarios with small flow velocity fluctuations.

[0036] In other exemplary instances, to improve computational accuracy in dynamic scenarios and adapt to actual flow velocity changes, a real-time integration method can be employed: starting from the moment the first temperature value is received, the instantaneous flow velocity v(t) measured by the flowmeter is continuously acquired at a preset frequency, and the flow process is discretized into multiple small time intervals Δt. Within each Δt, assuming the flow velocity is approximately constant, the volume element through which the fluid passes during that time interval is calculated using the formula ΔV=v(t)×A×Δt (where A is the effective cross-sectional area of ​​the heating module's flow channel); then, the volumes of each element are accumulated in real time: when the accumulated value ΣΔV reaches the total volume V of the heating module, the corresponding sum of time T is the actual flow time of the flowing medium.

[0037] In other exemplary instances, a temperature-volume expansion compensation factor can be introduced to dynamically correct the total volume V based on the thermal expansion coefficient of the flowing medium, thereby eliminating the impact of volume drift caused by temperature changes on the accuracy of flow time calculation.

[0038] In some exemplary instances, the historical temperature data further includes: historical detection times corresponding to a plurality of first temperature values ​​detected and stored historically; the step of selecting at least one temperature value from the historical temperature value data as a reference temperature value based on the obtained flow delay time includes: The detection time of the currently received first temperature value is obtained, the historical detection time that is separated from the obtained detection time by the flow delay time is determined from the historical temperature set, and the first temperature value corresponding to the determined historical detection time is obtained as the reference temperature value.

[0039] For example, historical temperature data not only records and stores multiple first temperature values, but also stores the historical detection time corresponding to each first temperature value, in order to construct a temperature data sequence with timestamps.

[0040] A specific implementation method for selecting at least one temperature value as a reference temperature value from the historical temperature set based on the obtained flow delay time can be as follows: First, obtain the detection time of the received first temperature value, then perform reverse calculation on the time axis based on the detection time and the flow delay time, determine the target historical detection time from the historical temperature set that is separated from the obtained detection time by the flow delay time, and obtain the first temperature value corresponding to the determined target historical detection time as the reference temperature value.

[0041] In another embodiment, if the target historical detection time obtained by reverse calculation does not exactly match the historical detection time stored in the historical temperature set, the first temperature value corresponding to the two adjacent historical detection times before and after the target historical detection time is obtained and directly used as the reference temperature value. Alternatively, the reference temperature value is calculated based on the first temperature value corresponding to the two historical detection times through a linear interpolation algorithm or a polynomial fitting algorithm.

[0042] In other exemplary instances, in order to eliminate the influence of instantaneous noise caused by fluid flow rate fluctuations and sensor detection of minute jitters, all first temperature values ​​within a time span of ±Δt can be obtained with the historical detection time of the target as the center and directly used as the reference temperature value. Alternatively, the reference temperature value can be calculated based on multiple first temperature values ​​using linear interpolation or weighted average methods (e.g., based on the reciprocal of the time distance as the weight).

[0043] In some exemplary instances, the temperature change trend data includes: the temperature difference between the received first temperature value and the obtained reference temperature value.

[0044] For example, the temperature change trend data can be characterized by the temperature difference ΔT between the received first temperature value T1 and the obtained reference temperature value T0, where ΔT = T1 - T0; this temperature difference can directly reflect the real-time temperature rise / fall amplitude after the fluid flows through the heating module.

[0045] For example, the generation of temperature difference values ​​follows the principle of correspondence with reference temperature values: when the obtained reference temperature value is single, the temperature difference value is also single, and at this time, the single temperature difference value reflects the deviation between the received first temperature value and the unique benchmark; when the obtained reference temperature values ​​are multiple, the temperature difference value is also multiple, and at this time, each temperature difference value represents the deviation between the corresponding reference temperature value and the first temperature value, and multiple deviations can reveal the dynamic law of temperature change.

[0046] In other exemplary instances, when the application scenario has extremely high requirements for temperature response speed (such as medical temperature control or precision chemical engineering), the characterization of temperature change trend can also be comprehensively evaluated by combining the derivative of the temperature difference (i.e., the rate of temperature change dT / dt). In this case, the rate of temperature change can be approximately calculated by numerical differentiation methods (such as forward difference or central difference) based on the detection time t1 of the first temperature value T1 and the historical detection time t0 of the reference temperature value T0.

[0047] In some exemplary instances, determining the heating power of the heating module based on a pre-set target outflow temperature and a determined temperature change trend includes: The compensation temperature is calculated based on the obtained temperature difference and the preset temperature compensation coefficient, and the control temperature is calculated based on the target outflow temperature and the calculated compensation temperature. The heating power of the heating module is determined based on the obtained control temperature.

[0048] For example, when calculating the compensation temperature, the temperature difference can be filtered (e.g., using a moving average filter or a Kalman filter) to eliminate compensation temperature fluctuations caused by transient noise interference, thereby ensuring the stability of the control temperature.

[0049] In another embodiment, the calculation of the control temperature can incorporate nonlinear adjustment logic. For example, when the temperature difference is within a preset fine-tuning range (e.g., ±0.5℃), the compensation temperature is linearly superimposed to the target outflow temperature according to the first proportional coefficient to achieve fine temperature control. When the temperature difference exceeds this range, it switches to the second proportional coefficient (or uses a segmented step compensation value) for rapid correction to shorten the heating response time and avoid overshoot oscillation.

[0050] For example, the heating power of the heating module can be determined based on the obtained control temperature using an open-loop control strategy based on a preset mapping relationship. This mapping relationship can be a power-temperature lookup table, which is established through experimental calibration and characterizes the target power output duty cycle of the heating module corresponding to different control temperature values.

[0051] In another embodiment, a closed-loop feedback control strategy can be adopted. The control temperature is used as the setpoint of a proportional-integral-derivative (PID) controller. The current actual temperature of the heating module or the outflow temperature (assuming the flowing medium is water, the outflow temperature is the water outlet temperature) is collected in real time as feedback. The deviation between the two is calculated and then processed by a PID algorithm to output a pulse width modulation (PWM) signal, thereby dynamically adjusting the heating power of the heating module to eliminate steady-state errors. Furthermore, the parameters of the PID controller can be configured in a segmented structure. For example, when the deviation between the control temperature and the feedback value is large, the first set of parameters is activated to ensure a fast response. When the deviation enters a preset steady-state range, the second set of parameters is switched to suppress overshoot and oscillation, thereby achieving synergistic optimization of the dynamic response speed and steady-state control accuracy of the heating process.

[0052] In some exemplary instances, the step of calculating the compensation temperature based on the obtained temperature difference and a preset temperature compensation coefficient, and calculating the control temperature based on the target outflow temperature and the calculated compensation temperature, includes: The compensated temperature is obtained by multiplying the calculated temperature difference value by a pre-set temperature compensation coefficient; wherein the temperature compensation coefficient is not less than -1 and is less than 0. The control temperature is obtained by calculating the sum of the target outflow temperature and the calculated compensation temperature.

[0053] For example, the compensated temperature can be expressed as K * ΔT_in, where K is the temperature compensation coefficient and ΔT_in is the obtained temperature difference. The control temperature can be expressed as T_target', T_target' = T_set + K * ΔT_in, where T_set is the target outflow temperature.

[0054] In some exemplary instances, determining the heating power of the heating module based on the obtained control temperature includes: The heating power of the heating module is calculated based on the obtained control temperature.

[0055] For example, the heating power of the heating module calculated based on the obtained control temperature refers to the heating power that needs to be applied to eliminate the temperature deviation and make the temperature quickly approach and stabilize at the control temperature, based on the difference between the current detected temperature and the target outflow temperature (temperature difference) through a mathematical model or control algorithm.

[0056] In other exemplary instances, considering the differences in thermophysical properties of different heating objects (such as water, oil, etc.), the above calculation process further introduces heat capacity parameters characterizing thermal response characteristics. These heat capacity parameters include at least the mass (m), specific heat capacity (c), and overall equivalent thermal resistance of the heating medium. By introducing these parameters, the rate of temperature change caused by a unit power input can be quantified, thereby establishing a precise mapping relationship between "temperature demand" and "energy supply," ensuring that the calculated heating power not only conforms to the basic laws of thermodynamics but also adapts to the actual heating needs under different media and load conditions.

[0057] In some exemplary instances, the temperature control system further includes a second temperature sensor for detecting a second temperature value when the flowing medium leaves the heating module; Determining the heating power of the heating module based on the obtained control temperature includes: After obtaining the control temperature, the system periodically receives the second temperature value detected by the second temperature sensor. Based on the deviation between the control temperature and the second temperature value, a PID control algorithm is used to calculate the heating power of the heating module.

[0058] For example, the second temperature sensor can be installed at the outlet of the heating module, and its detection frequency can be adaptively adjusted according to the flow rate of the flowing medium (e.g., increasing the sampling rate to capture transient temperature changes under high flow rate conditions); when using a PID control algorithm to calculate the heating power, the second temperature value can be preprocessed, including removing abnormal jump values ​​(e.g., filtering sensor noise by setting a rate of change threshold) and compensating for the sensor's own response delay (e.g., fitting a time lag compensation model based on historical data), thereby ensuring the accuracy of the deviation calculation. In another embodiment, the parameters of the PID control algorithm can be configured as a segmented dynamic adjustment strategy. For example, when the absolute value of the deviation between the controlled temperature and the second temperature value is greater than a first preset threshold (e.g., ΔT>5℃), the first set of parameters aimed at rapid response (e.g., increasing the proportional coefficient Kp) is activated, causing the heating module to operate at or near its maximum allowable power to shorten the heating time. When the deviation enters a second preset range (e.g., 0.5℃<ΔT≤5℃), the second set of parameters aimed at suppressing overshoot (e.g., decreasing Kp and introducing integral action) is switched to achieve a smooth transition in power output. When the deviation is less than a third preset threshold (e.g., ΔT≤0.5℃), the third set of parameters aimed at eliminating steady-state error (e.g., increasing the integral coefficient Ki) is activated to ensure that the second temperature value is accurately and stably near the controlled temperature. Furthermore, the PID algorithm can also be combined with a feedforward control strategy to compensate for the proportional or integral term based on the real-time water flow velocity (e.g., increasing the power output in advance when the flow rate suddenly increases), thereby improving the system's anti-interference capability against dynamic load changes.

[0059] For example, in a single heating cycle, a default heating power or the heating power used in the previous heating cycle can be used before calculating the appropriate heating power.

[0060] This application embodiment also provides a temperature controller applied to a temperature control system. The temperature control system further includes: a heating module and a first temperature sensor. The heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module. Figure 2 As shown, the temperature controller includes: The receiving module 21 is used to periodically receive the first temperature value detected by the first temperature sensor; The judgment module 22 is used to calculate the flow time required for the flowing medium to leave the heating module from its entry into the heating module, and use it as the flow delay time; select at least one first temperature value from historical temperature value data as a reference temperature value based on the obtained flow delay time, and judge the temperature change trend data based on the currently received first temperature value and the obtained reference temperature value. Processing module 23 is used to determine the heating power that the heating module should use based on the preset target outflow temperature and the temperature change trend data.

[0061] In some exemplary embodiments, the temperature control system further includes: a flow meter for measuring the flow velocity of the medium in the heating module; the determination module 21 is further configured to: Obtain the flow velocity measured by the flow meter; The required flow time for the flowing medium to flow from entering the heating module to leaving the heating module is calculated based on the volume of the heating module and the obtained flow velocity.

[0062] In some exemplary instances, the historical temperature data further includes: historical detection times corresponding to a plurality of first temperature values ​​that have been detected and stored in history; the judgment module 22 is further configured to: The detection time of the currently received first temperature value is obtained, the historical detection time that is separated from the obtained detection time by the flow delay time is determined from the historical temperature set, and the first temperature value corresponding to the determined historical detection time is obtained as the reference temperature value.

[0063] In some exemplary instances, the temperature change trend data includes: the temperature difference between the received first temperature value and the obtained reference temperature value.

[0064] In some exemplary instances, processing module 23 is also used for: The compensation temperature is calculated based on the obtained temperature difference and the preset temperature compensation coefficient, and the control temperature is calculated based on the target outflow temperature and the calculated compensation temperature. The heating power of the heating module is determined based on the obtained control temperature.

[0065] In some exemplary instances, processing module 23 is also used for: The compensated temperature is obtained by multiplying the calculated temperature difference value by a pre-set temperature compensation coefficient; wherein the temperature compensation coefficient is not less than -1 and is less than 0. The control temperature is obtained by calculating the sum of the target outflow temperature and the calculated compensation temperature.

[0066] In some exemplary instances, the temperature control system further includes: a second temperature sensor, which is used to detect a second temperature value when the flowing medium leaves the heating module; the processing module 23 is also used to periodically receive the second temperature value detected by the second temperature sensor after obtaining the control temperature, and to calculate the heating power of the heating module based on the deviation between the control temperature and the second temperature value using a PID control algorithm.

[0067] The temperature controller provided in this application embodiment uses a first temperature sensor to detect the first temperature value when the flowing medium flows into the heating module during a single heating process. It calculates the flow delay time required for the flowing medium to leave the heating module and selects at least one reference temperature value from historical temperature data based on the flow delay time. It judges the temperature change trend data based on the currently received first temperature value and the obtained reference temperature value, and determines the heating power of the heating module based on the preset target outflow temperature and temperature change trend data. Therefore, it avoids the overshoot or undershoot phenomenon that occurs when related control algorithms control based on the assumed constant inlet water temperature. Since the heating power is determined based on the temperature change trend, predictive temperature control can be achieved, effectively overcoming the control lag problem and significantly improving the response speed and control accuracy of temperature regulation.

[0068] This application embodiment also provides a temperature controller applied to a temperature control system. The temperature control system further includes: a heating module and a first temperature sensor. The heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module. The temperature controller includes: a memory and a processor. The memory is configured to store an executable program. The processor is configured to read and execute the executable program to perform the temperature control method described in any embodiment of this disclosure.

[0069] This application also provides a water dispenser. In related technologies, instant hot water dispensers, with their advantages of not requiring repeated heating, providing hot water instantly, and being energy-efficient, have become the mainstream drinking water equipment in modern homes and offices. To improve heating efficiency, achieve continuous high-flow-rate water output, and reduce instantaneous power consumption, high-end instant hot water dispensers generally employ multi-stage heating systems. Related technologies often use a two-stage heating system. In this system, the water flow first passes through a primary preheating module (such as a heat storage tank, phase change material heat storage module, or low-power heating coil) to initially raise it to an intermediate temperature, and then enters the secondary instant heating module (usually a high-power instant heating tube) for fine heating, ultimately reaching the set temperature output. However, this system faces significant control challenges in accurately maintaining a constant water temperature: First, the outlet water temperature of the primary preheating module (i.e., the inlet water temperature of the secondary instantaneous heating module) fluctuates drastically. Due to the module's own thermal inertia, internal water temperature stratification, delayed heat replenishment, or sudden changes in user water usage patterns (such as pausing and restarting after continuous water output), its outlet water temperature is not constant and often exhibits unsteady-state changes in actual operation: it may rise sharply at the beginning of water use and drop sharply after continuous high-flow water output.

[0070] Secondly, the constant temperature control algorithms (such as simple PID control) used in instant water dispensers are based on the assumption of a stable inlet water temperature for parameter tuning, making it difficult to cope with rapidly fluctuating inlet water temperatures. This response lag and insufficient adjustment capability lead to the following problems: 1) The outlet water temperature is prone to significant overshoot (too high) or drop (too low), deviating from the set target, resulting in unstable temperatures that affect the taste of beverages (such as coffee and milk powder) and even pose a risk of scalding; 2) Frequent power adjustments to correct deviations reduce overall energy efficiency.

[0071] Therefore, the embodiments of this application improve the water dispenser, such as... Figure 3 As shown, the water dispenser of this embodiment includes: a primary preheating device 31 (corresponding to the primary preheating module mentioned above) and a secondary instant heating device 32 (corresponding to the secondary instant heating module mentioned above) connected in sequence. The primary preheating device 31 is used to preheat the incoming water to a preset intermediate temperature range, and the secondary instant heating device 32 is used to heat the incoming preheated water to a preset target outlet temperature. The secondary instant heating device 32 includes: a heating module 321, a first temperature sensor 322, and a temperature control module 323. The heating module 321 is used to heat the incoming water, the first temperature sensor 322 is used to detect a first temperature value when the water flows into the heating module, and the temperature control module 323 is used to perform the following steps: The system periodically receives the first temperature value detected by the first temperature sensor. The flow time required for water to flow from entering the heating module to leaving is calculated and used as the flow delay time. At least one first temperature value is selected from historical temperature data based on the obtained flow delay time as a reference temperature value, and the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power of the heating module is determined based on the preset target outlet water temperature and the temperature change trend data.

[0072] For example, a water dispenser can be an instant hot water dispenser.

[0073] The water dispenser provided in this application embodiment uses a first temperature sensor to detect the first temperature value when the flowing medium flows into the heating module during a single heating process. It calculates the flow delay time required for the flowing medium to leave the heating module and selects at least one reference temperature value from historical temperature data based on the flow delay time. It judges the temperature change trend data based on the currently received first temperature value and the obtained reference temperature value, and determines the heating power of the heating module based on the preset target outflow temperature and temperature change trend data. Therefore, it avoids the overshoot or undershoot phenomenon that occurs when related control algorithms control based on the assumed constant inlet water temperature. Since the heating power is determined based on the temperature change trend, predictive temperature control can be achieved, effectively overcoming the control lag problem and significantly improving the response speed and control accuracy of temperature adjustment.

[0074] The water dispenser provided in this application embodiment solves the problem of constant temperature control caused by drastic and unsteady changes in the outlet water temperature of the primary preheating module in related technologies, and designs a control scheme with real-time dynamic compensation capability. The water dispenser provided in this application embodiment ensures that even under conditions of rapid fluctuations in inlet water temperature, the final outlet water temperature can still quickly and accurately stabilize at the user-set target value, achieving true adaptive constant temperature water dispensing. Specifically, the water dispenser provided in this application embodiment, through control logic and system architecture, effectively solves the problem of constant temperature control caused by drastic fluctuations in inlet water temperature in multi-stage heating systems. Specifically, the water dispenser provided in this application embodiment provides effective solutions to the following three core problems: Firstly, there is the issue of rapid disturbance suppression. The water dispenser provided in this application breaks through the limitations of traditional control that relies solely on the temperature feedback at the outlet. By introducing real-time monitoring and analysis of the outlet water temperature of the primary preheating module, the control strategy has the ability to proactively perceive and suppress rapid inlet water temperature disturbances caused by thermal inertia, water temperature stratification, or sudden changes in water usage patterns, thereby effectively eliminating the impact of such rapid disturbances on the final water quality.

[0075] Secondly, there is the issue of coordinated control between feedforward and feedback. The water dispenser provided in this application establishes an efficient control fusion mechanism, using the real-time monitored change in the primary inlet water temperature as a key feedforward signal, which is organically coordinated with the temperature feedback signal at the outlet. By predicting and compensating for heat load changes in advance through the feedforward stage, and eliminating steady-state errors through the feedback stage, accurate prediction and dynamic correction of control commands are achieved.

[0076] Finally, there is the issue of model adaptation and robustness enhancement. The control strategy of this application has broad adaptability, can be compatible with different models with different hardware characteristics such as heat capacity and heating power, adapt to changes in different ambient temperatures, and can overcome the slight drift of system parameters caused by device aging or scaling during long-term use, thus ensuring the stability and reliability of the equipment in long-term operation.

[0077] To address the control link delay problem in related technologies, this application provides a targeted solution. This delay stems from the combined effects of actuator response lag, heat conduction time difference, and sensor inertia. This causes a misalignment between the temperature detected by the software and the actual outlet water temperature on the time axis, leading to control decision errors, resulting in significant overshoot, continuous temperature oscillations, and even, in extreme cases, runaway boiling and vaporization of the water. This application overcomes these challenges by implementing an effective delay compensation mechanism, improving the predictability and accuracy of control.

[0078] In some exemplary instances, the secondary instant heating device 32 further includes: a flow meter 324 for measuring the flow velocity of water in the heating module; the temperature control module 323 is also used to perform the following steps: Obtain the flow velocity measured by the flow meter; The required flow time for water to flow from entering the heating module to leaving the module is calculated based on the volume of the heating module and the obtained flow rate.

[0079] In some exemplary instances, the historical temperature data further includes: historical detection times corresponding to a plurality of first temperature values ​​that have been detected and stored in history; the temperature control module 323 is also configured to perform the following steps: The detection time of the currently received first temperature value is obtained, the historical detection time that is separated from the obtained detection time by the flow delay time is determined from the historical temperature set, and the first temperature value corresponding to the determined historical detection time is obtained as the reference temperature value.

[0080] In some exemplary instances, the temperature change trend data includes: the temperature difference between the received first temperature value and the obtained reference temperature value.

[0081] In some exemplary instances, the temperature control module 323 is further configured to perform the following steps: The compensation temperature is calculated based on the obtained temperature difference and the preset temperature compensation coefficient, and the control temperature is calculated based on the target outlet water temperature and the calculated compensation temperature. The heating power of the heating module is determined based on the obtained control temperature.

[0082] In some exemplary instances, the temperature control module 323 is further configured to perform the following steps: The compensated temperature is obtained by multiplying the calculated temperature difference value by a pre-set temperature compensation coefficient; wherein the temperature compensation coefficient is not less than -1 and is less than 0. The control temperature is obtained by calculating the sum of the target outflow temperature and the calculated compensation temperature.

[0083] In some exemplary instances, the secondary instant heating device 32 further includes a second temperature sensor 325, which is used to detect a second temperature value when the water leaves the heating module; the temperature control module 323 is also used to perform the following steps: After obtaining the control temperature, the second temperature value detected by the second temperature sensor is periodically received. Based on the deviation between the control temperature and the second temperature value, the heating power of the heating module is calculated using a PID control algorithm.

[0084] This application also provides a temperature control method for an instant hot water dispenser, such as... Figure 4 As shown, it includes the following steps: Step 400: Real-time Data Acquisition This step aims to obtain the basic physical quantities required for system control. Specifically, it includes: continuously monitoring and recording the inlet water temperature, denoted as T_in, using a temperature sensor installed at the inlet of the secondary instant heating module; acquiring the water flow velocity in real time, denoted as F, using a flow meter installed in the water supply pipeline; and storing the internal volume V of the instant heating pipe body in the system, which is a known fixed structural parameter.

[0085] Step 401: Calculate the water flow transmission delay time This step, based on fluid mechanics principles, calculates the time required for water to flow through the instant heating pipe. Specifically, it includes calculating the transmission delay time, denoted as t_delay, required for water to flow from the inlet to the outlet of the instant heating pipe, based on the real-time flow velocity F and the instant heating pipe volume V. The formula is: t_delay = V / F. The physical meaning of this delay time is that the water temperature currently measured at the inlet of the instant heating pipe will affect the temperature at the outlet after t_delay seconds.

[0086] Step 402: Calculate the rate of change of inlet water temperature (feedforward signal generation) This step aims to generate a feedforward signal reflecting the trend of inlet water disturbance. Specifically, it includes: using the delay time t_delay calculated in step 401, accessing the stored historical inlet water temperature data, and calculating the difference between the current inlet water temperature T_in(current) and the inlet water temperature T_in(current - t_delay) seconds ago. This difference is the change in inlet water temperature within the delay time window, denoted as ΔT_in. It directly reflects the magnitude and direction of the disturbance that will affect the outlet water temperature. Its calculation formula is: ΔT_in = T_in(current) - T_in(current - t_delay). If ΔT_in > 0, it indicates that the inlet water temperature is rising, and hotter water will soon reach the outlet; if ΔT_in < 0, it indicates that the inlet water temperature is falling.

[0087] Step 403: Generate feedforward-feedback composite temperature setpoint This step fuses the feedforward signal with the target setpoint to generate a dynamic target temperature. Specifically, it involves adding the inlet water temperature change ΔT_in obtained in step 402 as a direct compensation term to the user-set target outlet water temperature T_set, thereby generating a dynamic target temperature setpoint, denoted as T_target'. The calculation formula is: T_target' = T_set + K * ΔT_in. Here, K is an adjustable feedforward compensation coefficient, typically negative, used to achieve reverse compensation for inlet water disturbances.

[0088] This step effectively "counters" the inflow disturbance at the setpoint level, which is key to improving control performance.

[0089] Step 404: Closed-loop constant temperature control This step performs the final heating power adjustment. Specifically, it includes: using the dynamic target temperature T_target' generated in step 403 as the setpoint and the real-time monitored actual outlet water temperature T_out as the feedback value, a closed-loop control algorithm (such as proportional-integral-derivative algorithm, PID) is used to calculate and output the real-time heating power of the instant heating module, denoted as P_heater. The control law can be expressed as: P_heater = PID(T_target', T_out). Since T_target' already contains the prediction information of future disturbances, the PID controller does not need to passively respond to drastic temperature fluctuations, but only needs to make fine adjustments for small deviations, thereby greatly improving the system's stability, response speed, and control accuracy.

[0090] The temperature control method for an instant water dispenser provided in this application uses the real-time rate of change of the inlet water temperature as a feedforward signal to compensate for its impact on the outlet water temperature in advance. This achieves precise control that "counteracts" inlet water temperature disturbances. By calculating in real time the time required for the water to flow from the inlet to the outlet of the instant heating pipe (i.e., the transmission delay time), the instant water dispenser can use this time difference to detect the inlet water temperature change trend that will affect the outlet water temperature in advance. Through the feedforward control channel, the heating power of the instant heating pipe is adjusted in the opposite direction before the disturbance actually reaches the outlet water temperature sensor, thereby suppressing temperature fluctuations at the source. The beneficial effects of the temperature control method for an instant water dispenser provided in this application are specifically reflected in the following aspects: 1) Proactive compensation and rapid response: By calculating the physical transmission delay, the inlet water temperature disturbance is converted into a feedforward signal for early action, which fundamentally solves the problem of lag in traditional feedback control.

[0091] 2) High control precision and stable water output: During the transient process of sudden rise or fall in inlet water temperature, it can effectively suppress overshoot and drop in outlet water temperature, significantly reduce the temperature fluctuation range, and achieve true constant temperature water output.

[0092] 3) Strong adaptability: The core parameter t_delay of the method changes dynamically with the flow rate F, and can automatically adapt to different flow conditions, such as water output from large cups and small cups, and the compensation is always accurate.

[0093] 4) Low implementation cost: No need to add expensive hardware, mainly relying on software algorithm upgrades, and can be achieved using existing sensors, such as flow meters and temperature sensors, making it easy to integrate and promote in products.

[0094] 5) Good robustness: Even if system parameters, such as the efficiency of the heat pipe, drift slowly, the core feedforward compensation mechanism remains effective, mainly relying on the PID feedback loop for fine-tuning, thus enhancing the overall robustness of the system.

[0095] This application also provides a storage medium in which a computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it can implement the temperature control method as described in any of the above embodiments.

[0096] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A temperature control method, applied to a controller in a temperature control system, characterized in that, The temperature control system further includes: a heating module and a first temperature sensor, wherein the heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module; the control method includes: The system periodically receives the first temperature value detected by the first temperature sensor. The flow time required for the flowing medium to flow from entering the heating module to leaving is calculated and used as the flow delay time; at least one first temperature value is selected from historical temperature data based on the obtained flow delay time as a reference temperature value, and the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power that the heating module should use is determined based on the preset target outflow temperature and the temperature change trend data.

2. The method according to claim 1, characterized in that, The temperature control system further includes: a flow meter for measuring the flow velocity of the medium in the heating module; the calculation of the flow time required for the medium to flow from entering the heating module to leaving the module includes: Obtain the flow velocity measured by the flow meter; The required flow time for the flowing medium to flow from entering the heating module to leaving the heating module is calculated based on the volume of the heating module and the obtained flow velocity.

3. The method according to claim 1, characterized in that, The historical temperature data further includes: historical detection times corresponding to multiple first temperature values ​​detected and stored in history; the step of selecting at least one temperature value from the historical temperature value data as a reference temperature value based on the obtained flow delay time includes: The detection time of the currently received first temperature value is obtained, the historical detection time that is separated from the obtained detection time by the flow delay time is determined from the historical temperature set, and the first temperature value corresponding to the determined historical detection time is obtained as the reference temperature value.

4. The method according to claim 1, characterized in that, The temperature change trend data includes the temperature difference between the received first temperature value and the obtained reference temperature value.

5. The method according to claim 4, characterized in that, The step of determining the heating power to be used by the heating module based on the preset target outflow temperature and the temperature change trend data includes: The compensation temperature is calculated based on the obtained temperature difference and the preset temperature compensation coefficient, and the control temperature is calculated based on the target outflow temperature and the calculated compensation temperature. The heating power of the heating module is determined based on the obtained control temperature.

6. The method according to claim 5, characterized in that, The step of calculating the compensation temperature based on the obtained temperature difference and a preset temperature compensation coefficient, and calculating the control temperature based on the target outflow temperature and the calculated compensation temperature, includes: The compensated temperature is obtained by multiplying the calculated temperature difference value by a pre-set temperature compensation coefficient; wherein the temperature compensation coefficient is not less than -1 and is less than 0. The control temperature is obtained by calculating the sum of the target outflow temperature and the calculated compensation temperature.

7. The method according to claim 5, characterized in that, The temperature control system further includes: a second temperature sensor, which is used to detect a second temperature value when the flowing medium leaves the heating module; Determining the heating power of the heating module based on the obtained control temperature includes: After obtaining the control temperature, the second temperature value detected by the second temperature sensor is periodically received. Based on the deviation between the control temperature and the second temperature value, the heating power of the heating module is calculated using a PID control algorithm.

8. A temperature controller, applied in a temperature control system, characterized in that, The temperature control system further includes: a heating module and a first temperature sensor, wherein the heating module is used to heat the flowing medium, and the first temperature sensor is used to detect a first temperature value when the flowing medium flows into the heating module; the temperature control device includes: a memory and a processor, wherein the memory is configured to store an executable program; The processor is configured to read and execute the executable program to perform the temperature control method as described in any one of claims 1-7.

9. A water dispenser, characterized in that, include: A primary preheating device and a secondary instant heating device are connected in sequence. The primary preheating device preheats the incoming water to a preset intermediate temperature range, and the secondary instant heating device heats the preheated water to a preset target outflow temperature. The secondary instant heating device includes a heating module, a first temperature sensor, and a temperature control module. The heating module heats the incoming water, the first temperature sensor detects a first temperature value when the water flows into the heating module, and the temperature control module performs the following steps: The system periodically receives the first temperature value detected by the first temperature sensor. The flow time required for water to flow from entering the heating module to leaving is calculated and used as the flow delay time. At least one first temperature value is selected from historical temperature data based on the obtained flow delay time as a reference temperature value, and the temperature change trend data is determined based on the currently received first temperature value and the obtained reference temperature value. The heating power of the heating module is determined based on the preset target outlet water temperature and the temperature change trend data.

10. A storage medium, characterized in that, The device contains a computer program, which, when executed by a processor, can implement the temperature control method as described in any one of claims 1-7.

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