A method, device and system for temperature control of a heating, ventilation and air conditioning system

Abstract

The application discloses a temperature control method, device and system of a heating system, relates to the technical field of temperature control of a heating system, and comprises the following steps: obtaining a valve opening degree combination of each room corresponding heating branch when the flow of the room corresponding heating branch is consistent according to a preset mapping table, and controlling the valve opening degree of each branch according to the valve opening degree combination; the preset mapping table is a mapping table of the valve opening degree of each room corresponding heating branch and corresponding flow; in the start-up stage of the heating system, when the real-time temperature of a room is less than a preset rapid temperature rising threshold value of the room, the room enters a rapid heating stage; when the real-time temperature of the room reaches a preset slow temperature rising threshold value of the room, the room enters a slow heating stage; a temperature rising model is fitted according to recorded data; and then the room enters a constant temperature stage. The application realizes small temperature fluctuation, low energy consumption and reduced production cost in the temperature control process of the heating system.

Description

Technical Field

[0001] This invention relates to the field of heating, ventilation and air conditioning (HVAC) system technology, and in particular to a temperature control method, device and system for HVAC systems. Background Technology

[0002] Traditional underfloor heating systems control temperature by using an indoor temperature control panel to control an electric actuator, which in turn controls the flow of water in the heating pipes to provide or stop heating. When the indoor temperature exceeds a preset target temperature by a certain margin, the water flow is stopped; when the indoor temperature falls below the preset target temperature by a certain margin, the water flow is resumed. This method results in significant fluctuations in floor temperature and indoor ambient temperature, and also reduces the time the boiler operates at its optimal condition. This negatively impacts user comfort and leads to high energy consumption.

[0003] Therefore, a temperature control method, device, and system for HVAC systems were developed to solve the above problems. Summary of the Invention

[0004] This invention proposes a temperature control method, device, and system for HVAC systems to solve the problems of large temperature fluctuations and high energy consumption in existing HVAC system temperature control methods.

[0005] The present invention achieves the above objectives through the following technical solutions:

[0006] This invention discloses a temperature control method for a heating, ventilation, and air conditioning system, comprising:

[0007] During the system self-test phase, a preset mapping table is constructed. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room.

[0008] The system obtains the valve opening combination when the flow rates of each branch are consistent according to the preset mapping table. It controls the valve opening of each branch according to this valve opening combination and observes the real-time temperature changes in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than the preset threshold, it enters the rapid heating stage. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, it enters the slow heating stage. The system issues instructions to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. The system continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system. The system then fits a heating model based on the recorded data.

[0009] Then, the system enters a constant temperature phase, acquiring the latest indoor temperature of each room in real time. During this phase, the valve opening and water pump speed are maintained based on the parameters from the end of the slow heating phase. When the real-time indoor temperature changes, or when, based on internet weather data, it becomes necessary to compensate for changes in indoor temperature caused by changes in outdoor temperature, the valve opening, water pump speed, and water supply temperature of each branch are re-determined according to the heating model and a preset mapping table.

[0010] Furthermore, the mapping table is constructed during the system self-test phase. This self-test phase is only performed before the initial operation of the HVAC system or during the calibration process. The method for constructing the mapping table is as follows:

[0011] Start the system to supply water to each branch;

[0012] The flow rate and valve opening of each branch are measured and recorded in real time using a flow meter.

[0013] A mapping table is constructed based on the ratio of the flow rate of each branch to the total flow rate measured in real time, and the corresponding valve opening.

[0014] Furthermore, the preset mapping table is stored in the master controller.

[0015] Furthermore, the system acquires the supply water temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening degree of the branch circuit, and temperature change rate during the start-up phase of the HVAC system at preset time intervals.

[0016] Furthermore, the outdoor temperature is the outdoor temperature obtained from weather data released by the meteorological department via the Internet.

[0017] Furthermore, the latest real-time indoor temperature of each room is obtained, and the required flow rate and temperature of each branch are recalculated based on the heating model and a preset mapping table, and adjustments are implemented, including:

[0018] Get the latest real-time indoor temperature;

[0019] Compare the latest real-time indoor temperature, rapid temperature rise threshold, and slow temperature rise threshold;

[0020] Based on the comparison results, determine the adjustment stage of the latest real-time indoor temperature in the heating model, and control the pump speed, valve opening of each branch, and water supply temperature of the wall-hung boiler according to the heating model.

[0021] Furthermore, the heating model includes a time-temperature data curve fitted based on the recorded data and the data recorded for each stage of the time-temperature data curve.

[0022] Furthermore, it also includes calculating the temperature rise rate based on the temperature rise model, predicting the indoor temperature change trend in the future based on the temperature rise rate, adjusting the temperature in advance based on weather data to compensate for the impact of weather changes on indoor temperature, and overlaying the newly recorded change data onto the original data to refit and update the temperature rise model.

[0023] The present invention also provides an apparatus for a temperature control method for a heating, ventilation, and air conditioning system, comprising:

[0024] The self-test module is used to build a preset mapping table during the system self-test phase. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room.

[0025] The heating module is used to obtain the valve opening combination corresponding to the required flow rate of each branch according to a preset mapping table. Based on this valve opening combination, it controls the valve opening of each branch and observes the real-time temperature change in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than a preset threshold, it enters the rapid heating stage. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, it enters the slow heating stage and issues instructions to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. It continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system, and fits a heating model based on the recorded data.

[0026] The thermostat module is used to obtain the latest real-time indoor temperature of each room when the thermostat phase begins. When the real-time indoor temperature changes, or when the indoor temperature changes due to changes in outdoor temperature need to be compensated in advance based on Internet weather data, the valve opening degree of each branch, the speed of the water pump, and the water supply temperature of the wall-hung boiler are re-determined according to the heating model and the preset mapping table.

[0027] The present invention also provides a system for a temperature control method for a heating, ventilation, and air conditioning system, further comprising:

[0028] The server is used to store the recorded data, calculate the heating model, update the heating model, and send the updated heating model to each master controller.

[0029] The main controller, the user-end main controller, is used to receive the heating model and send control commands to the water pump controller, temperature acquisition unit and stepper actuator according to the heating model.

[0030] The beneficial effects of this invention are as follows:

[0031] The present invention proposes a temperature control method, device and system for HVAC systems. Through the construction of a heating model, it achieves small temperature fluctuations and low energy consumption during the temperature control process of the underfloor heating system. Furthermore, it eliminates the need for a built-in flow meter during the control process, thereby reducing manufacturing costs. Attached Figure Description

[0032] Figure 1 This is a flowchart of a temperature control method for a heating, ventilation, and air conditioning system according to this application;

[0033] Figure 2 This is a schematic diagram of the temperature-time data fitting curve of the heating model in this application;

[0034] Figure 3 This refers to the data recorded at each stage of the heating model in this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] like Figure 1 As shown, the present invention provides a temperature control method for a heating, ventilation, and air conditioning system, comprising:

[0040] S1: During the system self-test phase, a preset mapping table is constructed. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room.

[0041] S2: Obtain the valve opening combination when the flow rate of each branch is consistent according to the preset mapping table. Control the valve opening of each branch according to this valve opening combination and observe the real-time temperature change in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than the preset threshold, the rapid heating stage is entered. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, the slow heating stage is entered. Instructions are issued to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. The system continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system. The system fits the heating model according to the recorded data. The fitting method is specifically a univariate or multivariate polynomial regression method.

[0042] S3: Then, the constant temperature stage is entered, the latest real-time indoor temperature of each room is obtained, and the valve opening degree of each branch, the speed of the water pump and the water supply temperature of the wall-hung boiler are re-determined according to the heating model and the preset mapping table.

[0043] When the system starts up again, it is no longer required to operate under the condition that the flow rate of each branch is equal. Instead, based on the temperature rise model fitted after the initial startup and factors such as the temperature rise rate of each branch, the flow rate is reasonably allocated, and an optimized scheme with a faster overall temperature rise rate is adopted.

[0044] For example, obtain the current indoor real-time temperature T_now and outdoor temperature T_out;

[0045] Substitute T_now into the room's temperature rise model to calculate the predicted temperature T_pred at a future time Δt (e.g., 15 minutes from now), assuming the current operating parameters remain unchanged.

[0046] If |T_pred-T_target|>0.5℃ (allowable deviation of target temperature), then the required change in target heat supply is inferred from the slope (heating rate) of the heating model, and then the target flow rate Q_target required for this branch is calculated.

[0047] Query the preset mapping table to find the valve opening value corresponding to the branch under the target flow rate Q_target, and output the opening command;

[0048] After determining the required valve opening for each branch, the value with the largest flow demand among all branches is taken as the basis to determine the final speed of the water pump; at the same time, the required water supply temperature of the wall-hung boiler is calculated based on the supply water temperature and return water temperature difference corresponding to this stage in the heating model.

[0049] In one embodiment, the system self-test phase is performed only during the initial operation or calibration of the HVAC system, and the method for constructing the mapping table is as follows:

[0050] During the self-check phase before system startup, water is supplied to each branch.

[0051] The flow rate and valve opening of each branch are measured and recorded in real time using a flow meter.

[0052] The ratio of the flow rate of each branch to the total flow rate is calculated based on the real-time measured flow rate of each branch.

[0053] A pre-defined mapping table is constructed based on the flow rate of each branch and the corresponding valve opening.

[0054] In one embodiment, a preset mapping table is stored in the master controller.

[0055] In one embodiment, the supply water temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening degree of the branch circuit, and temperature change rate of the HVAC system during the start-up phase are acquired at preset time intervals.

[0056] In one embodiment, the outdoor temperature is the outdoor temperature obtained from weather data released by the meteorological department via the Internet.

[0057] In one embodiment, the latest real-time indoor temperature of each room is obtained, and the required flow rate and temperature of each branch are recalculated based on the heating model and a preset mapping table, and adjustments are implemented, including:

[0058] Get the latest real-time indoor temperature;

[0059] Compare the latest real-time indoor temperature, rapid temperature rise threshold, and slow temperature rise threshold;

[0060] Based on the comparison results, determine the adjustment stage of the latest real-time indoor temperature in the heating model, and control the pump speed, valve opening of each branch, and water supply temperature of the wall-hung boiler according to the heating model.

[0061] In one embodiment, the heating model includes a time-temperature data curve fitted based on the recorded data and the data recorded for each stage of the time-temperature data curve.

[0062] In one embodiment, the method further includes calculating the heating rate based on the heating model, predicting the indoor temperature change trend over a period of time based on the heating rate, adjusting the temperature in advance based on weather data to compensate for the impact of weather changes on the indoor temperature, and overlaying the newly recorded change data onto the original data to refit and update the heating model.

[0063] In one embodiment, when the real-time temperatures of different rooms are in the rapid heating, slow heating, or constant temperature stage, the system adopts a collaborative control strategy of "global water supply parameters meeting maximum demand, and branch valves being adjusted independently": the water supply temperature of the wall-hung boiler is determined by the room currently in the rapid heating stage with the highest required temperature; the pump speed (total flow rate) is determined by the sum of the flow rates corresponding to the current required opening degree of all branches, and rounded up to the nearest speed level. The stepper actuators of each room branch independently execute the valve opening commands for their respective stages. Under the condition that the total water supply temperature and the total pump power meet the maximum demand, branches in the slow heating or constant temperature stage actively reduce the opening degree of their own valves to reduce the actual heat entering the room and avoid local overheating.

[0064] In one embodiment, the present invention also provides an apparatus for a temperature control method for a heating, ventilation, and air conditioning system, comprising:

[0065] The self-test module is used to build a preset mapping table during the system self-test phase. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room.

[0066] The heating module is used to obtain the valve opening combination when the flow rate of each branch is consistent according to the preset mapping table. Based on this valve opening combination, it controls the valve opening of each branch and observes the real-time temperature change in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than the preset threshold, it enters the rapid heating stage. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, it enters the slow heating stage. It issues instructions to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. It continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system, and fits the heating model based on the recorded data.

[0067] The thermostat module is used to obtain the latest real-time indoor temperature of each room during the subsequent thermostat phase, and redetermine the valve opening degree, water pump speed and water supply temperature of each branch according to the heating model and the preset mapping table.

[0068] In one embodiment, the apparatus for a temperature control method for a heating, ventilation, and air conditioning (HVAC) system according to the present invention further includes a self-test module. The self-test module is used to construct the mapping table during a system self-test phase. The system self-test phase is performed only during the initial operation or calibration of the HVAC system. The method for constructing the mapping table is as follows:

[0069] During the self-check phase before system startup, water is supplied to each branch.

[0070] The flow rate and valve opening of each branch are measured and recorded in real time using a flow meter.

[0071] A mapping table is constructed based on the ratio of the flow rate of each branch to the total flow rate measured in real time, and the corresponding valve opening.

[0072] In one embodiment, the present invention also provides an apparatus for a temperature control method for a heating, ventilation, and air conditioning system, which further includes:

[0073] The server is used to store the recorded data, calculate the heating model, update the heating model, and send the updated heating model to each master controller.

[0074] The main controller, the user-end main controller, is used to receive the heating model and send control commands to the water pump controller, temperature acquisition unit and stepper actuator according to the heating model.

[0075] like Figure 2 and Figure 3 For example, the initial indoor temperature is 5℃, and the user sets the indoor temperature to 20℃. The threshold temperature is set to 3℃, meaning that the temperature rises rapidly from 5℃ to 17℃, and slowly from 17℃ to 20℃. After startup, the water supply temperature is increased, and the water pump flow rate is increased. Under this dual effect, the indoor temperature rises to 17℃ in 8 hours. The calculated temperature rise rate is (17-5) / 8 = 1.5℃ / h. Since there is still a large amount of residual heat in the heat storage layer, the heat supply is reduced at this time, consuming more of the residual heat in the heat storage layer, causing the real-time indoor temperature to rise slowly to 20℃. During the slow heating stage, the valve opening is adjusted to 20%. At the same time, depending on the room temperature of other rooms, the water supply temperature can be lowered or the water pump speed can be reduced to achieve the purpose of reducing heat supply to multiple branches simultaneously. Once the indoor temperature slowly reaches 20℃, it can be controlled according to the constant temperature stage.

[0076] The hardware components of this design consist of a server, a main controller, a water pump controller, a temperature acquisition unit, and a stepper actuator.

[0077] The main controller is responsible for storing the temperature control method of the HVAC system, receiving data from the main controller and sending data to the main controller. The main controller includes a supply and return water temperature acquisition module, a stepper actuator drive circuit and a communication module.

[0078] The water pump controller is responsible for executing the commands of the main controller and sending water supply temperature signals, including water pump control signals, temperature signals, and flow signals, and sending back feedback signals.

[0079] The temperature data acquisition unit is responsible for collecting indoor temperature and user commands.

[0080] The stepper actuator is responsible for collecting the return water temperature signal and executing the control commands of the main controller.

[0081] The server (which stores the database, processes data, identifies anomalies, generates a warming model, calculates and distributes the model, and updates the model) is responsible for processing data and distributing and correcting the model, including downloading and distributing weather data.

[0082] Before powering on, a system self-test is performed. Using devices such as flow meters, the correlation between the flow rate and valve opening of each branch in the system is collected, and a mapping table is generated and stored in the main controller.

[0083] This invention performs a self-test and characterization of the system before use, obtaining a set of system parameters. Based on these parameters, the desired total flow and branch flow can be achieved through the linkage of a variable frequency water pump and a stepper actuator. This eliminates the need for flow meters during system operation, significantly reducing system costs. By comprehensively analyzing weather data, indoor set temperature, real-time indoor temperature, supply and return water temperatures, and flow data, a heating model is established for each room. This allows for characterizing the building's insulation performance based on the building's heating rate.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A temperature control method for a heating, ventilation, and air conditioning system, characterized in that, include: During the system self-test phase, a preset mapping table is constructed. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room. The system obtains the valve opening combination when the flow rate of each branch is consistent according to the preset mapping table. It controls the valve opening of each branch according to this valve opening combination and monitors the real-time temperature change in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than the preset threshold, it enters the rapid heating stage. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, it enters the slow heating stage. It issues instructions to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. The system continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system. It then fits a heating model based on the recorded data. Then, the system enters the constant temperature stage, acquiring the latest real-time indoor temperature of each room. Based on the heating model and the preset mapping table, the valve opening degree of each branch, the water pump speed, and the water supply temperature of the wall-hung boiler are re-determined.

2. The temperature control method for a heating, ventilation, and air conditioning system according to claim 1, characterized in that, The mapping table is constructed during the system self-test phase, which is only performed during the initial operation or calibration of the HVAC system. The method for constructing the mapping table is as follows: During the self-check phase before system startup, water is supplied to each branch. The flow rate and valve opening of each branch are measured and recorded in real time using a flow meter. A mapping table is constructed based on the ratio of the flow rate of each branch to the total flow rate measured in real time, and the corresponding valve opening.

3. A temperature control method for a heating, ventilation, and air conditioning system according to claim 1 or 2, characterized in that, The preset mapping table is stored in the main controller.

4. The temperature control method for a heating, ventilation, and air conditioning system according to claim 1, characterized in that, The system acquires the supply water temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of branch circuits, and temperature change rate during the start-up phase of the HVAC system at preset time intervals.

5. A temperature control method for a heating, ventilation, and air conditioning system according to claim 1 or 4, characterized in that, The outdoor temperature mentioned is the outdoor temperature obtained from weather data released by the meteorological department via the Internet.

6. A temperature control method for a heating, ventilation, and air conditioning system according to claim 1 or 4, characterized in that, Obtain the latest real-time indoor temperature of each room, recalculate the required flow rate and temperature for each branch based on the heating model and preset mapping table, and implement adjustments, including: Get the latest real-time indoor temperature; Compare the latest real-time indoor temperature, rapid temperature rise threshold, and slow temperature rise threshold; Based on the comparison results, determine the adjustment stage of the latest real-time indoor temperature in the heating model, and control the pump speed, valve opening of each branch, and water supply temperature of the wall-hung boiler according to the heating model.

7. The temperature control method for a heating, ventilation, and air conditioning system according to claim 1, characterized in that, The heating model includes a time-temperature data curve fitted based on the recorded data and the data recorded for each stage of the time-temperature data curve.

8. A temperature control method for a heating, ventilation, and air conditioning system according to claim 1 or 7, characterized in that, It also includes calculating the temperature rise rate based on the temperature rise model, predicting the indoor temperature change trend in the future based on the temperature rise rate, adjusting the temperature in advance based on weather data to compensate for the impact of weather changes on indoor temperature, and overlaying newly recorded change data onto the original data to refit and update the temperature rise model.

9. An apparatus for a temperature control method for a heating, ventilation, and air conditioning system according to any one of claims 1-8, characterized in that, include: The self-test module is used to build a preset mapping table during the system self-test phase. The preset mapping table is a mapping table of valve opening and corresponding flow rate for each branch in each room. The heating module is used to obtain the valve opening combination when the flow rate of each branch is consistent according to the preset mapping table. Based on this valve opening combination, it controls the valve opening of each branch and observes the real-time temperature change in each room. When the real-time temperature of a room is lower than the target temperature of the room and the temperature difference between the two is greater than the preset threshold, it enters the rapid heating stage. At this time, measures are taken to control the increase of water supply temperature, increase water pump power, and increase the valve opening of the branch to make the real-time temperature of the room rise rapidly. When the real-time temperature of the room is within the threshold range of the target temperature, it enters the slow heating stage. It issues instructions to control the decrease of water supply temperature, decrease water pump power, and decrease the valve opening of the branch until the room temperature slowly rises to the user-set temperature. It continuously acquires and records the water supply temperature, return water temperature, total flow rate, outdoor temperature, real-time temperature of each room, real-time valve opening of the branch, and temperature change rate during the start-up phase of the HVAC system, and fits the heating model based on the recorded data. The thermostat module is used to obtain the latest real-time indoor temperature of each room during the subsequent thermostat phase, and redetermine the valve opening degree, water pump speed and water supply temperature of each branch according to the heating model and the preset mapping table.

10. A system for a temperature control method of a heating, ventilation, and air conditioning system according to any one of claims 1-8, characterized in that, include: The server is used to store the recorded data, calculate the heating model, update the heating model, and send the updated heating model to each master controller. The main controller, the user-end main controller, is used to receive the heating model and send control commands to the water pump controller, temperature acquisition unit and stepper actuator according to the heating model.

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