Constant temperature control system for water-cooled electric pump equipment based on data acquisition

Abstract

The application relates to the technical field of device control, in particular to a water-cooled electric pump device constant temperature control system based on data acquisition, which comprises a sensor arrangement module, a model establishment module and the like.The sensor arrangement module is used for arranging temperature sensors on multiple thermal partitions of a ground water-cooled frequency conversion control cabinet, and the thermal partitions at least include an inner circulation bin, an outer circulation bin, a filter bin and a wiring bin; a plurality of environmental temperature sensors are arranged at different positions of each bin of the ground water-cooled frequency conversion control cabinet to construct an environmental temperature field distribution; and the model establishment module is used for establishing a multi-partition thermal balance model of the ground water-cooled frequency conversion control cabinet.The application makes the deviation signal of a subsequent input PID controller only represent the real state of heating and cooling imbalance of each partition itself, fundamentally avoids the misadjustment and coupling oscillation among cooling branches of each partition caused by environmental side disturbance, ensures that each partition independent temperature control loop can stably converge to a target temperature, and significantly enhances temperature control precision and environmental interference resistance.

Description

Technical Field

[0001] This invention relates to the field of equipment control technology, specifically a constant temperature control system for water-cooled electric pump equipment based on data acquisition. Background Technology

[0002] With the continuous development of thermal management technology for industrial equipment, water-cooled electric pumps are increasingly widely used in nuclear power, chemical and large-scale cooling systems. The precise control of their operating temperature is directly related to the safety and energy efficiency of the equipment. Multi-zone thermal balance modeling and closed-loop PID regulation have become the mainstream means of temperature control for this type of equipment. By implementing cooling flow regulation for key areas such as the front and rear ends of the pump body, bearing housing and motor stator, independent temperature control of each zone can be achieved. However, in actual industrial sites, the ambient temperature field around the equipment often exhibits significant spatial non-uniformity. Factors such as airflow direction, radiation from nearby heat sources and plant ventilation result in different environmental heat loads on the outer surfaces of each zone, and this external disturbance will change dynamically with the operating conditions.

[0003] Traditional control systems typically ignore the asymmetry of ambient temperature distribution and directly input the temperature deviation of each zone into the PID controller. They fail to effectively separate common disturbances from the environment from changes in internal heat load, causing environmental fluctuations to be superimposed on the deviation signals of each zone through thermal radiation and convection coupling, resulting in misregulation and oscillation between multiple loops and a decrease in temperature control stability.

[0004] Meanwhile, the thermal resistance, thermal capacity and partition coupling coefficients in the existing thermal balance model are mostly set based on design manuals or factory experience values, lacking a pre-calibration mechanism that takes into account the actual assembly contact state and cooling channel characteristics. As the running time increases or the coolant conditions change, the model parameters deviate from the real physical characteristics, resulting in systematic deviations in the real-time calculation of heat generation power, conduction heat flow and heat carried away by cooling. The PID control command cannot accurately match the actual heat load requirements. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a constant temperature control system for water-cooled electric pump equipment based on data acquisition, comprising: The sensor deployment module is used to install temperature sensors on multiple thermal zones of the ground-cooled inverter control cabinet. Each thermal zone includes at least an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment. Multiple ambient temperature sensors are installed at different locations in each compartment of the ground-cooled inverter control cabinet to construct the ambient temperature field distribution. The model building module is used to build a multi-zone thermal balance model of the ground water-cooled frequency converter control cabinet. The multi-zone thermal balance model includes thermal conduction coupling terms between zones, heat carried away by the coolant in each zone, and thermal disturbance terms of the environment to each zone. The thermal zoning module is used to collect data in real time through temperature sensors and coolant flow sensors in each zone to determine the thermal resistance, thermal capacity and thermal coupling coefficient of each zone in the multi-zone thermal balance model. The heat load calculation module is used to calculate the difference in asymmetric environmental heat load borne by each thermal zone based on the distribution of the ambient temperature field, and to estimate the distribution coefficient matrix of environmental thermal disturbance on each zone using the temperature change data of each zone. The decoupling transformation module is used to perform environmental disturbance decoupling transformation on the temperature deviation signal of each partition according to the allocation coefficient matrix, so as to obtain the independent temperature deviation signal of each partition after removing the common environmental disturbance; The adjustment command module is used to input the independent temperature deviation signals of each zone into the corresponding PID controller, generate the coolant flow adjustment command for each zone, and apply it to the flow adjustment mechanism of the corresponding cooling branch of each zone, so that the cooling branch of each zone independently compensates for the internal heat load changes of its zone.

[0006] Preferably, multiple ambient temperature sensors are installed at different locations in each compartment of the ground-cooled inverter control cabinet to construct an ambient temperature field distribution, including: At least four ambient temperature sensors are arranged at preset angle intervals along the circumference of the compartment of the ground water-cooled frequency converter control cabinet, and at least one ambient temperature sensor is arranged on the inner wall of the top and bottom of the control cabinet. Each ambient temperature sensor collects the ambient air temperature at its location in real time and sends the temperature data and corresponding location identifier to the control unit. The control unit performs spatial interpolation on ambient temperature data from all directions to generate the ambient temperature field distribution of the ground-cooled frequency converter control cabinet compartment. The ambient temperature field distribution is used to characterize the differences in ambient temperature experienced by the equipment in different locations.

[0007] Preferably, a multi-zone thermal balance model for the ground-cooled water-cooled frequency converter control cabinet is established, including: The ground-cooled frequency converter control cabinet is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment according to its structure, and a heat balance equation is established for each compartment. For each zone, establish the relationship between its temperature change rate and the internal heat generation power of the zone, the heat carried away by the coolant, the heat transfer of adjacent zones, and the amount of environmental heat disturbance. The heat transfer between adjacent zones is determined by multiplying the temperature difference between adjacent zones by the heat transfer coefficient. The heat carried away by the coolant is determined by multiplying the coolant flow rate by the specific heat capacity by the inlet and outlet water temperature difference. The environmental thermal disturbance is determined by multiplying the temperature difference between the ambient temperature and the zone surface temperature by the equivalent heat transfer coefficient.

[0008] Preferably, the ground-cooled water-cooled frequency converter control cabinet is structurally divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment, and a heat balance equation is established for each compartment, including: Obtain a three-dimensional structural model of the ground water-cooled frequency converter control cabinet. Based on the distribution of the heat-generating components inside the equipment and the direction of the coolant flow channel, the equipment is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment along the axial direction. A lumped parameter heat balance equation is established for each partition. The left side of the equation is the product of the partition's equivalent heat capacity and the rate of temperature change, while the right side of the equation is the internal heat generation power of the partition minus the heat carried away by the coolant, the heat transfer between adjacent partitions, and the environmental heat disturbance.

[0009] Preferably, for each zone, the relationship between its temperature change rate and the heat generation power within the zone, the heat carried away by the coolant, the heat transfer between adjacent zones, and the environmental thermal disturbance is established, including: The real-time electrical power of each heat-generating component within the partition is obtained, and the sum of the power of each heat-generating component is taken as the internal heat-generating power of the partition. Obtain the real-time coolant flow rate of the zoned cooling branch, as well as the coolant inlet and outlet temperatures of the zone. Calculate the heat carried away by the coolant in the zone based on the coolant flow rate, coolant specific heat capacity, and inlet / outlet temperature difference. Get the real-time temperature of each partition adjacent to the partition, and calculate the amount of heat conduction from the partition to each adjacent partition based on the equivalent thermal conduction between the partition and each adjacent partition. The sum of the amount of heat conduction from the partition to all adjacent partitions is taken as the amount of heat conduction between the partition and the adjacent partitions. The real-time ambient temperature at the outer surface of the partition is obtained. Combined with the equivalent heat transfer area and surface heat transfer coefficient of the outer surface of the partition, the heat transfer between the partition and the surrounding environment is calculated as the environmental thermal disturbance of the partition. Establish the lumped parameter thermal balance relationship of the partition, so that the product of the equivalent heat capacity of the partition and the rate of temperature change is equal to the internal heat generation power of the partition minus the heat carried away by the coolant of the partition, the heat transfer between adjacent partitions of the partition, and the environmental thermal disturbance of the partition.

[0010] Preferably, data is collected in real time by temperature sensors and coolant flow sensors in each zone to determine the thermal resistance, heat capacity, and thermal coupling coefficient of each zone in the multi-zone thermal balance model, including: Before the ground-cooled frequency converter control cabinet is put into operation, a known step heat load is applied to each zone, and the temperature response curve is recorded by the temperature sensor of each zone. Using the temperature response curves of each zone, the equivalent thermal resistance and equivalent heat capacity of each zone are identified by the least squares method. The thermal coupling coefficient between adjacent zones is calculated by changing the heat load of a zone and monitoring the temperature changes of adjacent zones.

[0011] Preferably, based on the ambient temperature field distribution, the difference in asymmetric ambient heat load borne by each thermal zone is calculated, including: Obtain ambient temperature values ​​at various locations within the ambient temperature field distribution; For each thermal zone, the ambient temperature value at the outer surface of the zone is extracted, and the ambient heat load borne by the zone is calculated by combining the effective heat transfer area and surface heat transfer coefficient of the outer surface of the zone. The environmental heat load of each thermal zone is compared pairwise to obtain the difference in environmental heat load between each thermal zone.

[0012] Preferably, using temperature change data for each zone, the distribution coefficient matrix of environmental thermal disturbance on each zone is estimated, including... During normal equipment operation, keep the coolant flow rate of each zone constant and obtain the time series of temperature changes in each zone; Joint blind source separation is performed on the temperature change time series of each zone, and the temperature change signal of each zone is decomposed into environmental common disturbance source and internal heat load change source; Based on the separation results, the contribution ratio of environmental disturbance sources to the temperature change signal of each zone is calculated, and the allocation coefficient matrix of environmental thermal disturbance to each zone is constructed.

[0013] Preferably, based on the allocation coefficient matrix, the temperature deviation signal of each partition is subjected to environmental disturbance decoupling transformation to obtain the independent temperature deviation signal of each partition after removing common environmental disturbances, including: Obtain the real-time temperature deviation signal for each partition. The temperature deviation signal is the difference between the actual temperature and the target temperature of each partition. The deviation vector composed of temperature deviation signals from each zone is linearly transformed using the inverse of the allocation coefficient matrix. After transformation, independent temperature deviation signals for each partition are obtained. The coupling effects of environmental common disturbances on each partition have been removed from the independent temperature deviation signals.

[0014] Preferably, the independent temperature deviation signals of each zone are input into the corresponding PID controller to generate coolant flow regulation commands for each zone, including: Each thermal zone is configured with an independent PID controller, and the independent temperature deviation signal of each zone is input to the corresponding PID controller; Each PID controller performs calculations on the independent temperature deviation signal based on the proportional, integral, and derivative elements to obtain the proportional control component, integral control component, and derivative control component, respectively. The proportional, integral, and derivative control components are summed to generate the coolant flow control command for the corresponding zone. The coolant flow rate regulation command is used to control the coolant flow rate in a zone to compensate for changes in the zone's internal heat load.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention constructs the spatial ambient temperature field distribution around the equipment, and combines blind source separation technology to decompose the measured temperature fluctuation of each zone into environmental common disturbance source and internal heat load change source, and then calculates the differential allocation coefficient matrix of environmental disturbance for each zone; using the inverse matrix of this matrix to perform linear decoupling transformation on the real-time temperature deviation vector, it can accurately remove the false temperature drift component caused by external factors such as asymmetric airflow and uneven heat radiation from the original deviation of each zone; this makes the deviation signal input to the PID controller only represent the real state of the internal heating and cooling imbalance of each zone, fundamentally avoiding the misadjustment and coupling oscillation between the cooling branches of each zone caused by environmental disturbance, ensuring that the independent temperature control loop of each zone can be stably converged to the target temperature, and the temperature control accuracy and anti-environment interference capability are significantly enhanced; (2) This invention applies a known step heat load to each zone and records the temperature response curve. It accurately identifies the equivalent thermal resistance and equivalent heat capacity of each zone from the measured response. Then, it determines the thermal coupling coefficient through a disturbance experiment between adjacent zones. This offline identification process calibrates the heat capacity, thermal resistance and coupling coefficient in the thermal balance model from theoretical design values ​​to real parameters consistent with the actual assembly state, material contact thermal resistance and cooling channel characteristics. This enables the multi-zone thermal balance model to have accurate physical property support when calculating the heat generation power, heat carried away by cooling and heat conduction of each zone in real time. This pre-calibration mechanism effectively avoids temperature prediction deviation caused by model parameter mismatch. It provides a highly reliable numerical benchmark for the generation of coolant flow regulation commands, enabling the control system to achieve accurate compensation of the internal heat load of the zone in the entire operating range. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall system architecture in one embodiment of the present invention; Figure 2 This is a schematic diagram of the steps involved in the distribution of the ambient temperature field in one embodiment of the present invention; Figure 3 This is a schematic diagram of the steps of a multi-zone thermal balance model in one embodiment of the present invention.

[0017] In the diagram: 1. Sensor deployment module; 2. Model building module; 3. Thermal zoning module; 4. Heat load calculation module; 5. Decoupling transformation module; 6. Adjustment command module. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1, please refer to Figures 1-3 This invention provides a technical solution: a constant temperature control system for water-cooled electric pump equipment based on data acquisition, comprising: Sensor deployment module 1 is used to install temperature sensors on multiple hot zones of the ground water-cooled inverter control cabinet. The hot zones include at least an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment. Multiple ambient temperature sensors are installed at different locations in each compartment of the ground water-cooled inverter control cabinet to construct an ambient temperature field distribution.

[0020] Among them, the thermal zone temperature sensor is used to capture the temperature rise changes of key parts of the equipment during operation, and the ambient temperature sensor is used to sense the airflow disturbance and thermal radiation effects in the external space of the equipment. Together, they provide a spatial dimension temperature data basis for subsequent thermal status assessment.

[0021] For example, based on the layout of power devices and the direction of cooling air ducts inside the control cabinet, the internal space is divided into four independent thermal zones: an inner circulation zone, an outer circulation zone, a filter zone, and a wiring zone. In each zone, a patch-type platinum resistance temperature sensor is fixed on the surface of key heat-generating components and along the return air path, ensuring that the sensor's sensitive head is in close contact with the measured surface and coated with thermally conductive silicone grease. For the external environment, rod-shaped thermistor sensors are installed at the center of the front door, rear door, left side panel, right side panel, and top cover of the cabinet. Each sensor probe extends a predetermined distance from the cabinet surface and is fitted with a sunshade to eliminate the influence of cabinet wall radiation and airflow disturbance. All sensor leads converge into an analog acquisition terminal with an isolated channel. The module synchronously records the three-dimensional installation coordinates of each sensor and generates a discrete temperature field node matrix inside and outside the cabinet based on an inverse distance weighted interpolation algorithm, thus providing a spatially continuous temperature distribution basis for subsequent thermal balance analysis and fault early warning.

[0022] For example, A1, at least four ambient temperature sensors are arranged at preset angle intervals along the circumference of the compartment of the ground-cooled inverter control cabinet, and at least one ambient temperature sensor is arranged on the inner wall of the top and bottom of the control cabinet; A2, each ambient temperature sensor collects the ambient air temperature at its location in real time and sends the temperature data and corresponding location identifier to the control unit; A3, the control unit performs spatial interpolation on the ambient temperature data at each location to generate the ambient temperature field distribution of the compartment of the ground-cooled inverter control cabinet, and the ambient temperature field distribution is used to characterize the difference in ambient temperature experienced by the equipment at different locations.

[0023] In this embodiment, four armored platinum resistance thermometers are fixed at 90-degree intervals at the center height of the inner walls of the front door, rear wall, left side wall, and right side wall on the horizontal projection circumference of the cabinet. Simultaneously, a flat-surface thermistor is installed in the center area of ​​the inner wall of the cabinet top and bottom. All sensor probes are fitted with metal protective mesh covers to prevent condensation dripping from affecting the sensor. Each sensor is connected to a multi-channel analog-to-digital converter (ADC) acquisition module via an independent shielded compensation wire. The module has a built-in cold junction compensation circuit and reads the resistance value of each channel sequentially at a rate of twice per second, converting it to Celsius temperature. The temperature values ​​are then assembled with the corresponding orientation codes into a fixed... Fixed-length data frames are pushed to the control unit in real time via industrial Ethernet. The control unit uses the three-dimensional installation coordinates of each sensor as interpolation nodes and employs the radial basis function of thin plate splines to perform two-dimensional spatial fitting of the longitudinal height and horizontal azimuth angle inside the cabinet. By iteratively solving the interpolation coefficients, the mean square error is reduced to below the preset threshold. Finally, the temperature distribution matrix of the longitudinal and horizontal sections inside the cabinet is output. This matrix clearly shows the warm zone formed by the accumulation of hot air at the top, the cold zone formed by the retention of cold air at the bottom, and the asymmetric temperature difference on each circumferential wall surface caused by external heat radiation or differences in the layout of internal power devices. This provides a quantitative basis for optimizing the heat dissipation duct and setting the temperature warning threshold.

[0024] Model building module 2 is used to build a multi-zone thermal balance model of the ground water-cooled frequency converter control cabinet. The multi-zone thermal balance model includes thermal conduction coupling terms between zones, heat carried away by the coolant in each zone, and thermal disturbance terms of the environment to each zone.

[0025] Among them, the heat conduction coupling term between each zone is used to quantify the heat transfer caused by temperature gradient in adjacent areas, the heat carried away by the coolant reflects the convective heat transfer effect between the fluid and the solid wall in the cooling channel, and the environmental thermal disturbance term characterizes the unsteady-state effect of external air temperature fluctuations on the thermal boundary conditions of the equipment surface.

[0026] For example, the structural design parameters and material property library of the ground-cooled inverter control cabinet are read. The internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment of the control cabinet are simplified into lumped parameter thermal nodes. The equivalent thermal resistance is calculated based on the actual contact area and heat conduction path length between each node, and a thermal conduction connection matrix between the nodes is constructed. At the same time, the real-time mass flow rate and inlet temperature of the coolant are obtained from the flow meter and inlet temperature sensor. Combined with the cross-sectional shape and wall roughness of the cooling channels inside each zone, the convective heat transfer coefficient of the wall of each zone is calculated using the empirical formula of forced convection heat transfer. Thus, the amount of coolant carried away from each zone is obtained. The heat flow rate is calculated; then, the ambient temperature field module is requested to obtain the current three-dimensional temperature grid data of the equipment periphery, and the composite heat transfer coefficient of natural convection and long-wave radiation is superimposed on the orientation and area of ​​the outer surface of each zone to calculate the additional thermal disturbance power of the ambient temperature on the surface of each zone; all the above heat contribution items are combined into an algebraic equation system about the temperature variables of each zone according to the energy conservation relationship, and the system is solved repeatedly in each time step until the temperature residual of each zone is less than the set threshold. Finally, the steady-state or transient equilibrium temperature of each thermal zone under the current operating condition is output, providing a quantitative basis for subsequent thermal safety assessment and cooling regulation commands.

[0027] For example, B1, the ground water-cooled inverter control cabinet is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment according to its structure, and a heat balance equation is established for each compartment; B2, for each compartment, the relationship between its temperature change rate and the internal heat generation power of the compartment, the heat carried away by the coolant, the heat transfer of adjacent compartments, and the environmental heat disturbance is established; B3, the heat transfer of adjacent compartments is determined by multiplying the temperature difference between adjacent compartments by the heat transfer coefficient, the heat carried away by the coolant is determined by multiplying the coolant flow rate by the specific heat capacity by the inlet and outlet water temperature difference, and the environmental heat disturbance is determined by multiplying the temperature difference between the ambient temperature and the surface temperature of the compartment by the equivalent heat transfer coefficient.

[0028] In this embodiment, the system automatically identifies four regions within the control cabinet—the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment—based on the three-dimensional assembly model of the water-cooled electric pump. A temperature state variable is set for each region, and the density and specific heat capacity of the corresponding materials, as well as the region's volume, are read to calculate the heat capacity of each zone. During each sampling period, the current temperature is obtained from thermocouples attached to the surface of each zone, the flow rate and temperature difference are obtained from flow meters and inlet / outlet temperature sensors in the coolant circuit, and the ambient temperature value at the corresponding location outside the equipment is obtained from the ambient temperature field module. Subsequently, the system multiplies the temperature difference between adjacent zones at the previous moment by the equivalent thermal conductivity at their contact interface. The conductive heat flow is obtained; the carried heat power is obtained by multiplying the coolant flow rate, specific heat capacity, and measured inlet and outlet water temperature difference; the environmental disturbance heat load is obtained by multiplying the difference between the zone surface temperature and the ambient temperature by the composite heat transfer coefficient of the outer surface; the above four items, together with the heat generation power inside the zone calculated from the motor current and speed, are substituted into the balance relationship that the product of the temperature change rate and heat capacity of each zone is equal to the heat generation power minus the heat carried away by the coolant minus the net outflow of conductive heat minus the heat dissipation from the environment. An explicit time-progression algorithm is used to iterate step by step until the temperature change rate of all zones approaches zero, thereby obtaining the stable temperature distribution under the current operating conditions.

[0029] Furthermore, for example, a three-dimensional structural model of the ground water-cooled frequency converter control cabinet is obtained. Based on the distribution of the heat-generating components inside the equipment and the direction of the coolant flow channel, the equipment is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment along the axial direction. A lumped parameter heat balance equation is established for each compartment. The left side of the equation is the product of the equivalent heat capacity of the compartment and the rate of temperature change. The right side of the equation is the heat generation power inside the compartment minus the heat carried away by the coolant, the heat conduction of adjacent compartments, and the environmental heat disturbance.

[0030] In this embodiment, the CAD structural model of the ground-cooled inverter control cabinet is imported, and the spatial coordinates of the internal rotor, stator core, winding ends, bearing support positions, and coolant flow channels are analyzed. A three-dimensional bounding box is defined along the axial direction from the suction end to the drive end, consisting of the inner circulation chamber, outer circulation chamber, filter chamber, and wiring chamber. Based on the volume-weighted average density and specific heat capacity of the materials within each bounding box, the equivalent heat capacity is calculated. The base heating power of each zone is obtained by integrating the rated loss density distribution of the internal heating components. For each zone, the measured temperature of the current zone, the temperature of adjacent zones, and the coolant inlet temperature are read within each simulation step. The temperature, flow rate, and ambient temperature field grid data are used. Then, the heat capacity of each partition is multiplied by the difference between the current temperature and the previous temperature, and then divided by the time step to obtain the temperature change inertia term on the left. On the right, the internal heat generation power is subtracted from the convective heat dissipation calculated by the coolant flow rate and the measured inlet and outlet temperature difference, the heat conduction outflow calculated based on the equivalent thermal conductivity of adjacent temperature differences and contact areas, and finally the heat disturbance heat dissipation calculated based on the temperature difference between the partition's outer surface and the environment and the composite heat transfer coefficient. The algebraic equation is solved step by step using an implicit Euler scheme to update the temperature of each partition until all partitions meet the residual convergence criterion, and the transient temperature response at each time step is output.

[0031] Further, for example, the real-time electrical power of each heat-generating component within the partition is obtained, and the sum of the power of each heat-generating component is taken as the internal heat-generating power of the partition; the real-time coolant flow rate of the partition's cooling branch, as well as the partition's coolant inlet and outlet temperatures, are obtained, and the heat carried away by the coolant in the partition is calculated based on the coolant flow rate, coolant specific heat capacity, and inlet / outlet temperature difference; the real-time temperature of each partition adjacent to the partition is obtained, and the heat transfer from the partition to each adjacent partition is calculated based on the equivalent thermal conductivity between the partition and each adjacent partition, and the sum of the heat transfer from the partition to all adjacent partitions is taken as the heat transfer of the adjacent partitions of the partition; the real-time ambient temperature at the outer surface of the partition is obtained, and the heat transfer between the partition and the surrounding environment is calculated based on the equivalent heat transfer area and surface heat transfer coefficient of the partition's outer surface, which is taken as the ambient thermal disturbance of the partition; a lumped parameter thermal balance relationship of the partition is established, such that the product of the partition's equivalent heat capacity and temperature change rate is equal to the internal heat-generating power of the partition minus the heat carried away by the coolant in the partition, the heat transfer of the adjacent partitions of the partition, and the ambient thermal disturbance of the partition.

[0032] In this embodiment, the instantaneous power values ​​output by the motor winding current transformer and voltage transmitter are read simultaneously in each sampling cycle, and the mechanical loss power fed back by the bearing friction monitoring sensor is summed. The sum of the two is taken as the internal heat generation power of the partition. The real-time volumetric flow rate is obtained from the electromagnetic flowmeter installed in the cooling branch of the partition, and then multiplied by the coolant density and specific heat capacity. At the same time, the temperature difference is collected from the platinum resistance temperature probes at the inlet and outlet of the branch. The product of the above three quantities is taken as the heat power carried away by the coolant from the partition. The temperature value at the current moment is requested from the temperature registers of the adjacent partitions, and the temperature of the partition itself is compared with that of each adjacent partition. The difference between adjacent temperatures is multiplied by the equivalent thermal conductivity of the corresponding contact interface obtained from previous calibration, and all calculation results are summed to obtain the total heat conduction outflow. The interpolated air temperature corresponding to the center coordinate of the outer surface of the partition is extracted from the ambient temperature field module. The difference between this air temperature and the measured temperature of the partition surface is multiplied by the preset effective heat dissipation area of ​​the outer surface and the composite heat transfer coefficient of natural convection and radiation to obtain the ambient disturbance heat flow. The above four real-time values ​​are substituted into the differential form of heat capacity multiplied by temperature increment divided by time step, and the temperature state is advanced using the forward Eulerian method. The partition temperature register value is updated at the end of each calculation cycle until the entire time series ends.

[0033] The thermal zoning module 3 is used to collect data in real time through temperature sensors and coolant flow sensors in each zone to determine the thermal resistance, thermal capacity and thermal coupling coefficient of each zone in the multi-zone thermal balance model.

[0034] Among them, the zone heat capacity characterizes the heat storage capacity of the material in that zone, which is determined by a combination of volume, density and specific heat capacity. It is usually calculated in advance based on the structural dimensions and verified by the temperature rise rate during operation. Thermal resistance reflects the resistance to the transfer of heat from the heat source to the coolant or environment through conduction and convection, and is related to the contact interface state, flow channel geometry and flow velocity. The thermal coupling coefficient describes the equivalent intensity of heat interaction between adjacent zones, covering the combined effect of contact heat conduction and interstitial fluid heat transfer.

[0035] For example, a known step heating power is applied at the initial stage of cabinet startup, and the time-domain response curves of the temperature sensors in each zone are recorded. The time constant of each zone is extracted using an exponential fitting method. Combined with the initial value of the equivalent heat capacity calculated from the CAD volume, the actual online heat capacity value is obtained by reverse correction. In the steady-state operating range, the steady-state temperature difference between adjacent zones and the net heat dissipation calculated from the coolant flow rate and the inlet and outlet temperature difference during this period are collected. Based on the steady-state thermal balance relationship, the convective thermal resistance between the outer shell surface and the cooling channel of each zone, as well as the equivalent thermal resistance at the contact interface of adjacent zones, are inferred. For the thermal coupling coefficient, the measured temperature array and flow rate data recorded under multiple different operating conditions are used as input. The recursive least squares algorithm is used to identify the parameters of the thermal balance equation system so that the sum of squares of the residuals of each equation is minimized, thereby obtaining the coupling strength coefficient between adjacent zones and between the zone and the coolant. The identification results are synchronously updated to the model parameter library for subsequent use.

[0036] For example, before the ground water-cooled frequency converter control cabinet is put into operation, a known step heat load is applied to each zone, and the temperature response curve is recorded by the temperature sensor of each zone; using the temperature response curve of each zone, the equivalent thermal resistance and equivalent heat capacity of each zone are identified by the least squares method; by changing the heat load of a certain zone and monitoring the temperature change of adjacent zones, the thermal coupling coefficient between adjacent zones is calculated.

[0037] In this embodiment, with the ground-cooled inverter control cabinet in a static state where it is not running and the coolant maintains a constant flow rate, a step heating experiment is sequentially performed on the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment of the cabinet. For each target compartment, a constant current heating command with rated power is applied through the pre-embedded electric heating element inside the compartment. Simultaneously, the temperature of the compartment itself and the temperatures of all adjacent compartments are continuously collected at a sampling rate of ten times per second until the temperature change rate is less than 0.1 degrees Celsius per minute, at which point the recording ends. The collected time-temperature array is imported into the parameter identification thread, and the output error method is used for iterative search to make... The thermal resistance and thermal capacity combination that minimizes the sum of the squares of the differences between the model-predicted temperature and the actual measured temperature is used to obtain the equivalent thermal capacity of the partition and the convective thermal resistance facing the coolant and the casing. Subsequently, the coupling identification mode is switched to apply a short-time pulsed thermal load of known amplitude to the stator region of the motor, while recording the temperature increment and delay time of the bearing housing region and the rear end region of the pump body. Using the ratio of the peak temperature of the adjacent partition to the integrated heat of the source partition in the pulse response, combined with the prior estimates of their volume and thermal capacity, the equivalent thermal coupling coefficient of the contact interface is inversely derived, and the coupling coefficients between each pair of the four partitions are summarized and stored as a coupling matrix.

[0038] The heat load calculation module 4 is used to calculate the difference in asymmetric environmental heat load borne by each thermal zone based on the distribution of the ambient temperature field, and to estimate the distribution coefficient matrix of environmental thermal disturbance on each zone using the temperature change data of each zone.

[0039] Among them, the difference in asymmetric environmental heat load refers to the difference in ambient temperature in different directions due to uneven distribution of airflow direction, sunlight or nearby heat sources around the equipment, which results in a significant difference in the external heat flux density on the surface of each zone; the allocation coefficient matrix is ​​used to quantify the influence weight of the unit change in ambient temperature on the temperature change of each zone, reflecting the difference in the path of environmental disturbance to the internal areas through the thermal resistance of the outer shell.

[0040] For example, at each sampling moment, the temperature data of the three-dimensional grid around the equipment is read from the ambient temperature field module, and the interpolated ambient temperature corresponding to the center coordinates of the outer surface of the internal circulation compartment, external circulation compartment, filter compartment and wiring compartment is extracted. Combined with the equivalent heat dissipation area of ​​the outer surface of each compartment and the pre-calibrated convection-radiation composite heat transfer coefficient, the ambient heat flow rate of each compartment at the current moment is calculated one by one. Then, data vectors under multiple consecutive steady-state conditions are collected, including the measured temperature increment of each compartment, the heat carried away by the coolant and the non-uniform reading of the ambient temperature field at the surface of each compartment. The ambient temperature is used as the input excitation and the temperature deviation of each compartment is used as the output response. A four-by-four ambient disturbance distribution coefficient matrix is ​​fitted by the linear regression method, so that each element in the matrix represents the contribution ratio of the unit ambient temperature spatial gradient to the heat balance equation of each compartment. Finally, the matrix is ​​stored in the model parameter library for subsequent heat load feedforward compensation calculation.

[0041] For example, the ambient temperature values ​​in each direction of the ambient temperature field distribution are obtained; for each thermal zone, the ambient temperature value at the outer surface of the zone is extracted, and the ambient heat load borne by the zone is calculated by combining the effective heat transfer area and surface heat transfer coefficient of the outer surface of the zone; the ambient heat load of each thermal zone is compared pairwise to obtain the difference in ambient heat load between each thermal zone.

[0042] In this embodiment, within each sampling period, the interpolated ambient temperature at the geometric center point of the outer surface of each of the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment is queried from the generated ambient temperature field grid. Subsequently, the current measured surface temperature of each partition is read, and the difference is multiplied by the product of the effective heat dissipation area of ​​the outer surface of each partition and the combined heat transfer coefficient of natural convection and radiation. The ambient heat flow power received by each of the four partitions is calculated. The heat load of the internal circulation compartment is subtracted from the heat load of the external circulation compartment, filter compartment, and wiring compartment in sequence, and the absolute value is taken as the pairwise difference. At the same time, the difference between the external circulation compartment, filter compartment, and wiring compartment is calculated together to generate a set of six-dimensional asymmetric ambient heat load deviation vectors.

[0043] Furthermore, for example, during normal equipment operation, the coolant flow rate of each zone is kept constant, and the time series of temperature changes in each zone is obtained; joint blind source separation is performed on the temperature change time series of each zone, and the temperature change signal of each zone is decomposed into environmental common disturbance source and internal heat load change source; based on the separation results, the contribution ratio of environmental disturbance source to the temperature change signal of each zone is calculated, and the allocation coefficient matrix of environmental thermal disturbance to each zone is constructed.

[0044] In this embodiment, within the interval where the flow rate of each coolant branch is constant and the equipment operates stably, the temperature values ​​of four thermal zones are continuously collected at a sampling rate of once per second for 600 seconds, forming four sets of synchronous time series. The four sets of series are arranged into an observation matrix by channel, and the independent component analysis algorithm is called for iterative separation to extract two statistically independent source signal waveforms. One waveform shows slow fluctuations and simultaneously drives the temperature of all zones to change in the same direction, which is identified as the common environmental disturbance source. The other waveform only shows local spikes in some zones, which is identified as the internal heat load change source. Subsequently, for each zone, the variance contribution decomposition of the original signal total variance of the zone and the separated environmental source waveform is performed to calculate the percentage of the environmental source variance to the total variance of the zone, resulting in four percentage values. These four values ​​are arranged in sequence into a diagonal allocation coefficient matrix. Each diagonal element of the matrix corresponds to the environmental disturbance contribution ratio of the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment of the cabinet, respectively. After setting the off-diagonal elements to zero, the matrix is ​​stored in the model parameter library.

[0045] The decoupling transformation module 5 is used to perform environmental disturbance decoupling transformation on the temperature deviation signal of each partition according to the allocation coefficient matrix, so as to obtain the independent temperature deviation signal of each partition after removing the common environmental disturbance.

[0046] The decoupling transformation, based on the environmental contribution weight corresponding to each partition in the allocation coefficient matrix, removes the components caused by common environmental disturbances from the measured temperature deviation, retaining the independent deviations that are only related to the internal heating state or cooling conditions, thereby eliminating the interference of external airflow or radiation changes on the thermal state assessment.

[0047] For example, in each calculation cycle, the current amplitude of the environmental common disturbance source is read, which is output in real time by the blind source separation module; at the same time, the calibrated allocation coefficient matrix is ​​retrieved from the parameter library, and the diagonal coefficients of the internal circulation compartment, external circulation compartment, filter compartment and wiring compartment of the cabinet are extracted; for each partition, the difference between the current measured temperature of the partition and the reference temperature is taken as the original deviation, and then the product of the amplitude of the environmental disturbance source and the corresponding coefficient of the partition is subtracted. The result is the decoupled independent temperature deviation signal.

[0048] For example, the real-time temperature deviation signal of each partition is obtained, and the temperature deviation signal is the difference between the actual temperature and the target temperature of each partition; the deviation vector composed of the temperature deviation signals of each partition is linearly transformed using the inverse matrix of the allocation coefficient matrix; after transformation, the independent temperature deviation signal of each partition is obtained, and the coupling effect of environmental common disturbances on each partition has been removed from the independent temperature deviation signal.

[0049] In this embodiment, the current measured temperatures of the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment of the cabinet are read in each sampling period. The preset target temperature value is subtracted from each of them to obtain four original deviation values, which are then arranged in a fixed order to form a four-dimensional deviation vector. The inverse matrix of the previously identified allocation coefficient matrix is ​​retrieved from the parameter library. This inverse matrix is ​​a four-by-four square matrix and has been stored offline in non-volatile memory. The inverse matrix is ​​then subjected to a row and column dot product operation with the current deviation vector. For each independent deviation output value, it is the sum of the four original deviation values ​​multiplied by the corresponding row coefficients of the inverse matrix, thereby obtaining four new temperature deviation values. These four new values ​​replace the original deviations and serve as the independent temperature deviation signals at this moment after removing the coupling effects of environmental common disturbances.

[0050] The adjustment command module 6 is used to input the independent temperature deviation signal of each zone into the corresponding PID controller, generate the coolant flow adjustment command for each zone, and apply it to the flow adjustment mechanism of the corresponding cooling branch of each zone, so that the cooling branch of each zone independently compensates for the internal heat load change of its zone.

[0051] Among them, the independent temperature deviation signal is the pure internal thermal state deviation of each zone after removing environmental disturbances. The PID controller outputs a continuous adjustment amount based on the proportional, integral, and derivative components of the deviation. The flow regulation command is used to drive the electric regulating valve of each zone's cooling branch to change the opening degree. The independent compensation mechanism ensures that each zone only responds to its own internal heat load fluctuations, avoiding erroneous regulation caused by environmental crosstalk. For example, in each control cycle, the independent temperature deviation signals of the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment of the cabinet are read sequentially, and each deviation value is sent to the digital PID calculation thread with the proportional gain, integral time, and derivative time pre-tuned for the corresponding partition. The PID thread calculates the output value according to the positional algorithm, and after amplitude limiting and rate limiting processing, generates the corresponding coolant flow rate adjustment command. This command is sent to the electric regulating valve positioner at the inlet of the cooling branch of each partition in the form of a four to twenty mA current signal or pulse width modulation. The regulating valve changes the valve core stroke according to the command, increasing or decreasing the medium flow through the cooling channel of the partition, thereby changing the actual heat exchange of the partition and making the partition temperature gradually return to the target value. The four adjustment channels operate in parallel and independently in each sampling cycle, and the adjustment actions of each partition are not coupled.

[0052] For example, an independent PID controller is configured for each thermal zone, and the independent temperature deviation signal of the zone is input to the corresponding PID controller. Each PID controller performs calculations on the independent temperature deviation signal according to the proportional, integral, and derivative components to obtain the proportional control component, integral control component, and derivative control component, respectively. The proportional control component, integral control component, and derivative control component are summed to generate the coolant flow rate regulation command for the corresponding zone. The coolant flow rate regulation command is used to control the coolant flow rate of the zone to compensate for changes in the internal heat load of the zone.

[0053] In this embodiment, within each control cycle, the independent temperature deviation signals of the internal circulation compartment, external circulation compartment, filter compartment, and wiring compartment, after decoupling, are transmitted to four independently running digital PID control threads. Each thread first multiplies the current deviation by the proportional gain coefficient to obtain the proportional adjustment component, and simultaneously adds the current deviation to the historical deviation integral and multiplies it by the integral gain coefficient to obtain the integral adjustment component. Then, it multiplies the difference between the current deviation and the deviation of the previous cycle by the differential gain coefficient to obtain the differential adjustment component. Subsequently, each thread performs addition and summation on the above three components, and after upper and lower limits and rate of change constraints, generates the coolant flow rate adjustment command for that partition in this cycle. The four commands are output as analog voltage signals or pulse width modulation waveforms to the electric regulating valve actuators of the cooling branches of each partition. The regulating valves change the valve core opening according to the commands, increasing or decreasing the coolant flow rate through the flow channel of that partition, thereby independently compensating for the temperature drift caused by the internal heat load of each partition until the independent temperature deviation signal returns to zero. The four PID channels execute in parallel in each cycle without interfering with each other.

[0054] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A constant temperature control system for water-cooled electric pump equipment based on data acquisition, characterized in that, include: The sensor deployment module is used to install temperature sensors on multiple thermal zones of the ground-cooled inverter control cabinet. Each thermal zone includes at least an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment. Multiple ambient temperature sensors are installed at different locations in each compartment of the ground-cooled inverter control cabinet to construct the ambient temperature field distribution. The model building module is used to build a multi-zone thermal balance model of the ground water-cooled frequency converter control cabinet. The multi-zone thermal balance model includes thermal conduction coupling terms between zones, heat carried away by the coolant in each zone, and thermal disturbance terms of the environment to each zone. The thermal zoning module is used to collect data in real time through temperature sensors and coolant flow sensors in each zone to determine the thermal resistance, thermal capacity and thermal coupling coefficient of each zone in the multi-zone thermal balance model. The heat load calculation module is used to calculate the difference in asymmetric environmental heat load borne by each thermal zone based on the distribution of the ambient temperature field, and to estimate the distribution coefficient matrix of environmental thermal disturbance on each zone using the temperature change data of each zone. The decoupling transformation module is used to perform environmental disturbance decoupling transformation on the temperature deviation signal of each partition according to the allocation coefficient matrix, so as to obtain the independent temperature deviation signal of each partition after removing the common environmental disturbance; The adjustment command module is used to input the independent temperature deviation signals of each zone into the corresponding PID controller, generate the coolant flow adjustment command for each zone, and apply it to the flow adjustment mechanism of the corresponding cooling branch of each zone, so that the cooling branch of each zone independently compensates for the internal heat load changes of its zone.

2. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, Multiple ambient temperature sensors are installed at different locations in each compartment of the ground-cooled inverter control cabinet to construct the ambient temperature field distribution, including: At least four ambient temperature sensors are arranged at preset angle intervals along the circumference of the compartment of the ground water-cooled frequency converter control cabinet, and at least one ambient temperature sensor is arranged on the inner wall of the top and bottom of the control cabinet. Each ambient temperature sensor collects the ambient air temperature at its location in real time and sends the temperature data and corresponding location identifier to the control unit. The control unit performs spatial interpolation on ambient temperature data from all directions to generate the ambient temperature field distribution of the ground-cooled frequency converter control cabinet compartment. The ambient temperature field distribution is used to characterize the differences in ambient temperature experienced by the equipment in different locations.

3. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, Establish a multi-zone thermal balance model for the ground-mounted water-cooled inverter control cabinet, including: The ground-cooled water-cooled frequency converter control cabinet is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment according to its structure, and a heat balance equation is established for each compartment. For each zone, establish the relationship between its temperature change rate and the internal heat generation power of the zone, the heat carried away by the coolant, the heat transfer of adjacent zones, and the amount of environmental heat disturbance. The heat transfer between adjacent zones is determined by multiplying the temperature difference between adjacent zones by the heat transfer coefficient. The heat carried away by the coolant is determined by multiplying the coolant flow rate by the specific heat capacity by the inlet and outlet water temperature difference. The environmental thermal disturbance is determined by multiplying the temperature difference between the ambient temperature and the zone surface temperature by the equivalent heat transfer coefficient.

4. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 3, characterized in that, The ground-mounted water-cooled inverter control cabinet is structurally divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment. A heat balance equation is established for each compartment, including: Obtain a three-dimensional structural model of the ground water-cooled frequency converter control cabinet. Based on the distribution of the heat-generating components inside the equipment and the direction of the coolant flow channel, the equipment is divided into an inner circulation compartment, an outer circulation compartment, a filter compartment, and a wiring compartment along the axial direction. A lumped parameter heat balance equation is established for each partition. The left side of the equation is the product of the partition's equivalent heat capacity and the rate of temperature change, while the right side of the equation is the internal heat generation power of the partition minus the heat carried away by the coolant, the heat transfer between adjacent partitions, and the environmental heat disturbance.

5. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 3, characterized in that, For each zone, establish the relationship between its temperature change rate and the heat generation power within the zone, the heat carried away by the coolant, the heat transfer between adjacent zones, and the environmental thermal disturbance, including: The real-time electrical power of each heat-generating component within the partition is obtained, and the sum of the power of each heat-generating component is taken as the internal heat-generating power of the partition. Obtain the real-time coolant flow rate of the zoned cooling branch, as well as the coolant inlet and outlet temperatures of the zone. Calculate the heat carried away by the coolant in the zone based on the coolant flow rate, coolant specific heat capacity, and inlet / outlet temperature difference. Get the real-time temperature of each partition adjacent to the partition, and calculate the amount of heat conduction from the partition to each adjacent partition based on the equivalent thermal conduction between the partition and each adjacent partition. The sum of the amount of heat conduction from the partition to all adjacent partitions is taken as the amount of heat conduction between the partition and the adjacent partitions. The real-time ambient temperature at the outer surface of the partition is obtained. Combined with the equivalent heat transfer area and surface heat transfer coefficient of the outer surface of the partition, the heat transfer between the partition and the surrounding environment is calculated as the environmental thermal disturbance of the partition. Establish the lumped parameter thermal balance relationship of the partition, so that the product of the equivalent heat capacity of the partition and the rate of temperature change is equal to the internal heat generation power of the partition minus the heat carried away by the coolant of the partition, the heat transfer between adjacent partitions of the partition, and the environmental thermal disturbance of the partition.

6. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, By collecting data in real time from temperature sensors and coolant flow sensors in each zone, the thermal resistance, heat capacity, and thermal coupling coefficient of each zone in the multi-zone thermal balance model are determined, including: Before the ground-cooled frequency converter control cabinet is put into operation, a known step heat load is applied to each zone, and the temperature response curve is recorded by the temperature sensor of each zone. Using the temperature response curves of each zone, the equivalent thermal resistance and equivalent heat capacity of each zone are identified by the least squares method. The thermal coupling coefficient between adjacent zones is calculated by changing the heat load of a zone and monitoring the temperature changes of adjacent zones.

7. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, Based on the ambient temperature field distribution, the differences in asymmetric ambient heat load borne by each thermal zone are calculated, including: Obtain ambient temperature values ​​at various locations within the ambient temperature field distribution; For each thermal zone, the ambient temperature value at the outer surface of the zone is extracted, and the ambient heat load borne by the zone is calculated by combining the effective heat transfer area and surface heat transfer coefficient of the outer surface of the zone. The environmental heat load of each thermal zone is compared pairwise to obtain the difference in environmental heat load between each thermal zone.

8. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, Using temperature variation data for each zone, the distribution coefficient matrix of environmental thermal disturbance on each zone is estimated, including... During normal equipment operation, keep the coolant flow rate of each zone constant and obtain the time series of temperature changes in each zone; Joint blind source separation is performed on the temperature change time series of each zone, and the temperature change signal of each zone is decomposed into environmental common disturbance source and internal heat load change source; Based on the separation results, the contribution ratio of environmental disturbance sources to the temperature change signal of each zone is calculated, and the allocation coefficient matrix of environmental thermal disturbance to each zone is constructed.

9. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, Based on the allocation coefficient matrix, an environmental disturbance decoupling transformation is performed on the temperature deviation signals of each partition to obtain the independent temperature deviation signals of each partition after removing common environmental disturbances, including: Obtain the real-time temperature deviation signal for each partition. The temperature deviation signal is the difference between the actual temperature and the target temperature of each partition. The deviation vector composed of temperature deviation signals from each zone is linearly transformed using the inverse of the allocation coefficient matrix. After transformation, independent temperature deviation signals for each partition are obtained. The coupling effects of environmental common disturbances on each partition have been removed from the independent temperature deviation signals.

10. The constant temperature control system for water-cooled electric pump equipment based on data acquisition according to claim 1, characterized in that, The independent temperature deviation signals of each zone are input into the corresponding PID controller to generate coolant flow regulation commands for each zone, including: Each thermal zone is configured with an independent PID controller, and the independent temperature deviation signal of each zone is input to the corresponding PID controller; Each PID controller performs calculations on the independent temperature deviation signal based on the proportional, integral, and derivative elements to obtain the proportional control component, integral control component, and derivative control component, respectively. The proportional, integral, and derivative control components are summed to generate the coolant flow control command for the corresponding zone. The coolant flow regulation command is used to control the coolant flow in a zone to compensate for changes in the zone's internal heat load.

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