Process and heat pump system

Abstract

The invention is based on a method for controlling a heat pump system (10), wherein at least one controlled variable (56), in particular temperature, is controlled in at least one operating mode at least by means of a feedback control (52), in that a control variable curve (62) is specified by a controller (12) of a computing unit (14) to at least one actuator (16), for example a heating unit (34), as a function of at least one sensor signal (64), in particular a measured temperature. It is proposed that the feedback control (52) for controlling the controlled variable (56) is combined with a feedforward control (54), in particular for pre-controlling the controlled variable (56), in the controller (12) by combining at least one control manipulated variable curve (66) for the at least one actuator (16) determined by the feedforward control (54) with the control manipulated variable curve predetermined by the feedback control (52) to form a manipulated variable curve (62).

Description

Prior ArtA method for controlling a heat pump system has already been proposed, wherein at least one controlled variable, in particular temperature, is controlled in at least one operating mode at least by means of feed-back control, in that a control variable profile is predefined by a controller of a computing unit of at least one actuator, for example a heating unit, as a function of at least one sensor signal, in particular a measured temperature.Disclosure of the InventionThe invention is based on a method for controlling a heat pump system, wherein at least one controlled variable, in particular temperature, is controlled in at least one operating mode at least by means of feed-back control, in that a control variable profile is predefined by a controller of a computing unit of at least one actuator, for example a heating unit, as a function of at least one sensor signal, in particular a measured temperature.It is proposed that the feed-back control for controlling the controlled variable is combined with a feed-forward control, in particular for pilot controlling the controlled variable, in the controller by combining at least one control manipulated variable profile for the at least one actuator determined by the feed-forward control with the control manipulated variable profile specified by the feed-back control to form a manipulated variable profile.The embodiment of the method according to the invention advantageously makes it possible to provide a high control quality and / or operational reliability, since the controlled variable can be controlled very precisely, in particular by combining the feed-forward control with the feed-back control. Advantageously, a particularly high degree of robustness of the control can be provided, since, in particular, both additional knowledge about the controlled system to be controlled and interference variables can be taken into account by the combination of the feed-forward control with the feed-back control. Advantageously, a high control speed can be provided, since, in particular, a time duration in which a setpoint value is reached by the controlled variable can be shortened by the combination of the feed-forward control with the feed-back control.Preferably, the heat pump system comprises at least one heat pump device. Preferably, the heat pump system comprises at least one water circuit. The heat pump device is preferably designed at least as an air, water, and / or geothermal heat pump or a comparable heat pump. A plurality of heat pump devices could be interconnected to form the heat pump system, in particular in parallel and / or in series. The heat pump device preferably has at least one refrigerant circuit which is configured to absorb heat energy from ambient air and / or ambient water and / or ambient earth or the like and to transfer it to the water circuit. Alternatively, the at least one refrigerant circuit could also be configured to dissipate a thermal energy from the water circuit to the ambient air and / or ambient water and / or ambient earth. The refrigerant circuit preferably has at least one refrigerant, a throttle valve, a refrigerant pump, at least one heat exchanger, in particular evaporator or condenser, and at least one further heat exchanger, in particular evaporator or condenser, which are connected fluidically to one another. It is conceivable for the refrigerant circuit to have a plurality of branched and / or unbranched refrigerant circuits. It is conceivable that the at least one refrigerant circuit is configured to extract the heat from the environment or to discharge it to the environment in cascaded fashion, for example in a plurality of stages. It is conceivable for a plurality of refrigerant circuits to be interconnected with one another. The refrigerant circuits could be connected in parallel and / or in series. It is also conceivable for a plurality of heat pump devices to be configured to extract the heat from the environment and / or to discharge it to the environment in cascaded fashion, for example in a plurality of stages. The heat pump devices could also be arranged at different locations, for example a north side and a south side of a house. The at least one water circuit is preferably at least partially designed as a heat consumer, for example a service water circuit, in particular a service and / or operating water circuit, and / or a drinking water circuit. It is conceivable that the at least one water circuit is designed as a network of water circuits having a plurality of water circuits, in particular interconnected with one another. It is conceivable for the at least one water circuit to have at least one hot water storage tank. The heat pump system, in particular the at least one water circuit, preferably has at least one sensor unit, in particular a temperature sensor. It is conceivable that the at least one sensor unit of the heat pump system, in particular of the at least one water circuit, is designed as a pressure sensor and / or flow rate and / or flow rate measurement sensor and / or further sensors that appear expedient to the person skilled in the art. The at least one sensor unit is preferably configured to provide a sensor signal. The sensor signal is preferably designed as a measured value. The heat pump system, in particular the at least one water circuit, preferably has at least one actuator. The at least one actuator is preferably designed as a heating unit and / or a pump and / or a refrigerant circuit and / or a valve unit and / or generators, such as solar heat, photovoltaics or gas burners in hybrid heat generation systems and / or a further actuator that appears expedient to the person skilled in the art. In particular, the heat pump system has a plurality of actuators. In this context, a "sensor unit" is to be understood to mean, in particular, a unit which is provided for recording at least one characteristic variable and / or one physical property, wherein the recording can take place actively, such as, in particular, by generating and emitting an electrical measurement signal, and / or passively, such as, in particular, by detecting changes in property of a sensor component. Various sensor units that appear expedient to the person skilled in the art are conceivable. An "actuator" is to be understood here in particular as a unit which is configured to convert an, in particular digital, control signal, in particular a control variable profile, for controlling the control variable into a physical variable, such as, for example, pressure, temperature, rotational speed or the like. "Established" is to be understood in particular as specially programmed, designed and / or equipped. The fact that an object is set up for a specific function is to be understood in particular to mean that the object fulfills and / or executes this specific function in at least one application state and / or operating state.Preferably, a feed-back control is designed as a control loop. The at least one control loop is preferably formed by the at least one sensor unit and the at least one actuator and at least the one controller of the computing unit. The heat pump system preferably has, in particular, at least one, preferably a plurality of, feed-back control / s, in particular control circuits. The controlled variable is preferably designed as a temperature, in particular water temperature, of a water in the water circuit. Alternatively, the controlled variable could also be designed as a pressure or a flow rate or a power or the like. The controlled variable is preferably measured by the at least one sensor unit. Preferably, at least the one sensor signal is provided to the at least one controller by the at least one sensor. Alternatively, a plurality of sensor signals from a plurality of sensors could also be transferred to the controller. Preferably, at least the actuating variable profile is predefined for the at least one actuator by the at least one controller. The at least one actuator of the control circuit is preferably configured to influence the controlled variable, in particular at least, preferably to keep it at least substantially at a set value, in particular a setpoint value. A "feed-back control" is to be understood here in particular as a control loop with which a controlled variable is controlled, wherein in particular a control variable profile, in particular a control variable profile, is predefined by at least one controller as a function of at least one sensor signal of at least one actuator which at least influences the controlled variable. A "feed-forward control" is to be understood here in particular as a control of a control variable, wherein in particular taking into account a system, for example the heat pump system, an actuator and / or a regulator, a control variable, in particular a control manipulated variable profile, is predefined. A "controlled variable" is to be understood here in particular as a value of a physical variable, such as temperature, pressure, rotational speed or the like, for example, which is measured and controlled by the sensor unit. "At least substantially" is to be understood in this context in particular as meaning that a deviation from a predefined value deviates in particular by less than 25%, preferably by less than 10% and particularly preferably by less than 5% of the predefined value.Preferably, the control manipulated variable profile for the actuator is predefined and / or supplied to the controller of the arithmetic unit during the feed-forward control. The control manipulated variable profile of the feed-forward control is preferably combined with the control manipulated variable profile determined by the controller of the feed-back control. The actuating variable profile for the at least one actuator is preferably predefined by the controller at least as a function of the control actuating variable profile and / or of the at least one sensor signal. The control manipulated variable profile of the feed-forward control and the control manipulated variable profile of the feed-back control are preferably combined and / or combined in an addition to the manipulated variable profile. Alternatively, the combination could also be designed as a Min / Max or as an averaging or as a comparable combination of the control manipulated variable profile of the controller with the control manipulated variable profile and / or further manipulated variable profiles. It is also conceivable for the feed-forward control to be deactivated and / or switched on in at least one operating state. The fact that the control manipulated variable profile is "combined" with the control manipulated variable profile is to be understood here in particular to mean that the signal profiles are combined, preferably calculated with one another, wherein the calculation is formed in particular as an addition or an averaging or a selection or a comparable calculation operation that appears expedient to the person skilled in the art. It would also be possible to combine more than two actuating variable profiles with one another. For example, at least the one control manipulated variable profile and the at least one control manipulated variable profile, in particular of the at least one, preferably a plurality of, actuators, are combined with one another via a MIMO controller (multiple-input-multiple-output).Preferably, in the feed-forward control, an, in particular filtered, setpoint value profile is transferred from the computing unit into at least the one control manipulated variable profile. In particular, the setpoint value profile is predefined by a user and / or by at least one superordinate control and / or regulation. Preferably, during the filtering of the setpoint value curve, a steady and / or realizable setpoint value curve is calculated by forming and taking into account derivatives of the setpoint value curve. The feed-forward control is preferably designed as a control of the controlled system, in particular pilot control, of the at least one control loop. The method for regulating the heat pump system is preferably designed at least as a 2-degree-of-freedom regulation. The term "filtered" is intended to mean, in particular, that a setpoint value profile is converted into a realizable setpoint value profile, for example, by creating a continuous setpoint value profile with slopes, for example heating speeds or acceleration ramps or the like, which can be converted, in particular, by the associated actuator. In particular, the filtering comprises at least one smoothing, for example, an averaging and / or takes into account at least temporal derivatives of the setpoint value profile. The setpoint value profile could be filtered, for example, using at least one delay element. At least one steady setpoint value profile is generated by the filtering. An "interference variable" is to be understood here in particular as a factor which acts from the outside at least on a controlled system, for example the heat pump system, and acts on the controlled system in an interfering manner, in particular in a manner which changes the controlled variable. In particular, in the control loop, the disturbance variable causes a temporary and / or variable deviation from the setpoint value, for example. A "control variable profile" is to be understood here in particular as a time profile of a value for at least one actuator, which is determined from the control value profile taking into account at least sensor signals, for example for controlling a controlled variable.The computing unit of the heat pump system is preferably designed at least as a part of an open-loop and / or closed-loop control unit. For example, the open-loop and / or closed-loop control unit could be designed as a computer. For example, the open-loop and / or closed-loop control unit could be designed as a cloud or a central open-loop and / or closed-loop control unit, wherein a control task could be transferred to the open-loop and / or closed-loop control unit. The open-loop and / or closed-loop control unit preferably has at least one controller which is configured to calculate and output the actuating variable profile, in particular by combining the open-loop control actuating variable profile with the closed-loop control actuating variable profile. An "open-loop and / or closed-loop control unit" is to be understood in particular as a unit having at least one control electronics. A "control electronics" is to be understood in particular as a unit having a processor unit and having a memory unit and having an operating program stored in the memory unit.Moreover, it is proposed that the at least one control manipulated variable profile determined by the feed-forward controller is combined by addition with the control manipulated variable profile determined by the feed-back controller to form a manipulated variable profile of the at least one actuator by the controller of the arithmetic unit. Advantageously, a particularly high control quality can be provided, since at least one disturbance variable acting on the control system can be taken into account, in particular, by the control manipulated variable profile readjusted by the feed-back control. The control manipulated variable profile is preferably provided to the controller, by which the control manipulated variable profile is readjusted, in particular taking into account existing interference variables which act on the controlled variable, in order to determine the manipulated variable profile for the at least one actuator. Preferably, the actuating variable profile is regulated, in particular readjusted, relative, starting from the control actuating variable profile of the feed-forward control. Preferably, in particular for readjustment of the control manipulated variable profile, the control manipulated variable profile is added to the control manipulated variable profile. Alternatively or additionally, the control manipulated variable profile could be combined, in particular readjusted, with the control manipulated variable profile by means of subtraction, multiplication and / or a comparable method. The term "the control manipulated variable profile is readjusted" is to be understood here in particular to mean that the control manipulated variable profile serves for the controller as an output value from which, for example as a function of the sensor signal, which also contains interference variables, an adaptation of the control manipulated variable profile is carried out, in particular by addition of an addition term determined by the controller. In this case, the filtered setpoint value profile is used in particular as the setpoint value profile of the controller. A "regulator" is to be understood here in particular as a device which is configured to determine at least one actuating variable profile as a function of at least one sensor signal and / or one setpoint value profile. For example, the regulator is designed as a PiD regulator. Alternatively or additionally, the controller could be designed as software on the computing unit.It is furthermore proposed that the feed-forward control has an, in particular physical and / or data-based, controlled system model, with which the control manipulated variable profile of the actuator, in particular of the arithmetic unit, can be calculated on the basis of an, in particular filtered, setpoint value profile for the controlled variable. Advantageously, a high control quality and / or operational reliability can be provided, since the controlled variable can be controlled very precisely, in particular by the physical and / or data-based controlled system model. Preferably, the controlled system model at least substantially, in particular mathematically, images the heat pump system. In particular, the controlled system model at least substantially maps the active relationships relevant for the feed-forward control. The controlled system model preferably has, in particular, at least one equation, preferably a system of equations. In particular, the at least one equation is designed as a differential equation. The controlled system model is preferably stored at least on a memory unit of the computing unit, which is accessed by the feed-forward controller for calculating the control manipulated variable profile. The controlled system model is preferably fed at least one setpoint value and / or at least one setpoint value profile. The control manipulated variable profile is preferably calculated on the basis of the controlled system model using the, in particular filtered, setpoint value profile. In particular, the controlled system model is designed as an inverse calculation model, with which a control manipulated variable profile can be determined, in particular back-calculated, from a setpoint value profile and / or at least one derivative of the setpoint value profile, which control manipulated variable profile leads to the setpoint value profile of the controlled variable. A "data-based controlled system model" is to be understood here in particular as a mathematical model of the heat pump system which maps empirically determined, in particular measurement data-based, active relationships. A "physical controlled system model" is to be understood here in particular as a mathematical model of the heat pump system, which in particular maps physically based active relationships.Furthermore, it is proposed that a plurality of actuators are taken into account in the system model, as a result of which a coupled effect of a plurality of actuators is taken into account. Advantageously, a high control quality and / or operating safety can be provided, since in particular a plurality of actuators are taken into account. Preferably, a plurality of actuators are controlled by the feed-forward controller. It is conceivable that the control manipulated variable profile and / or control manipulated variable profile and / or manipulated variable profile for the control and / or control of an actuator is taken into account in a calculation of a further control manipulated variable profile of a further actuator. It is conceivable that a plurality of actuators influence a controlled variable or that a plurality of actuators are controlled independently or as a function of one another on the basis of the controlled system model. For example, a control manipulated variable profile of an actuator is determined as a function of at least one further actuator, in particular the control manipulated variable profile of the at least one further actuator, via the controlled system model. A "coupled action of a plurality of actuators" is to be understood here in particular to mean that the actuators influence one another in that, for example, the one actuator influences at least the controlled variable and / or the actuating variable profile and / or the sensor signal of the at least one further actuator.Moreover, it is proposed that a plurality of measured sensor signals and / or calculated characteristic values are taken into account by the controlled system model. Advantageously, a high control quality and / or operational reliability can be provided, since in particular a plurality of measured sensor signals and / or calculated characteristic values are taken into account by the control system model. In particular, the calculated characteristic variable is formed as a state observer. It is conceivable that external sensor signals, such as external temperature of an external temperature sensor and / or weather forecast data and / or the like, are taken into account by the system model. The measured sensor signals and / or calculated characteristic values and / or external sensor signals are taken into account in the system model by expanding the equation system, for example the at least one trajectory which describes the heat pump system, by further parameters. A "state observer" is to be understood here in particular as a system by means of which non-measurable variables can be reconstructed, for example calculated and / or estimated, from known input and output variables of an observed reference system, in particular a heat pump system. For example, a transferred heat quantity could be calculated or at least estimated on the basis of a measured flow temperature and a measured return temperature taking into account a mass flow.It is also proposed that the system model be adapted by at least one adaptation algorithm, in that the at least one sensor signal of the heat pump system to be controlled is taken into account in the system model. Advantageously, a high control quality and / or operating reliability can be provided, since in particular the control system model is adapted to the heat pump system. Preferably, the system model of the feed-forward control is adapted by the adaptation algorithm to slowly changing parameters of the system. For example, slowly changing parameters could be designed as a wear- and / or aging-induced change in the controlled system and / or influencing of the controlled variable. For example, a slowly changing parameter could also be designed as an average ambient temperature, in particular an average temperature profile over a year. In particular, slowly changing parameters are either determined only at defined time intervals and / or the at least one sensor signal is filtered, for example with a low-pass filter, whereby in particular only the slowly changing portions of the at least one sensor signal are taken into account. The control system model is preferably adapted, in particular automatically, by the adaptation algorithm to the heat pump system to be controlled individually. The system model is preferably adapted to an individual user behavior by the adaptation algorithm. In particular, the controlled system model learns by the adaptation algorithm. In particular, an artificial intelligence is added to the rule path model by the adaptation algorithm.It is conceivable that the adaptation algorithm can be retrofitted to an already existing heat pump system.In addition, it is proposed that boundary conditions, such as, for example, manipulated variable restrictions, are taken into account by a filter unit and / or by the controlled system model. Advantageously, a high control speed can be provided, since a more rapid and / or more precise control is made possible in particular by taking control variable restrictions into account. The controlled system model is preferably used in the filter unit for filtering. The boundary condition, in particular the control variable restriction, is preferably taken into account at least in the filter unit. The setpoint value profile is preferably adapted by the filter in such a way that the setpoint value profile can be realized while maintaining the manipulated variable restrictions. Preferably, at least one derivative is formed by the filter unit, which line complies with the boundary conditions. By taking account of the manipulated variable restrictions on the basis of the controlled system model, a manipulated variable range can be exploited to the maximum. It is conceivable that the manipulated variable restrictions are designed to be quantized, for example divided into ranges. A "control variable restriction" is to be understood here in particular as a, preferably physical, limit value of the actuator, which is designed as a limit value for the control variable profile. A "filter unit" is to be understood here in particular as a unit of which the setpoint value profile is adapted, in particular by averaging, in such a way that a continuous profile is created, and of which, in particular via the formation of at least one, for example temporal, derivative of the setpoint value profile, at least the boundary conditions are taken into account.It is further proposed that a plurality of operating modes, such as a heating mode, a cooling mode, a warm water preparation, a defruring and / or the like, can be regulated. Advantageously, a high flexibility can be provided, since in particular the control system model and / or the setpoint value profile has a plurality of operating modes. For example, it would be possible, in particular by the superordinate control and / or regulation, to choose between different operating programs. For example, the setpoint value profile for regulating the controlled variable could be predefined as a function of the operating program. An "operating mode" is to be understood here in particular as an operation of the heat pump system, in particular an operating program which tracks a specific goal.It is furthermore proposed that the different operating modes be controlled across the operating mode. Advantageously, a high efficiency can be provided, since in particular the controlled variable can be controlled across the operating mode. In particular, a setpoint value profile for the regulation can be predefined in such a way that an optimum transition between two operating modes is achieved. For example, a residual heat of the de-frosting mode could be at least partially recovered in the subsequent heating mode. For example, the setpoint value profile could run seamlessly from one operating mode into a subsequent operating mode.Moreover, it is proposed that the control manipulated variable profile determined by the feed-back control is determined by a model predictive control and / or the control manipulated variable profile determined by the feed-forward control is determined by a model predictive control. Advantageous properties with regard to costs and / or performance and / or efficiency can be provided, since in particular an operation of the heat pump system can be optimized in a unified manner. The controlled variable is preferably determined in the model-predictive control and / or the model-predictive control in a simulation direction. Preferably, the feed-back control of the controlled variable is controlled at least partially by means of a model-predictive control. The control manipulated variable profile is preferably predefined by the model-predictive control. The control manipulated variable profile is preferably predefined by the model predictive control. Alternatively, it is conceivable that the feed-back control and the feed-forward control are designed as a model predictive control. In this case, the filtering of the setpoint value profile and / or the feed-forward control and the feed-back control could be completely adopted by the model-predictive control. In this case, the actuating variable profile could be determined by the model predictive control. A "model predictive control" is to be understood here in particular as a method with which a future behavior of the heat pump system is determined on the basis of a controlled system model, in particular a heat pump system, as a function of at least one input signal and / or an output signal and / or further information data. In particular, the model predictive regulation of the at least one actuating variable profile of the at least one actuator is established on the basis of the determined future behavior of the heat pump system.In addition, a heat pump system is proposed, which has at least one open-loop and / or closed-loop control unit which is configured to carry out the method for the regulation. Advantageously, a high control quality and / or operational reliability can be provided, since the controlled variable can be very precisely controlled, in particular by combining the feed-forward control with the feed-back control. Advantageously, a particularly high degree of robustness of the control can be provided, since, in particular, both additional knowledge about the controlled system to be controlled and interference variables can be taken into account by the combination of the feed-forward control with the feed-back control. Advantageously, a high control speed can be provided, since, in particular, a time duration in which a setpoint value is reached by the controlled variable can be shortened by the combination of the feed-forward control with the feed-back control.The method according to the invention and the heat pump system according to the invention should not be limited to the application and embodiment described above. In particular, the method according to the invention and the heat pump system according to the invention can have a number which differs from a number of individual elements, components and units and method steps mentioned herein in order to fulfil a mode of operation described herein. In addition, in the value ranges specified in this disclosure, values lying within the stated limits should also be considered as disclosed and usable as desired.DRAWINGFurther advantages are evident from the following description of the drawings. The drawing shows an embodiment of the invention. The drawings, specification and claims contain numerous features in combination. The skilled person will expediently also consider the features individually and summarize them to form meaningful further combinations.The following are shown: FIG. 1 shows a schematic illustration of a heat pump system, FIG. 2 shows a schematic illustration of a control of a control circuit of the heat pump system, and FIG. 3 shows a schematic flow diagram of a method for regulating the heat pump system.DESCRIPTION OF THE EMBODIMENTFIG. 1 shows a schematic illustration of an exemplary heat pump system 10. The heat pump device 18 is designed as an air / water heat pump. The heat pump device 18 could also be designed as a comparable heat pump. The heat pump device 10 includes at least one refrigerant circuit 22. A refrigerant is arranged in the refrigerant circuit 22. The refrigerant circuit 22 has a refrigerant pump 24. The refrigerant pump 24 is configured to circulate the refrigerant. The refrigerant circuit 22 includes a throttle valve 26. The refrigerant circuit 22 has a heat exchanger 28. The heat exchanger 28 is designed as an evaporator. The refrigerant circuit 22 has a further heat exchanger 30. The further heat exchanger 30 is designed as a condenser. The refrigerant pump 24, the throttle valve 26, the heat exchanger 28 and the further heat exchanger 30 are fluidically connected to one another. It is conceivable for the refrigerant circuit 22 to have a plurality of stages. The heat pump system 10 includes a water circuit 20. The heat pump system 10 could also include a plurality of water circuits 20. The heat pump device 18 is configured to receive heat from an environment and transfer it to water of the water circuit 20. The water circuit 20 is designed as a service water circuit or a drinking water circuit. The water is designed as a drinking water or as a service water or as a heating water. The water circuit 20 has a pump 42. The water circuit 20 could have further pumps. The pump 42 is configured to circulate the water in the water circuit 20. The water circuit 20 has a hot water storage device 32. The water circuit 20 could also be designed without a hot water reservoir 32. The water circuit 20 has a consumer 38. The water circuit 20 has a heating unit 34. The heating unit 34 is formed as an electric heating unit 34. Alternatively or additionally, the heating unit 34 could also be designed as a gas-operated heating unit 34 or a hybrid heating unit or a comparable heating unit 34. The heat pump system 10 includes a plurality of actuators 16. An actuator 16 is formed as the heating unit 34. Alternatively or additionally, one of the actuators 16 is designed as the pump 42. It is conceivable for the heat pump system 10 to be designed as further actuators 16, such as a valve and / or a generator and / or a solar heater and / or a photovoltaic and / or a gas burner in hybrid heat generation systems and / or further actuators 16 that appear expedient to the person skilled in the art.The heat pump system 10 includes a plurality of sensor units 36. The sensor unit 36 has at least one temperature sensor. The temperature sensor is configured to measure the water in the water circuit 20 directly or indirectly. Alternatively or additionally, the sensor unit 36 could also be designed as a pressure sensor, speed sensor, or a further sensor that appears expedient to the person skilled in the art. Each actuator 16 has at least one sensor unit 36. The sensor unit 36 is configured to measure a controlled variable 56 which can be influenced by the actuator 16, cf. FIG. 2. It is conceivable for the heat pump system 10 to have more sensor units 36 than actuators 16. Sensor units 36 could be arranged, for example, at an inlet and at an outlet of the further heat exchanger 30. The sensor units 36 at the inlet and at the outlet of the further heat exchanger 30 could be configured to determine an energy absorbed by the water taking into account a pump rotational speed and / or flow rate. The heat pump system 10 has a computing unit 14. The arithmetic unit 14 has a filter unit 40. The filter unit 40 is configured to provide a filtered setpoint value profile 68. The filter unit 40 is configured to provide a steady set value profile 68. The filter unit 40 is configured to take into account at least one derivative of the setpoint value profile 68. The arithmetic unit 14 has a controller 12. The controller 12 is configured as a PiD controller (proportional-integral-differential controller). The controller 12 could also be designed as a state controller or as another controller 12 that appears expedient to the person skilled in the art. The sensor unit 36 is configured to provide a sensor signal 64 to the controller 12, cf. FIG. 2 : the computing unit 14 is designed as an open-loop and / or closed-loop control unit. The arithmetic unit 14 is configured to execute the controller 12. The controller 12 is configured to control the controlled variable 56. Alternatively or additionally, the controller 12 could also have a model predictive control. The model predictive control could be configured to determine the controlled variable 56 in a simulation direction.FIG. 2 shows a schematic illustration of a block diagram of the control of the heat pump system 10. The feed-back control 52 is configured to control the controlled variable 56. The feed-back control 52 has a controlled system 58. The control system 58 is designed as the heat pump system 10. The controller 12 is configured to determine a control variable profile 62 for a filtered setpoint value profile 68. The heat pump system 10 includes a feed-forward controller 54. The feed-forward controller 54 has a rule-route model 60. The system model 60 mathematically depicts the heat pump system 10. The controlled system model 60 is configured physically and / or data-based. The controlled system model 60 is configured to determine a control manipulated variable profile 66 on the basis of the filtered setpoint value profile 68. The feed-back control 52 is configured to readjust the control manipulated variable profile 66 as a function of a sensor signal 64. The controller 12 is configured to add the control manipulated variable profile 66 to the control manipulated variable profile. Alternatively or additionally, the feed-forward controller 54 could include a model predictive controller. The model predictive control could be configured to determine the control manipulated variable profile 66 along a simulation direction. It is also conceivable for the arithmetic unit 14 to have a model predictive control and a model predictive control. The arithmetic unit 14 could be configured to pre-control the manipulated variable profile 62 by means of the model predictive control, taking into account the control manipulated variable profile determined by the model predictive control.FIG. 3 shows a schematic flow diagram of a method for regulating the heat pump system 10.In at least one method step 44, a filtered setpoint value profile 68 for the controlled variable 56 is predefined. The filtered setpoint value profile 68 is predefined for the feed-back control 52. The filtered setpoint value profile 68 is predefined for the feed-forward controller 54. A higher-order control and / or regulation presets a setpoint value profile for the filter unit 40. The setpoint value profile 68 is determined by the filter unit 40 by filtering the setpoint value specification profile. A realizable setpoint value profile 68 is created by the filtering. It is conceivable that the filtered setpoint value profile 68 is determined across the system via a model predictive control and is predefined to the feed-forward control 54 as an input variable for determining the control setpoint value profile 66, so that a superordinate control target is achieved.In at least one method step 46, the feed-forward controller 54 uses the arithmetic unit 14 to determine the control manipulated variable profile 66 of the actuator 16 on the basis of the controlled system model 60. The control manipulated variable profile 66 of the actuator 16 is determined by the arithmetic unit 14 by calculating back from the filtered setpoint value profile 68 via the controlled system model 60 the control manipulated variable profile 66 which leads to the filtered setpoint value profile 68 of the controlled variable 56. To calculate the control manipulated variable profile 66, the filtered setpoint value profile 68 is predefined for the controlled system model 60 of the feed-forward controller 54. Furthermore, a plurality of measured sensor signals 64 are predefined for the controlled system model 60 of the feed-forward controller 54. It is conceivable that the arithmetic unit 14 acquires further sensor signals 64 or calculates characteristic values which are predefined for the controlled system model 60 of the feed-forward controller 54. It is conceivable that further information data, such as a weather report, are taken into account. Furthermore, the system model 60 of the feed-forward controller 54 takes into account a plurality of actuators 16. Furthermore, boundary conditions are taken into account by the filter unit 40. Furthermore, boundary conditions are taken into account by the rule path model 60. The boundary conditions are designed as manipulated variable restrictions. It is conceivable that further boundary conditions can be specified by a user. The feed-forward controller 54 is controlled for a plurality of different modes of operation, such as a heating mode, a cooling mode, a warm water preparation, de-frosting, and / or the like. The control manipulated variable profile 66 is determined across different operating modes. For this purpose, the setpoint value profile 68 is filtered and / or the control manipulated variable profile 66 is defined in such a way that a transition from one operating mode to a subsequent operating mode meets criteria of the superordinate control and / or regulation. The criteria could be configured as an efficiency or a heating rate or the like. Alternatively or additionally, the control manipulated variable profile 66 could be determined by a model predictive control.In at least one method step 48, the one controlled variable 56, in particular temperature, is controlled in at least one operating mode at least by means of a feed-back controller 52. For this purpose, the feed-back control 52 for controlling the controlled variable 56 is combined with the feed-forward control 54 for pilot controlling the controlled variable 56. The control manipulated variable profile 66 predefined by the feed-forward controller 54 is readjusted by the control unit of the feed-back controller 52. By regulating the control manipulated variable profile 66, disturbance variables of the controlled system 58 are taken into account, for example. The feed-forward controller 54 provides the controller 12 with the control manipulated variable profile 66, which is controlled. The control variable profile 62 is predefined for the actuator 16 by the controller 12 taking into account the control control variable profile 66 and the sensor signal 64. The actuator 16 is predefined by the controller 12 with the actuating variable profile 62, which is determined by readjustment of the control actuating variable profile 66 on the basis of the sensor signal 64. The control manipulated variable profile and the control manipulated variable profile 66 are combined with one another in an addition. Alternatively, it is conceivable that a combination of the control manipulated variable profile with the control manipulated variable profile 66 is carried out via a Min / Max link or a comparable signal merging that appears expedient to the person skilled in the art.Alternatively or additionally, the controlled variable 56 controlled by the feed-back controller 52 could be controlled by the model predictive controller. In this case, the control manipulated variable profile would be determined by the model predictive control as a function of the control manipulated variable profile 66 and the sensor signal 64 and further information data. Alternatively or additionally, it is conceivable for the feed-forward control 54 to be executed by the model predictive control and for the control manipulated variable profile 66 to be specified directly by the model predictive control. By means of the model predictive control of the actuator 16, a superordinate control target, such as minimum energy consumption, optimum robustness against faults or comparable targets, could be tracked.In at least one method step 50, the controlled system model 60 is adapted by an adaptation algorithm in that the sensor signals 64 of the heat pump system 10 to be controlled are taken into account in the controlled system model 60. The system model 60 of the feed-forward controller 54 is adapted to slowly changed parameters of the system 58 by the adaptation algorithm. Alternatively or additionally, a user behavior or the like could also be taken into account by the adaptation algorithm. The adaptation algorithm implements artificial intelligence in the system model 60 of the feed-forward controller 54.

Claims

Method for controlling a heat pump system (10), wherein at least one controlled variable (56), in particular temperature, is controlled in at least one operating mode at least by means of a feed-back controller (52), in that a control variable profile (62) is predefined by a controller (12) of a computing unit (14) of at least one actuator (16), for example a heating unit (34), as a function of at least one sensor signal (64), in particular a measured temperature, characterized in that the feed-back controller (52) for controlling the controlled variable (56) is combined with a feed-forward controller (54), in particular for pilot controlling the controlled variable (56), in the controller (12), in that at least one control variable determined by the feed-forward controller (54) is generated, Control manipulated variable profile (66) for the at least one actuator (16) is combined with the control manipulated variable profile predefined by the feed-back controller (52) to form a manipulated variable profile (62).Method according to Claim 1, characterized in that the at least one control manipulated variable profile (66) determined by the feed-forward controller (54) is combined by addition with the control manipulated variable profile determined by the feed-back controller (52) to form a manipulated variable profile (62) of the at least one actuator (16) by the controller (12) of the arithmetic unit (14).Method according to Claim 1, characterized in that the feed-forward controller (54) has an, in particular physical and / or data-based, controlled system model (60), with which the control manipulated variable profile (66) of the actuator (16), in particular of the controller (12) of the arithmetic unit (14), can be calculated on the basis of an, in particular filtered, setpoint value profile (68) for the controlled variable (56).Method according to Claim 1 or 2, characterized in that a plurality of actuators (16) are taken into account in the controlled system model (60), as a result of which a coupled effect of a plurality of actuators (16) is taken into account.Method according to one of the preceding claims, characterized in that a plurality of measured sensor signals (64) and / or calculated characteristic values are taken into account by the controlled system model (60).Method according to one of the preceding claims, characterized in that the controlled system model (60) is adapted by at least one adaptation algorithm in that the at least one sensor signal (64) of the heat pump system (10) to be controlled is taken into account in the controlled system model (60).Method according to one of the preceding claims, characterized in that boundary conditions, such as, for example, control variable restrictions, are taken into account by a filter unit (40) and / or by the controlled system model (60).Method according to one of the preceding claims, characterized in that a plurality of operating modes, such as a heating mode, a cooling mode, a warm water preparation, a defrosting and / or the like, can be regulated.Method according to one of the preceding claims, characterized in that the different operating modes are controlled across the operating mode.Method according to one of the preceding claims, characterized in that the control manipulated variable profile determined by the feed-back controller (52) is determined by a model predictive controller and / or the control manipulated variable profile (66) determined by the feed-forward controller (54) is determined by a model predictive controller.Heat pump system (10) having at least one arithmetic unit (14) which is configured to carry out the method for regulation according to one of Claims 1 to 10.

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