CN104633863A - Central air conditioner control method based on self-tuning discrete PID algorithm - Google Patents

Central air conditioner control method based on self-tuning discrete PID algorithm Download PDF

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CN104633863A
CN104633863A CN201510059538.4A CN201510059538A CN104633863A CN 104633863 A CN104633863 A CN 104633863A CN 201510059538 A CN201510059538 A CN 201510059538A CN 104633863 A CN104633863 A CN 104633863A
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room temperature
temperature
time
coefficient
motor
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CN104633863B (en
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周新生
石永军
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WUXI COM-SHIP ELECTRONIC INDUSTRIAL Co Ltd
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WUXI COM-SHIP ELECTRONIC INDUSTRIAL Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F24F2110/10—Temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2110/00—Control inputs relating to air properties
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/61—Control or safety arrangements characterised by user interfaces or communication using timers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2140/00—Control inputs relating to system states
    • F24F2140/20—Heat-exchange fluid temperature

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Feedback Control In General (AREA)
  • Air Conditioning Control Device (AREA)
  • Control Of Temperature (AREA)

Abstract

The invention discloses a central air conditioner control method based on a self-tuning discrete PID algorithm. A timer is adopted for sampling the temperature of a coil pipe, the temperature of a room, the rotating speed of an EC motor and opening information of a proportional electromagnetic valve in a timed mode, filtering processing is carried out, and valid sampling values are obtained; the working state of a system is judged through changes of sampling information; then, according to a self-tuning coefficient table, a proportionality coefficient, an integral coefficient, a differential coefficient, the control weight of the EC motor and the control weight of the proportional electromagnetic valve, needing to be adjusted, are obtained through table look-up; a temperature deviation, an integral value and a differential value are worked out, and the rotating speed of the EC motor and the opening angle of the proportional electromagnetic valve are worked out through the coefficients obtained through table look-up; finally, the EC motor and the proportional electromagnetic valve are driven to reach required values. The EC motor and the proportional electromagnetic valve are controlled through the self-tuning discrete PID algorithm, namely the cooling capacity and air volume of an air conditioner system are controlled, the room can reach a set target temperature rapidly, and the system can keep running in the cooling capacity consumption and supplementation stabilization state.

Description

A kind of central air-conditioner control method based on Self-tuning System Discrete PI D-algorithm
Technical field
The invention belongs to aircondition controller field, be specifically related to a kind of central air-conditioner control method based on Self-tuning System Discrete PI D-algorithm.
Background technology
The motor that current most aircondition controller adopts is third gear tap motor, PG motor or BLDC motor, and water valve is the magnetic valve of two-wire system or three-wire system, and the control algolithm of employing has ON-OFF, PI regulable control etc.
Adopt the air-conditioning of ON-OFF control mode, there is room temperature fluctuation large, the shortcomings such as comfortableness is not high, its control mode as shown in Figure 1.Under this control mode, when room temperature Tr drops to Ts-Δ T, water valve can cut out, and when Tr gos up, when can be raised to Ts+ Δ T, now water valve just can be opened always, and due to the inertia of temperature, now room temperature Tr also can rise a bit, then just can decline.This ON-OFF control mode changes with making the high temperature in room, has larger control behavior excessively.
The controller of PI regulable control is adopted also to there is many problems, system suitability is not high, reasonable control effects is had in certain occasion, larger control behavior is excessively there will be after changing to other occasion, there will be vibration even in certain extreme cases, also need for PI parameter adjustment, do not possess versatility.In addition, when adopting PI to regulate variable-flow and variable air rate simultaneously, there will be unmatched situation, cause the fluctuation of indoor temperature.As shown in Figure 2, wherein Kp is proportionality coefficient to traditional pid algorithm, and Ki is differential coefficient, and Kd is integral coefficient.
Summary of the invention
The problems referred to above existed in control algolithm for existing aircondition controller, the present invention proposes a kind of central air-conditioner control method based on Self-tuning System Discrete PI D-algorithm.
In order to achieve the above object and effect, the present invention adopts following technology contents:
Based on a central air-conditioner control method for Self-tuning System Discrete PI D-algorithm, comprise the steps:
Step 1, defines multiple time margin, adopts timer to sample to coil temperature, room temperature, EC motor speed, proportion magnetic valve opening information when each time margin arrives, and carries out filtering process, obtain effective sampled value;
Step 2, is weighted the sampled value of coil temperature and room temperature and obtains room temperature and coil temperature, room temperature and setting value are compared and calculate difference, coil temperature and room temperature are compared and calculate difference; Repeat above-mentioned steps, the room temperature difference obtained by multiple repairing weld carries out accumulation calculating;
Step 3, judges the duty of system, comprises step 3-1 to 3-4; Step 3-1, judges whether to arrive the control time, if arrive the control time, carries out step 3-2, if do not arrive the control time, carry out step 7; According to the accumulated value of room temperature difference, step 3-2, judges whether system vibrates, if vibration, carry out step 3-3, if not vibration, carries out step 3-4; Step 3-3, has judged whether Parameter adjustable, if had, carry out step 4, if do not had, regulation time nargin also recalculates each parameter, then carry out step 4; Step 3-4, judges that whether system is optimum, if be optimum, carry out step 7, if not optimum, carry out step 4;
Step 4, the tuning coefficient table of calculated value to pid parameter Kp, Ki, Kd and control weight Kq according to step 2 is inquired about, obtain the Proportional coefficient K p, integral coefficient Ki, the differential coefficient Kd that need adjustment, and the control weight Kq of EC motor and proportion magnetic valve; Each tuning coefficient table is as follows:
Proportional coefficient K p table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 0.2 0.2 0.2 0.3 0.3 0.3 0.3
1℃ 0.5 0.5 0.5 0.5 0.4 0.4 0.4
1.5℃ 1 0.9 0.9 0.8 0.8 0.7 0.6
2℃ 2 1.9 1.8 1.6 1.4 1.2 1
3℃ 5 4.5 4 3.5 3 2.5 2
4℃ 10 9 8 7 6 5 4
6℃ 20 18 16 14 12 10 8
Integral coefficient Ki table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 0 0 0 0 0 0 0
1℃ 0.25 0.23 0.21 0.19 0.16 0.13 0.1
1.5℃ 0.5 0.45 0.4 0.35 0.3 0.25 0.2
2℃ 1 0.9 0.8 0.7 0.6 0.5 0.4
3℃ 2 1.7 1.5 1.3 1.1 0.9 0.6
4℃ 3 2.7 2.4 2 1.6 1.2 0.8
6℃ 4 3.5 3 2.5 2 1.5 1
Differential coefficient Kd table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 1 1 1 1 1 1 1
1℃ 2 2 2 2 1 1 1
1.5℃ 4 4 3 3 3 2 2
2℃ 6 5 5 4 4 3 3
3℃ 8 7 7 6 5 5 4
4℃ 10 9 8 8 7 6 5
6℃ 12 11 10 9 8 7 6
Control weight Kq table is:
△Tp 6℃ 9℃ 12℃ 14℃ 16℃ 17℃ 18℃
Kq 1.5 1.25 1.1 1 0.9 0.8 0.7
In above-mentioned each table, △ T represents room temperature difference, and △ Tp represents coil pipe temperature gap;
Step 5, accounting temperature deviation delta e (t) and integrated value 1/S and differential value d Δ e (t)/dt thereof, according to the parameter that step 4 is determined, obtain the rotating speed of EC motor and the open angle of proportion magnetic valve by following formulae discovery;
ΔU(t)＝Kp*Δe(t)+Ki*1/S+Kd*dΔe(t)/dt；
EC rotating speed=EC rotating speed * last time (1+ control weight * Δ U (t));
Valve opening=aperture * last time (1+ control weight * Δ U (t));
Step 6, driving EC motor, proportion magnetic valve reach the calculated value of step 5;
Step 7, controls to terminate.
The present invention at least has following beneficial effect:
1, the present invention adopts the Discrete PI D-algorithm of Self-tuning System to control EC motor speed and proportion magnetic valve, that is control cold and the air quantity of air-conditioning system, make room reach target set temperature fast, and make system remain on cold consumption and supplement stable state to run.
2, the present invention adopts many motors control device to form industrial field control bus network, adopts the Modbus agreement that industry is popular, meets " Modbus Application Protocol V1.1B " specification.
3, support of the present invention does not shut down the various controling parameters of setting by Modbus network, and comes into force in real time.The particularly setting of motor blast velocity control parameter, solenoid valve controling parameters, pid control parameter, makes this controller become the intelligent end of air-conditioning Internet of Things.Carry out cloud computing by upper bit platform, the controling parameters calculated is sent to controller in real time, be in optimum state to make controller always and run.
Other objects of the present invention and advantage can be further understood from the technology contents disclosed by the present invention.In order to above and other object of the present invention, feature and advantage can be become apparent, special embodiment below also coordinates institute's accompanying drawings to be described in detail below.
Accompanying drawing explanation
Fig. 1 is the aircondition controller method of operation figure under existing ON-OFF control mode.
Fig. 2 is existing pid algorithm block diagram.
Fig. 3 is pid algorithm block diagram of the present invention.
Fig. 4 is control method flow chart of the present invention.
Fig. 5 is the aircondition controller method of operation figure under control mode of the present invention.
Detailed description of the invention
Next will coordinate institute's accompanying drawings through embodiment, and illustrate that the present invention has the unique technology parts such as innovation, progressive or effect compared with prior art, those of ordinary skill in the art can be realized according to this.Should be noted that, the modification that those of ordinary skill in the art carry out under not departing from spirit of the present invention and change, all do not depart from protection category of the present invention.
Room central air-conditioning refrigeration system, the system be made up of airtight room, surface cooler, circulated refrigerated water, circulated air, external heat radiation etc.System flows through surface cooler by chilled water, then is come out by the cold that surface cooler absorbs by circulated air, resists outside thermal-radiating heat, thus makes the constant of room temperature.The aircondition controller of the present invention's design is exactly to control the flow of chilled water and the air quantity of circulated air simultaneously, the temperature in room is made to reach rapidly the target temperature of setting, and system is tended towards stability, make control room be in a delicate poised state with most economical air quantity and chilled-water flow, and reach the object of energy-saving and noise-reducing.
Surface cooler is the important part of in air-conditioning system, and what flow through in coil pipe is chilled water, carrys out positive energy exchange, thus air themperature is reduced with the hot-air in room by the wind circulated, and the temperature of water raises.Will meet heat balance principle in the process, known quantity is the air quantity f (kg/s) of the flow q (kg/s) of chilled water, circulation.The data model set up is as follows:
The equation of heat balance in room is: C in = dT in dt = fC ( T out - T in ) + Σ Q i
In formula: Tin is indoor return air temperature, Tout is indoor leaving air temp, f is the air quantity of air-supply, Cin is Indoor Temperature variation coefficient, experiment coefficient, C is air-supply experiment coefficient, Qi is the energy wastage in bulk or weight in room, comprises the heat that External Heat Flux and heat transfer bring, the sums such as the heat that in room, spontaneous heating object distributes.
The leaving air temp of air-conditioning is: T out=T in1-(T in1-T iw) E s+ (1-E v) (T in-T in1)
In formula: Tin1 is the wet-bulb temperature of indoor return air, Tiw is chilled water inflow temperature, and Ev is the available heat exchanger effectiveness of heat exchanger, and Es is heat exchange efficiency.
Heat exchange efficiency is: E s = 1 - l - β ( 1 - γ ) 1 - γ l - β ( 1 - γ )
In formula: β=KF/f ψ, γ=f ψ/mc, K are the coefficient of heat transfer, laboratory is determined, the average proportions constant of F to be heat exchanger area (m2), ψ be enthalpy difference and wet-bulb temperature difference, generally get 2.86 to calculate, c is specific heat of water (j/kg*k), m is the flow of chilled water.
Suppose that the size of heat exchanger is determined, the flow velocity of chilled water is fixing, the inflow temperature of chilled water is also fixing, as can be seen from formula above, the change of room temperature is relevant to air circulation and chilled-water flow, and the flow of chilled water is larger, and heat exchange efficiency is higher, air circulation is larger simultaneously, and the efficiency of heat exchange is also higher.
The variations in temperature in room is single order dead-time system, and the temperature of air outlet will be transmitted to whole room, has a long stabilization process.Solution popular at present has two kinds: one is chilled water variable flow system, and another kind is variable air volume system.Chilled water variable flow system adopts Frequency Converter Control water pump, to reach the object changing flow.Variable air volume system adopts air door or speed-changing draught fan etc. to reach the object of change indoor circulation wind speed, but adopts common speed-changing draught fan, can bring the problem that noise is large.
Present invention employs the system simultaneously changing discharge and air quantity, that is be variable water flow system and air quantity system.System adopts the adjustment algorithm of Discrete PI D, calculates the air quantity and uninterrupted, the rotating speed of control EC motor and the aperture of electromagnetism adjustable valve that need to regulate.Through calculating certain presetting amount, make up the retardance of delay system data acquisition.Through laboratory, test shows, common PID regulates algorithm, comparatively large on the impact of variations in temperature, can produce larger toning.And adopting the Discrete PI D-algorithm of Self-tuning System of the present invention, the effect of adjustment is better.
The control procedure of PID is: ΔU ( t ) = KpΔe ( t ) + Ki ∫ Δe ( t ) dt + Kd dΔe ( t ) dt
Wherein, Δ e (t) is temperature deviation, and Δ U (t) is the regulated quantity exported, and Kp is proportional control factor, and Ki is integral adjustment coefficient, and Kd is differential adjustment factor.The wind speed and chilled-water flow that need to regulate can be calculated according to room equation of heat balance above, then be converted into PWM drive singal, drive EC motor and ratio adjusting valve.
Because system is a single order dead-time system, the change wind speed of blower fan and the flow of chilled water can not change the temperature in room immediately.Meanwhile, the temperature of chilled water also can change along with the change of load, extraneous heat radiation also can the moment different, so this system is a unstable nonlinear system, be vulnerable to extraneous factor impact.Therefore, how to regulate and system can be made to become more stable just very crucial, the PID of common mode regulates and system will be made to become unstable, has larger overshoot.Consider that the temperature in room can not be undergone mutation, therefore the adjustment of wind speed and chilled-water flow also just there is no need excessive, so the Kp selected will be smaller, Ki is larger, so just can temperature in a period of time all the time deviation reflect in the situation of setting value, strengthen regulated quantity.In order to the change of future temperature can be predicted, by Kd value less for selection one, the unexpected change of temperature can be ensured like this, the stable of room temperature can be ensured again.These parameters are selected to be processes of a Self-tuning System.In addition, regulate the cycle of temperature data acquisition, also can produce reasonable control effects.
The present invention adopts fuzzy self-adjusting control, according to the experimental data of history, determines tuning coefficient in varied situations, and they are organized into four forms.Comprising: three three-dimensional tables, the first dimension of form is the room temperature of sampling and the difference of design temperature, and the second dimension is the time margin of temperature sampling, and the third dimension is the setting valve (Kp, Ki, Kd) of pid parameter; And the control weight form that two-dimentional, the first dimension of form is the coil temperature of sampling and the difference of room temperature, and the second dimension is the setting valve Kq of control weight.
Proportional coefficient K p form in PID setting parameter is as follows:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 0.2 0.2 0.2 0.3 0.3 0.3 0.3
1℃ 0.5 0.5 0.5 0.5 0.4 0.4 0.4
1.5℃ 1 0.9 0.9 0.8 0.8 0.7 0.6
2℃ 2 1.9 1.8 1.6 1.4 1.2 1
3℃ 5 4.5 4 3.5 3 2.5 2
4℃ 10 9 8 7 6 5 4
6℃ 20 18 16 14 12 10 8
Integral coefficient Ki form in PID setting parameter is as follows:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 0 0 0 0 0 0 0
1℃ 0.25 0.23 0.21 0.19 0.16 0.13 0.1
1.5℃ 0.5 0.45 0.4 0.35 0.3 0.25 0.2
2℃ 1 0.9 0.8 0.7 0.6 0.5 0.4
3℃ 2 1.7 1.5 1.3 1.1 0.9 0.6
4℃ 3 2.7 2.4 2 1.6 1.2 0.8
6℃ 4 3.5 3 2.5 2 1.5 1
Differential coefficient Kd form in PID setting parameter is as follows:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 1 1 1 1 1 1 1
1℃ 2 2 2 2 1 1 1
1.5℃ 4 4 3 3 3 2 2
2℃ 6 5 5 4 4 3 3
3℃ 8 7 7 6 5 5 4
4℃ 10 9 8 8 7 6 5
6℃ 12 11 10 9 8 7 6
Control weight Kq form is as follows:
△Tp 6℃ 9℃ 12℃ 14℃ 16℃ 17℃ 18℃
Kq 1.5 1.25 1.1 1 0.9 0.8 0.7
As shown in Figure 4, algorithm of the present invention have employed the timer of a 1ms benchmark, and timing is sampled to coil temperature, room temperature, EC motor speed, proportion magnetic valve opening information, and carries out corresponding filtering process, obtains effective sampled value.
In one embodiment, define 10 seconds, 20 seconds, 40 seconds, 1 minute, 2 minutes, 5 minutes, 10 minutes totally 7 time margins.
Get the temperature sampling value 10 of dividing equally in each time margin, such as T1 ~ T10, wherein, T1 represents the last sampled value, and T10 represents the sampled value that time in the past is the longest.According to following formula, calculated room temperature Tr:Tr=(10*T1+9*T2+8*T3+7*T4+6*T5+5*T6+4*T7+3*T8+2*T9+T10)/55.According to following formula, the difference DELTA T of calculated room temperature and design temperature Ts: heating mode: Δ T=|Tr-Ts|; Refrigeration mode: Δ T=|Ts-Tr|.Adopt and use the same method, calculate the difference DELTA Tp of coil temperature Tp, coil temperature and room temperature.In addition, the accumulated value calculating the room temperature difference △ T that multiple repairing weld obtains also is needed.
Then, the duty of current system is judged by the change of above-mentioned sample information.Such as, do not judge whether system vibrates, if the accumulated value of △ T is higher than the threshold value of setting, shows system oscillation, then determine whether have Parameter adjustable under current time nargin, not then regulation time nargin recalculate each parameter, then calculated value is tabled look-up.If not vibration, then judge that whether system is optimum, if not, table look-up according to calculated value.
Next, according to four the tuning coefficient forms provided above, table look-up and obtain needing Proportional coefficient K p, integral coefficient Ki, the differential coefficient Kd of adjustment, and the control weight Kq of EC motor and proportion magnetic valve.In the present invention, the reason of the heavy Kq parameter of usage right control is: because the data of test are tested under the environment of standard, if the change of coil temperature will cause the change of heat exchange efficiency, suitable adjustment weight can make system more optimize, and reaches faster and imposes a condition and keep.
The timing of current time margin then, calculates Δ e (t), integrated value and differential value, then goes out the rotating speed of EC motor and the open angle of proportioning valve according to the current coefficient calculations obtained of tabling look-up.The control procedure of Self-tuning System Discrete PI D-algorithm of the present invention as shown in Figure 3.
The present invention adopts the discrete pid control algorithm of Self-tuning System to the aperture of the rotating speed of control EC motor and electromagnetism adjustable valve, regulates air quantity and the cold of air-conditioning system with this.But these controls of light are inadequate, due to the consideration of cost aspect, the chip of controller can not select too complicated and price is excessively expensive, so its Self tuning control has limitation.In order to play the effect that PID controls completely, realize precise controlling, it is inadequate for depending controller itself alone, so the present invention also needs establishment industrial field control network, the data acquisition powerful by upper bit platform and computing function carry out cloud computing, calculate the optimal control parameter of controller, by control protocol, parameter downloads is performed to controller.This aircondition controller have employed the Modbus agreement of popular conventional, and meets the latest specification of " Modbus Application Protocol V1.1B ".
The controller comprising algorithm of the present invention is arranged on fan coil, and under lab test, result shows, Self-tuning System Discrete PI D-algorithm of the present invention has good adaptive process, once due to certain external disturbance, there is disturbance in laboratory temperature, depart from setting value larger time, system can make room temperature balance fast.Actually test multiple different situation, such as, when design temperature 28 DEG C and 25 DEG C of refrigeration, when design temperature 18 DEG C and 21 DEG C heat, the work that system can both be highly stable, the fluctuation of room temperature is less.Simulate extreme situation, when causing control procedure to occur oscillatory process, through the adjustment of system Self-tuning System coefficient, system also can settle out again, has good control effects.Adopt the method for operation of the aircondition controller of the Discrete PI D-algorithm of Self-tuning System of the present invention as shown in Figure 5.
Above-described is only the preferred embodiment of the present invention, the invention is not restricted to above embodiment.Be appreciated that the oher improvements and changes that those skilled in the art directly derive without departing from the spirit and concept in the present invention or associate, all should think and be included within protection scope of the present invention.

Claims (2)

1. based on a central air-conditioner control method for Self-tuning System Discrete PI D-algorithm, it is characterized in that, comprise the steps:
Step 1, defines multiple time margin, adopts timer to sample to coil temperature, room temperature, EC motor speed, proportion magnetic valve opening information when each time margin arrives, and carries out filtering process, obtain effective sampled value;
Step 2, is weighted the sampled value of coil temperature and room temperature and obtains room temperature and coil temperature, room temperature and setting value are compared and calculate difference, coil temperature and room temperature are compared and calculate difference; Repeat above-mentioned steps, the room temperature difference obtained by multiple repairing weld carries out accumulation calculating;
Step 3, judges the duty of system, comprises step 3-1 to 3-4;
Step 3-1, judges whether to arrive the control time, if arrive the control time, carries out step 3-2, if do not arrive the control time, carry out step 7;
According to the accumulated value of room temperature difference, step 3-2, judges whether system vibrates, if vibration, carry out step 3-3, if not vibration, carries out step 3-4;
Step 3-3, has judged whether Parameter adjustable, if had, carry out step 4, if do not had, regulation time nargin also recalculates each parameter, then carry out step 4;
Step 3-4, judges that whether system is optimum, if be optimum, carry out step 7, if not optimum, carry out step 4;
Step 4, the tuning coefficient table of calculated value to pid parameter Kp, Ki, Kd and control weight Kq according to step 2 is inquired about, obtain the Proportional coefficient K p, integral coefficient Ki, the differential coefficient Kd that need adjustment, and the control weight Kq of EC motor and proportion magnetic valve; Each tuning coefficient table is as follows:
Proportional coefficient K p table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min 0.5℃ 0.2 0.2 0.2 0.3 0.3 0.3 0.3 1℃ 0.5 0.5 0.5 0.5 0.4 0.4 0.4 1.5℃ 1 0.9 0.9 0.8 0.8 0.7 0.6 2℃ 2 1.9 1.8 1.6 1.4 1.2 1 3℃ 5 4.5 4 3.5 3 2.5 2 4℃ 10 9 8 7 6 5 4 6℃ 20 18 16 14 12 10 8
Integral coefficient Ki table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min
0.5℃ 0 0 0 0 0 0 0 1℃ 0.25 0.23 0.21 0.19 0.16 0.13 0.1 1.5℃ 0.5 0.45 0.4 0.35 0.3 0.25 0.2 2℃ 1 0.9 0.8 0.7 0.6 0.5 0.4 3℃ 2 1.7 1.5 1.3 1.1 0.9 0.6 4℃ 3 2.7 2.4 2 1.6 1.2 0.8 6℃ 4 3.5 3 2.5 2 1.5 1
Differential coefficient Kd table in PID setting parameter is:
△ T the time 10s 20s 40s 1min 2min 5min 10min 0.5℃ 1 1 1 1 1 1 1 1℃ 2 2 2 2 1 1 1 1.5℃ 4 4 3 3 3 2 2 2℃ 6 5 5 4 4 3 3 3℃ 8 7 7 6 5 5 4 4℃ 10 9 8 8 7 6 5 6℃ 12 11 10 9 8 7 6
Control weight Kq table is:
△Tp 6℃ 9℃ 12℃ 14℃ 16℃ 17℃ 18℃ Kq 1.5 1.25 1.1 1 0.9 0.8 0.7
In above-mentioned each table, △ T represents room temperature difference, and △ Tp represents coil pipe temperature gap;
Step 5, accounting temperature deviation delta e (t) and integrated value 1/S and differential value d Δ e (t)/dt thereof, according to the parameter that step 4 is determined, obtain the rotating speed of EC motor and the open angle of proportion magnetic valve by following formulae discovery;
ΔU(t)＝Kp*Δe(t)+Ki*1/S+Kd*dΔe(t)/dt；
EC rotating speed=EC rotating speed * last time (1+ control weight * Δ U (t));
Valve opening=aperture * last time (1+ control weight * Δ U (t));
Step 6, driving EC motor, proportion magnetic valve reach the calculated value of step 5;
Step 7, controls to terminate.
2. the central air-conditioner control method based on Self-tuning System Discrete PI D-algorithm according to claim 1, is characterized in that, the circular in described step 1 and step 2 is:
Definition 10s, 20s, 40s, 1min, 2min, 5min, 10min totally 7 time margins; Get 10 the room temperature sampled value T1 ~ T10 divided equally in each time margin, wherein, T1 represents the last sampled value, and T10 represents the sampled value that time in the past is the longest; According to following formula calculated room temperature Tr:Tr=(10*T1+9*T2+8*T3+7*T4+6*T5+5*T6+4*T7+3*T8+2*T9+T10)/55; If Ts is design temperature, according to difference DELTA T: the Δ T=|Tr-Ts| of following formula calculated room temperature and design temperature; Adopt and use the same method, calculate the difference DELTA Tp of coil temperature Tp and coil temperature and room temperature; If the room temperature that multiple repairing weld calculates is respectively Tri, i=1,2,3 ... n, then the room temperature difference that multiple repairing weld calculates is designated as Δ Ti=|Tri-Ts|, i=1,2,3 respectively ... n, calculates each △ Ti sum.
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