TWI660263B - Temperature control device and method thereof - Google Patents
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Abstract
一種溫度控制裝置，包含風扇、溫度感測器、參數調整單元及比例積分微分控制器。風扇用以驅動氣流而控制受控區的溫度。溫度感測器用以取得偵測溫度值且設置於受控區，而偵測溫度值用於表示受控區的溫度。參數調整單元依據偵測溫度值、外在環境溫度值及目標溫度值計算出溫度誤差值，並依據溫度誤差值及調變方程式計算出降溫參數組合。比例積分微分控制器在溫度誤差值大於判斷閾值時，依據初始參數組合控制風扇，並在該溫度誤差值等於或小於該判斷閾值時，依據降溫參數組合控制風扇。其中初始參數組合包含多個皆等於預設數值的初始參數。A temperature control device includes a fan, a temperature sensor, a parameter adjustment unit, and a proportional-integral-derivative controller. The fan is used to drive the airflow and control the temperature of the controlled area. The temperature sensor is used to obtain the detected temperature value and is set in the controlled area, and the detected temperature value is used to indicate the temperature of the controlled area. The parameter adjustment unit calculates a temperature error value according to the detected temperature value, the external ambient temperature value, and the target temperature value, and calculates a cooling parameter combination according to the temperature error value and a modulation equation. The proportional-integral-derivative controller controls the fan according to the initial parameter combination when the temperature error value is greater than the judgment threshold, and controls the fan according to the cooling parameter combination when the temperature error value is equal to or less than the judgment threshold. The initial parameter combination includes a plurality of initial parameters that are all equal to a preset value.
Description
本發明係關於一種溫度控制裝置，特別係關於一種具有比例積分微分控制器的溫度控制裝置。 The invention relates to a temperature control device, in particular to a temperature control device with a proportional-integral-derivative controller.
在伺服器領域中，傳統的溫度控制裝置由於溫度感測及風扇轉速調控的時間差，往往產生系統過度冷卻的狀況，同時導致風扇電力過度地耗費。為了降低電力的消耗，現今的溫度控制裝置導入回授控制技術，其中以比例積分微分(Proportional-integral-derivative，PID)控制最為常見。 In the field of servers, due to the time difference between temperature sensing and fan speed regulation, the traditional temperature control device often causes the system to over-cool, and at the same time, the fan power is consumed excessively. In order to reduce power consumption, current temperature control devices introduce feedback control technology, among which Proportional-integral-derivative (PID) control is the most common.
PID控制風扇的效果優劣主要在於控制參數的設計，而目前的控制參數設計係透過重複性的設定、實驗驗證及調校，即透過試誤法(Trial and error)以得到參數組合，其缺點在於耗費人力及時間，且測試出的參數組合通常並非為最佳值。另外，現今的PID控制風扇僅以一組固定的參數組合來設定PID控制器內的控制參數。當控制參數設定數值較大時，在暫態響應區間(即溫度一開始上升的期間)，風扇轉速會因偵測到突然的溫度差而急速攀升，造成過度冷卻的狀況；而當控制參數設定數值較小時，雖可減緩風扇轉速在暫態響應區間的反應，然而暫態響應的循跡效果不佳，難以迅速進入穩態響應區間，也因此在進入穩態響應區域前，容易有溫度過衝的情況。此外，固定控制參數亦易造成在穩態響應區間中風扇轉速的震盪(Oscillation)現象。 The effect of PID control fan mainly lies in the design of control parameters, and the current control parameter design is through repeated settings, experimental verification and adjustment, that is, through the trial and error method (Trial and error) to obtain the parameter combination, the disadvantage is that It is labor-intensive and time-consuming, and the tested parameter combinations are usually not optimal. In addition, current PID control fans only use a fixed set of parameter combinations to set the control parameters in the PID controller. When the control parameter is set to a large value, in the transient response interval (that is, the period when the temperature starts to rise), the fan speed will rise rapidly due to the detection of a sudden temperature difference, resulting in an excessive cooling condition; and when the control parameter is set When the value is small, although the response of the fan speed in the transient response zone can be slowed down, the tracking effect of the transient response is not good, and it is difficult to quickly enter the steady state response zone. Therefore, it is easy to have temperature before entering the steady state response zone. Overshoot condition. In addition, fixed control parameters are also prone to cause the oscillation of the fan speed in the steady-state response interval.
因此，以固定的參數組合來設定PID控制器內的控制參數並無法同時滿足暫態響應區間及穩態響應區間的需求。 Therefore, setting the control parameters in the PID controller with a fixed parameter combination cannot meet the requirements of both the transient response interval and the steady response interval.
鑒於上述，本發明提供一種溫度控制裝置及其控制方法以滿足上述需求。 In view of the above, the present invention provides a temperature control device and a control method thereof to meet the above requirements.
依據本發明一實施例的溫度控制裝置，包含風扇、溫度感測器、參數調整單元及比例積分微分(Proportional-integral-derivative，PID)控制器。風扇用以驅動氣流而控制受控區的溫度。溫度感測器用以取得偵測溫度值且設置於受控區，而偵測溫度值用於表示受控區的溫度。參數調整單元依據偵測溫度值、外在環境溫度值及目標溫度值計算出溫度誤差值，並依據溫度誤差值及調變方程式計算出降溫參數組合。PID控制器在溫度誤差值大於判斷閾值時，依據初始參數組合控制風扇，並在該溫度誤差值等於或小於該判斷閾值時，依據降溫參數組合控制風扇。其中初始參數組合包含多個皆等於預設數值的初始參數。 A temperature control device according to an embodiment of the present invention includes a fan, a temperature sensor, a parameter adjustment unit, and a Proportional-integral-derivative (PID) controller. The fan is used to drive the airflow and control the temperature of the controlled area. The temperature sensor is used to obtain the detected temperature value and is set in the controlled area, and the detected temperature value is used to indicate the temperature of the controlled area. The parameter adjustment unit calculates a temperature error value according to the detected temperature value, the external ambient temperature value, and the target temperature value, and calculates a cooling parameter combination according to the temperature error value and a modulation equation. The PID controller controls the fan according to the initial parameter combination when the temperature error value is greater than the judgment threshold value, and controls the fan according to the cooling parameter combination when the temperature error value is equal to or less than the judgment threshold value. The initial parameter combination includes a plurality of initial parameters that are all equal to a preset value.
依據本發明一實施例的溫度控制方法，適用於包含PID控制器及風扇的溫度控制裝置，其中溫度控制裝置係用以控制受控區的溫度。所述轉速控制方法包含：取得偵測溫度值，其中偵測溫度值係用於表示受控區的溫度；依據偵測溫度值、外在環境溫度值及目標溫度值計算得到溫度誤差值；依據溫度誤差值及調變方程式計算得到降溫參數組合；當溫度誤差值大於判斷閾值時，設定PID控制器的多個控制參數為初始參數組合以控制該風扇，其中初始參數組合包含與控制參數數量相同的多個初始參數，且所述初始參數皆等於一預設數值；以及當溫度誤差值等於或小於判斷閾值時，依據降溫參數組合設定PID控制器的控制參數以控制風扇。 The temperature control method according to an embodiment of the present invention is applicable to a temperature control device including a PID controller and a fan. The temperature control device is used to control the temperature of the controlled area. The speed control method includes: obtaining a detected temperature value, wherein the detected temperature value is used to indicate the temperature of the controlled area; a temperature error value is calculated based on the detected temperature value, the external ambient temperature value, and the target temperature value; The temperature error value and the modulation equation are calculated to obtain the cooling parameter combination. When the temperature error value is greater than the judgment threshold, multiple control parameters of the PID controller are set as the initial parameter combination to control the fan. The initial parameter combination includes the same number of control parameters. A plurality of initial parameters, and the initial parameters are all equal to a preset value; and when the temperature error value is equal to or less than a judgment threshold, the control parameters of the PID controller are set according to the cooling parameter combination to control the fan.
藉由上述結構，本案所揭示的溫度控制裝置及其控制方法，在受控區初啟動時以初始參數組合控制風扇，並在溫度誤差值等於或小於判斷閾值時，依據溫度誤差值及調變方程式動態地調整PID控制器的控制參數，避免在暫態響應區間內，風扇轉速因溫度差及控制參數的加乘而急遽攀升進而導致過度冷卻的情況，亦可避免在進入穩態響應區域前環境溫 度過衝的情況，以及降低在穩態響應區間中，風扇轉速的震盪現象。此外，透過溫度控制裝置自動運算取得PID控制參數的控制方式，不僅可以達到最佳化控制，亦降低由操作人員執行參數調校的人力成本。 With the above structure, the temperature control device and the control method disclosed in this case control the fan with the initial parameter combination when the controlled area is initially started, and when the temperature error value is equal to or less than the judgment threshold, according to the temperature error value and the modulation The equation dynamically adjusts the control parameters of the PID controller to avoid the situation where the fan speed rises sharply due to the temperature difference and the multiplication of the control parameters in the transient response interval, which leads to excessive cooling. It also avoids the situation before entering the steady-state response area. Ambient temperature Overshoot, and reduce the oscillation of the fan speed in the steady-state response interval. In addition, the PID control parameter control method obtained by automatic calculation of the temperature control device can not only achieve optimal control, but also reduce the labor cost for the operator to perform parameter adjustment.
以上之關於本揭露內容之說明及以下之實施方式之說明係用以示範與解釋本發明之精神與原理，並且提供本發明之專利申請範圍更進一步之解釋。 The above description of the contents of this disclosure and the description of the following embodiments are used to demonstrate and explain the spirit and principle of the present invention, and provide a further explanation of the scope of the patent application of the present invention.
1‧‧‧溫度控制裝置 1‧‧‧Temperature control device
11‧‧‧風扇 11‧‧‧fan
13‧‧‧溫度感測器 13‧‧‧Temperature sensor
15‧‧‧參數調整單元 15‧‧‧parameter adjustment unit
17‧‧‧比例積分微分控制器 17‧‧‧ Proportional Integral Differential Controller
圖1係依據本發明一實施例所繪示的溫度控制裝置的功能方塊圖。 FIG. 1 is a functional block diagram of a temperature control device according to an embodiment of the present invention.
圖2係依據本發明一實施例所繪示的溫度控制方法的流程圖。 FIG. 2 is a flowchart of a temperature control method according to an embodiment of the present invention.
圖3A係依據本發明一實施例及習知技術所繪示的溫度控制方法的時間-風扇占空比圖。 FIG. 3A is a time-fan duty cycle diagram of a temperature control method according to an embodiment of the present invention and a conventional technique.
圖3B係依據本發明一實施例及習知技術所繪示的溫度控制方法的時間-溫度圖。 3B is a time-temperature diagram of a temperature control method according to an embodiment of the present invention and a conventional technique.
以下在實施方式中詳細敘述本發明之詳細特徵以及優點，其內容足以使任何熟習相關技藝者了解本發明之技術內容並據以實施，且根據本說明書所揭露之內容、申請專利範圍及圖式，任何熟習相關技藝者可輕易地理解本發明相關之目的及優點。以下之實施例係進一步詳細說明本發明之觀點，但非以任何觀點限制本發明之範疇。 The detailed features and advantages of the present invention are described in detail in the following embodiments. The content is sufficient for any person skilled in the art to understand and implement the technical contents of the present invention. Anyone skilled in the relevant art can easily understand the related objects and advantages of the present invention. The following examples further illustrate the viewpoints of the present invention in detail, but do not limit the scope of the present invention in any way.
請參考圖1，圖1係依據本發明一實施例所繪示的溫度控制裝置的功能方塊圖。如圖1所示，溫度控制裝置1包含風扇11、溫度感測器13、參數調整單元15以及比例積分微分(Proportional-integral-derivative，PID)控制器17，其中PID控制器17電性連接於風扇11、溫度感測器13以及參數調整單元15。 Please refer to FIG. 1, which is a functional block diagram of a temperature control device according to an embodiment of the present invention. As shown in FIG. 1, the temperature control device 1 includes a fan 11, a temperature sensor 13, a parameter adjustment unit 15, and a Proportional-integral-derivative (PID) controller 17. The PID controller 17 is electrically connected to The fan 11, the temperature sensor 13, and the parameter adjustment unit 15.
風扇11係用以驅動氣流而控制受控區的溫度。詳細來說， 溫度控制裝置1的風扇11會受控以控制受控區的溫度趨近於目標溫度值，其中受控區可以係一空間或是一電子元件，而目標溫度值可以指示所述受控區中的電子元件或是作為受控區的電子元件具有最佳工作效率的工作溫度。 The fan 11 is used to drive the airflow to control the temperature of the controlled area. In details, The fan 11 of the temperature control device 1 is controlled to control the temperature of the controlled area to approach the target temperature value. The controlled area can be a space or an electronic component, and the target temperature value can indicate the temperature in the controlled area. The operating temperature of the electronic component or the electronic component as the controlled area has the best working efficiency.
溫度感測器13例如是熱電偶、熱敏電阻、電阻溫度檢測器(Resistance temperature detector，RTD)或是積體電路(Integrated circuit，IC)溫度感測器。溫度感測器13用以取得偵測溫度值並設置於受控區，其中偵測溫度值可用於表示受控區的溫度，意即，偵測溫度值可以表示一空間的溫度或是特定電子元件的溫度。 The temperature sensor 13 is, for example, a thermocouple, a thermistor, a resistance temperature detector (RTD), or an integrated circuit (IC) temperature sensor. The temperature sensor 13 is used to obtain a detected temperature value and set it in a controlled area. The detected temperature value can be used to indicate the temperature of the controlled area, that is, the detected temperature value can represent a space temperature or a specific electron. The temperature of the component.
參數調整單元15例如是晶片或是微控制器，依據偵測溫度值、外在環境溫度值及目標溫度值計算得到溫度誤差值。其中偵測溫度值係由溫度感測器13所測得受控區的內在環境溫度，而外在環境溫度值例如係由設置於受控區之外的第二溫度感測器所測得的溫度值。舉例來說，當受控區係一伺服器時，偵測溫度值表示伺服器內部的環境溫度，而外在環境溫度值表示伺服器的入風口的溫度。於另一實施例中，外在環境溫度值亦可由使用者於參數調整單元15進行設定。而目標溫度值如前所述，係指示受控區中的電子元件或是作為受控區的電子元件具有最佳工作效率的工作溫度。目標溫度值可以係參數調整單元15自受控區取得其電子元件特性據以設定，或是由使用者進行設定。參數調整單元15依據上述三個溫度值進行計算以取得溫度誤差值，再依據溫度誤差值及調變方程式計算得到降溫參數組合，其中關於溫度誤差值的計算方法以及調變方程式的詳細內容將於後描述。 The parameter adjustment unit 15 is, for example, a chip or a microcontroller, and calculates a temperature error value according to a detected temperature value, an external ambient temperature value, and a target temperature value. The detected temperature value is the internal ambient temperature of the controlled area measured by the temperature sensor 13, and the external ambient temperature value is measured, for example, by a second temperature sensor disposed outside the controlled area. Temperature value. For example, when the controlled area is a server, the detected temperature value indicates the internal temperature of the server, and the external environmental temperature value indicates the temperature of the air inlet of the server. In another embodiment, the external ambient temperature value can also be set by the user in the parameter adjustment unit 15. The target temperature value is the operating temperature indicating that the electronic component in the controlled area or the electronic component as the controlled area has the best working efficiency, as described above. The target temperature value can be set by the parameter adjustment unit 15 obtained from the controlled area according to its electronic component characteristics, or set by the user. The parameter adjustment unit 15 performs calculations according to the above three temperature values to obtain a temperature error value, and then calculates a cooling parameter combination according to the temperature error value and a modulation equation. The details of the calculation method of the temperature error value and the modulation equation will be described below. After the description.
PID控制器17例如是進階精簡指令集機器(Advanced RISC Machine,ARM)晶片，會依據多個控制參數產生驅動訊號，以控制風扇11的轉速。PID控制器17在溫度誤差值大於判斷閾值時，會依據初始參數組合以控制風扇11，也就是說，當溫度誤差值大於判斷閾值時，PID控 制器17會將所述的控制參數設定為初始參數組合；而當溫度誤差值等於或小於判斷閾值時，PID控制器17則會依據參數調整單元15所計算出的降溫參數組合，以控制風扇11，即將控制參數設定為降溫參數組合。 The PID controller 17 is, for example, an advanced reduced instruction set machine (Advanced RISC Machine, ARM) chip, and generates a driving signal according to a plurality of control parameters to control the rotation speed of the fan 11. The PID controller 17 controls the fan 11 according to the initial parameter combination when the temperature error value is greater than the judgment threshold. That is, when the temperature error value is greater than the judgment threshold, the PID controller 17 The controller 17 sets the control parameter as an initial parameter combination; and when the temperature error value is equal to or less than the judgment threshold, the PID controller 17 controls the fan according to the cooling parameter combination calculated by the parameter adjustment unit 15 11. Set the control parameters to a combination of cooling parameters.
接下來將進一步地說明溫度控制裝置的溫度控制方法及運作，請一併參考圖1及圖2，其中圖2係依據本發明一實施例所繪示的溫度控制方法的流程圖。 Next, the temperature control method and operation of the temperature control device will be further described. Please refer to FIG. 1 and FIG. 2 together.
於步驟S21~S22中，溫度控制裝置1的參數調整單元15自溫度感測器13取得受控區的偵測溫度值(即內在環境溫度值)，並依據偵測溫度值、外在環境溫度值及目標溫度值以計算得到溫度誤差值。詳細來說，參數調整單元15將三個溫度值進行正規化，將目標溫度值與偵測溫度值的差值及目標溫度值與外在環境溫度值的差值進行除法運算，以得到溫度誤差值，如下列公式所示：，其中e N 為溫度誤差值；r為目標溫度值；y(t)為偵測溫度值；T inlet 為外在環境溫度值。 In steps S21 to S22, the parameter adjustment unit 15 of the temperature control device 1 obtains the detected temperature value (that is, the internal ambient temperature value) of the controlled area from the temperature sensor 13, and according to the detected temperature value and the external ambient temperature Value and target temperature value to calculate the temperature error value. In detail, the parameter adjustment unit 15 normalizes the three temperature values, divides the difference between the target temperature value and the detected temperature value, and the difference between the target temperature value and the external ambient temperature value to obtain a temperature error. Value, as shown in the following formula: , Where e N is the temperature error value; r is the target temperature value; y ( t ) is the detected temperature value; T inlet is the external ambient temperature value.
再來於步驟S23中，參數調整單元15依據溫度誤差值以及調變方程式計算得到降溫參數組合，其中降溫參數組合包含了多個降溫參數分別對應於PID控制器17的控制參數，即比例參數、積分參數以及微分參數。於一實施例中，調變方程式指示溫度誤差值與第一參數值及第二參數值的差值相乘，再加上第二參數值以得到對應於比例參數、積分參數或微分參數的降溫參數的數值，如下列方程式：K=(K1-K2)e N +K2，其中K為降溫參數的數值；K1為第一參數值；K2為第二參數值。 Then in step S23, the parameter adjustment unit 15 calculates a cooling parameter combination according to the temperature error value and the modulation equation. The cooling parameter combination includes a plurality of cooling parameters corresponding to the control parameters of the PID controller 17, namely, the proportional parameters, Integral and differential parameters. In one embodiment, the modulation equation indicates that the temperature error value is multiplied by the difference between the first parameter value and the second parameter value, and the second parameter value is added to obtain the cooling corresponding to the proportional parameter, the integral parameter or the differential parameter. The value of the parameter is as follows: K = ( K 1- K 2) e N + K 2, where K is the value of the cooling parameter; K1 is the first parameter value; K2 is the second parameter value.
一般而言，PID控制參數係利用Tyreus-Luyben方法或是Ziegler-Nichols方法來取得。其中Tyreus-Luyben方法係一種強健性系統的參數控制方法，其定義的溫度系統如下列方程式表示：
其中K p 、D及τ分別為系統增益值(System gain)、時間延遲(Time delay)及時間常數(Time constant)。此溫度系統經系統鑑別(System identification)極限增益常數Ku1及極限週期常數Pu1後，可依據下列關係式分別取得比例參數P1、積分參數I1以及微分參數D1。 Wherein K p , D and τ are the system gain, the time delay and the time constant, respectively. After the temperature system has identified the limit gain constant Ku 1 and the limit period constant Pu 1 by the system identification, the proportional parameter P 1 , the integral parameter I 1 and the differential parameter D 1 can be obtained according to the following relations.
P1=Ku2/2.2 P 1 = Ku 2 /2.2
I1=Pu1/0.45 I 1 = Pu 1 /0.45
D1=Pu1/6.3 D 1 = Pu 1 /6.3
而Ziegler-Nichols方法則係一種穩定系統的參數控制方法，且定義溫度系統以下列方程式表示：
其中參數符號同上述Ziegler-Nichols方法中的參數符號，於此不再贅述。同樣地，此溫度系統經系統鑑別極限增益常數Ku2及極限週期常數Pu2後，可依據下列關係式分別取得比例參數P2、積分參數I2以及微分參數D2。 The parameter symbols are the same as the parameter symbols in the Ziegler-Nichols method described above, and are not repeated here. Similarly, after the temperature system has identified the limit gain constant Ku 2 and the limit period constant Pu 2 in this temperature system, the proportional parameter P 2 , the integral parameter I 2 and the differential parameter D 2 can be obtained according to the following relations.
P2=Ku2/1.7 P 2 = Ku 2 /1.7
I2=Pu2/2 I 2 = Pu 2/2
D2=Pu2/8 D 2 = Pu 2/8
比較上述兩方法所取得的PID控制參數，Tyreus-Luyben方法所取得的PID控制參數在大部分的溫度區間內皆可以達到穩定的控制，但其控制過程耗能；而Ziegler-Nichols方法所取得的PID控制參數僅可在小範圍的線性區間，即平衡點(set-point)附近穩定地控制風扇11。 Comparing the PID control parameters obtained by the above two methods, the PID control parameters obtained by the Tyreus-Luyben method can achieve stable control in most temperature ranges, but the control process consumes energy; and the Ziegler-Nichols method obtains The PID control parameter can stably control the fan 11 only in a small linear range, that is, near a set-point.
因此，於本發明的一實施例中，參數調整單元15可將Tyreus-Luyben方法所取得的PID控制參數的其中之一的數值作為第一參數值，並將Ziegler-Nichols方法所取得的PID控制參數的其中之一的數值 作為第二參數值以計算出降溫參數組合中的降溫參數的數值。舉例來說，參數調整單元15可以依據Tyreus-Luyben方法所取得的比例參數及Ziegler-Nichols方法所取得的比例參數計算得到降溫參數組合中對應於比例參數的降溫參數，而對應於積分參數及微分參數的降溫參數亦同理可得。隨著溫度誤差值的減少(即偵測溫度值越來越接近目標溫度值)，降溫參數組合中的降溫參數越接近Ziegler-Nichols方法所取得的PID控制參數。如此一來，參數調整單元15可以依據溫度誤差值適應性地調整降溫參數，以達到穩定且低耗能的控制過程。 Therefore, in an embodiment of the present invention, the parameter adjustment unit 15 may use one of the PID control parameters obtained by the Tyreus-Luyben method as the first parameter value, and use the PID control obtained by the Ziegler-Nichols method. The value of one of the parameters As the second parameter value, the value of the cooling parameter in the cooling parameter combination is calculated. For example, the parameter adjustment unit 15 can calculate the cooling parameter corresponding to the proportional parameter in the cooling parameter combination according to the proportional parameter obtained by the Tyreus-Luyben method and the proportional parameter obtained by the Ziegler-Nichols method, and correspond to the integral parameter and the derivative. The cooling parameters of the parameters can be obtained in the same way. As the temperature error value decreases (that is, the detected temperature value gets closer to the target temperature value), the closer the cooling parameter in the cooling parameter combination is to the PID control parameter obtained by the Ziegler-Nichols method. In this way, the parameter adjustment unit 15 can adaptively adjust the cooling parameters according to the temperature error value, so as to achieve a stable and low energy consumption control process.
接下來，於步驟S24中，PID控制器17自參數調整單元15取得溫度誤差值，並判斷溫度誤差值是否大於判斷閾值，其中判斷閾值可以係PID控制器17中的預設值或由使用者進行設定，例如為0.3。於步驟S25中，當溫度誤差值大於判斷閾值時，PID控制器17設定其控制參數為初始參數組合，其中初始參數組合包含分別對應於比例參數、積分參數以及微分參數的多個初始參數，且這些初始參數皆等於一預設數值，例如為零或近似零的數值。如此一來，可以避免在受控區初啟動時，風扇11的轉速因巨大的溫度差及控制參數的加乘而急遽攀升，導致過度冷卻且耗費不必要的電力的情況。而當溫度誤差值等於或小於判斷閾值時，如步驟S26所示，PID控制器17便會依據前述參數調整單元15所計算出的降溫參數組合來設定控制參數以控制風扇11。 Next, in step S24, the PID controller 17 obtains a temperature error value from the parameter adjustment unit 15 and determines whether the temperature error value is greater than a judgment threshold. The judgment threshold may be a preset value in the PID controller 17 or may be determined by a user. Set it, for example, 0.3. In step S25, when the temperature error value is greater than the judgment threshold, the PID controller 17 sets its control parameter as an initial parameter combination, where the initial parameter combination includes a plurality of initial parameters respectively corresponding to the proportional parameter, the integral parameter, and the differential parameter, and These initial parameters are all equal to a preset value, such as a value of zero or approximately zero. In this way, when the controlled area is initially started, the speed of the fan 11 can be rapidly increased due to the huge temperature difference and the multiplication of the control parameters, resulting in excessive cooling and unnecessary power consumption. When the temperature error value is equal to or less than the judgment threshold, as shown in step S26, the PID controller 17 sets a control parameter to control the fan 11 according to the cooling parameter combination calculated by the aforementioned parameter adjustment unit 15.
比較上述實施例所述的溫度控制方法以及習知的溫度控制方法，請參考圖3A及3B，其中圖3A係依據本發明一實施例及習知技術所繪示的溫度控制方法的時間-風扇占空比圖，而圖3B係依據本發明一實施例及習知技術所繪示的溫度控制方法的時間-溫度圖。如圖3A及3B所示，在受控區初啟動的階段，此時溫度誤差值相當大，以習知的溫度控制方法控制風扇將使其占空比大幅上升。而本發明的實施例所提供的溫度控制方法，在此階段可以判斷溫度誤差值大於判斷閾值因而設定PID控制參 數為零，降低過度的耗能，亦避免風扇轉速劇烈提升而導致受控區過度冷卻的情況。再來，當溫度誤差值等於或小於判斷閾值時，本發明的實施例所提供的溫度控制方法便依據溫度誤差值以及調變方程式動態地調整PID控制參數，以減少風扇轉速的震盪(Oscillation)現象，平穩地進入穩態響應區域。 To compare the temperature control method described in the above embodiment with the conventional temperature control method, please refer to FIGS. 3A and 3B, where FIG. 3A is a time-fan of the temperature control method according to an embodiment of the present invention and the conventional technology. Duty cycle diagram, and FIG. 3B is a time-temperature diagram of a temperature control method according to an embodiment of the present invention and a conventional technique. As shown in Figures 3A and 3B, at the initial start-up stage of the controlled area, the temperature error value is quite large at this time. Controlling the fan with a conventional temperature control method will greatly increase its duty cycle. In the temperature control method provided by the embodiment of the present invention, at this stage, it can be judged that the temperature error value is greater than the judgment threshold, so the PID control parameter is set. The number is zero, which reduces excessive energy consumption and avoids excessive cooling of the controlled area caused by a sharp increase in fan speed. In addition, when the temperature error value is equal to or less than the judgment threshold, the temperature control method provided by the embodiment of the present invention dynamically adjusts the PID control parameters according to the temperature error value and the modulation equation to reduce the oscillation of the fan speed. Phenomenon, enter the steady-state response area smoothly.
藉由上述結構，本案所揭示的溫度控制裝置及其控制方法，在受控區初啟動時以初始參數組合控制風扇，並在溫度誤差值等於或小於判斷閾值時，依據溫度誤差值及調變方程式動態地調整PID控制器的控制參數，避免在暫態響應區間內，風扇轉速因溫度差及控制參數的加乘而急遽攀升進而導致過度冷卻的情況，亦可避免在進入穩態響應區域前環境溫度過衝的情況，以及降低在穩態響應區間中，風扇轉速的震盪現象。此外，透過溫度控制裝置自動運算取得PID控制參數的控制方式，不僅可以達到最佳化控制，亦降低由操作人員執行參數調校的人力成本。 With the above structure, the temperature control device and the control method disclosed in this case control the fan with the initial parameter combination when the controlled area is initially started, and when the temperature error value is equal to or less than the judgment threshold, according to the temperature error value and the modulation The equation dynamically adjusts the control parameters of the PID controller to avoid the situation where the fan speed rises sharply due to the temperature difference and the multiplication of the control parameters in the transient response interval, which leads to excessive cooling. It also avoids the situation before entering the steady-state response area. Ambient temperature overshoot, and the fluctuation of the fan speed in the steady-state response interval. In addition, the PID control parameter control method obtained by automatic calculation of the temperature control device can not only achieve optimal control, but also reduce the labor cost for the operator to perform parameter adjustment.
雖然本發明以前述之實施例揭露如上，然其並非用以限定本發明。在不脫離本發明之精神和範圍內，所為之更動與潤飾，均屬本發明之專利保護範圍。關於本發明所界定之保護範圍請參考所附之申請專利範圍。 Although the present invention is disclosed in the foregoing embodiments, it is not intended to limit the present invention. Changes and modifications made without departing from the spirit and scope of the present invention belong to the patent protection scope of the present invention. For the protection scope defined by the present invention, please refer to the attached patent application scope.
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