CN105159138B - A kind of radiometer temperature control system heat transfer mathematical model establishing method - Google Patents
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Abstract
本发明公开了一种辐射计温控系统热传递模型的建立方法。其包括以下步骤：步骤A：分析辐射计温控系统热传递数学模型；步骤B：获取建模所需数据；步骤C：由数据建立接收机的温度传递模型；步骤D：由数据建立接收机和加热体共同加热的温度传递模型。该建模方法能够得出接收机和加热体单独的热传递函数的数学模型，对调制系统的PID整定，系统仿真方面等提供有效的模型依据，防止PID参数不合适导致的系统震荡，为高精度温控系统的稳定提供必要的依据。
The invention discloses a method for establishing a heat transfer model of a radiometer temperature control system. It includes the following steps: step A: analyze the heat transfer mathematical model of the radiometer temperature control system; step B: obtain the data required for modeling; step C: establish the temperature transfer model of the receiver from the data; step D: establish the receiver from the data A temperature transfer model for co-heating with a heating body. This modeling method can obtain the mathematical model of the separate heat transfer function of the receiver and the heating body, provide an effective model basis for the PID tuning of the modulation system, system simulation, etc., and prevent system oscillation caused by inappropriate PID parameters. The stability of the precision temperature control system provides the necessary basis.
Description
技术领域technical field
本发明涉及数据拟合、温控系统热传递建模、自动化控制等技术领域，特别是涉及辐射计温控系统热传递数学模型的建立方法。The invention relates to technical fields such as data fitting, heat transfer modeling of a temperature control system, automatic control, etc., and in particular relates to a method for establishing a mathematical model of heat transfer of a radiometer temperature control system.
背景技术Background technique
辐射计接收机作为辐射计系统的关键部件，其特性决定了辐射计的主要性能指标。辐射计的灵敏度主要决定于接收机的增益变化，而接收机增益的稳定性主要受接收机所处环境的温度影响，为了获得较高的灵敏度等指标，保证接收机增益的稳定性，保持接收机工作时的温度恒定是必要的。The radiometer receiver is a key component of the radiometer system, and its characteristics determine the main performance indicators of the radiometer. The sensitivity of the radiometer is mainly determined by the gain change of the receiver, and the stability of the receiver gain is mainly affected by the temperature of the environment where the receiver is located. In order to obtain higher sensitivity and other indicators, ensure the stability of the receiver gain and keep the receiver A constant temperature is necessary for the machine to work.
对于单加热源的恒温温度控制技术已经比较成熟，辐射计温控系统中有两个热源，热源一为接收机模块，接收机模块在正常工作的过程中会持续产生恒定的热量，不受温度控制系统影响，热源二为加热体，加热体是温度调制的主要模块。由于接收机产生的恒定热量较大，且其发热量不受温控系统的影响，因此，在建立辐射计热传递模型时，接收机和加热体不能当成一个热源来处理，且接收机对温控系统的影响不能忽略，常用温度控制模型无法对辐射计温控系统热传递模型进行描述。The constant temperature temperature control technology for a single heating source is relatively mature. There are two heat sources in the temperature control system of the radiometer. The first heat source is the receiver module. Influenced by the control system, the second heat source is the heating body, and the heating body is the main module of temperature modulation. Since the constant heat generated by the receiver is relatively large, and its calorific value is not affected by the temperature control system, when establishing the heat transfer model of the radiometer, the receiver and the heating body cannot be treated as a heat source, and the receiver is not affected by the temperature The impact of the control system cannot be ignored, and the commonly used temperature control model cannot describe the heat transfer model of the radiometer temperature control system.
发明内容Contents of the invention
本发明克服了辐射计温控系统双热源加热，单热源调制的温控系统热传递数学模型建立的问题，提供一种辐射计温控系统热传递模型的建立方法。The invention overcomes the problem of establishing a heat transfer mathematical model of a radiometer temperature control system heated by dual heat sources and modulated by a single heat source, and provides a method for establishing a heat transfer model of a radiometer temperature control system.
为达到上述目的，本发明的技术方案提供一种辐射计温控系统热传递数学模型的建立方法，包括以下步骤：步骤A：分析辐射计温控系统热传递数学模型；步骤B：获取建模所需数据；步骤C：由数据建立接收机的温度传递模型；步骤D：由数据建立接收机和加热体共同加热的温度传递模型。In order to achieve the above purpose, the technical solution of the present invention provides a method for establishing a heat transfer mathematical model of a radiometer temperature control system, including the following steps: Step A: analyze the heat transfer mathematical model of the radiometer temperature control system; Step B: obtain the modeling Required data; step C: establish the temperature transfer model of the receiver from the data; step D: establish the temperature transfer model of the joint heating of the receiver and the heating body from the data.
进一步，所述步骤A：分析辐射计温控系统热传递数学模型，具体包括：步骤A1：分析接收机作为热源时温控系统的热传递数学模型；步骤A2：分析加热体作为热源时温控系统的热传递数学模型；步骤A3：分析接收机和加热体共同作用下，温控系统的热传递数学模型。Further, the step A: analyzing the heat transfer mathematical model of the radiometer temperature control system, specifically includes: step A1: analyzing the heat transfer mathematical model of the temperature control system when the receiver is used as a heat source; step A2: analyzing the temperature control system when the heating body is used as a heat source The heat transfer mathematical model of the system; step A3: analyze the heat transfer mathematical model of the temperature control system under the joint action of the receiver and the heating body.
进一步，在步骤A1中，具体包括：依据热力学原理，求得温控系统中接收机的发热量、温控箱温度、外界温度等之间相互关系，求得温控箱温度和外界温度的差值与接收机发热量的关系，对该关系进行拉普拉斯变换即可得接收机加热时的传递函数。对该传递函数的阶跃响应进行拉普拉斯反变换，可得其热传递效果的数学模型。Further, in step A1, it specifically includes: according to the principle of thermodynamics, obtain the relationship between the calorific value of the receiver in the temperature control system, the temperature of the temperature control box, and the external temperature, and obtain the difference between the temperature of the temperature control box and the external temperature The relationship between the value and the calorific value of the receiver can be obtained by Laplace transforming the relationship to obtain the transfer function when the receiver is heated. The mathematical model of the heat transfer effect can be obtained by inverse Laplace transform of the step response of the transfer function.
进一步，在步骤A2中，具体包括：依据热力学原理，求得温控系统中加热体的发热量、温控箱温度、外界温度等之间相互关系，求得温控箱温度和外界温度的差值与加热体发热量的关系，对该关系进行拉普拉斯变换即可得加热体加热时的传递函数。对该传递函数的阶跃响应进行拉普拉斯反变换，可得其热传递效果的数学模型。Further, in step A2, it specifically includes: according to the principle of thermodynamics, obtain the relationship between the calorific value of the heating body in the temperature control system, the temperature of the temperature control box, and the external temperature, and obtain the difference between the temperature of the temperature control box and the external temperature The relationship between the value and the calorific value of the heating body, and the Laplace transform of the relationship can be used to obtain the transfer function of the heating body when it is heated. The mathematical model of the heat transfer effect can be obtained by inverse Laplace transform of the step response of the transfer function.
进一步，在步骤A3中，具体包括：依据接收机和加热体的传递函数可知，辐射计系统热传递数学模型为两者传递函数之和。Further, in step A3, it specifically includes: According to the transfer functions of the receiver and the heating body, the heat transfer mathematical model of the radiometer system is the sum of the transfer functions of the two.
进一步，所述步骤B：获取建模所需数据。Further, the step B: obtaining data required for modeling.
进一步，所述步骤C：由数据建立接收机的温度传递数学模型，具体包括：步骤C1：确定温度传递函数的延时常数τ1；步骤C2：确定系统增益K1和时间常数T1。Further, the step C: establishing the temperature transfer mathematical model of the receiver from the data, specifically includes: step C1: determining the delay constant τ 1 of the temperature transfer function; step C2: determining the system gain K 1 and the time constant T 1 .
进一步，在步骤C1中，具体包括：依据温控箱的温度数据T1i，求出温度曲线T1i的斜率，查找斜率的最大值，在斜率最大值处做该曲线的切线，该切线与X轴相交的值即为传递函数的延时常数τ1。Further, in step C1, it specifically includes: according to the temperature data T 1i of the temperature control box, calculate the slope of the temperature curve T 1i , find the maximum value of the slope, and make a tangent to the curve at the maximum value of the slope, the tangent and X The value at which the axes intersect is the delay constant τ 1 of the transfer function.
进一步，在步骤C2中，具体包括：取出T1i中τ1后的数据，对该数据进行数据拟合辨识，求的传递函数系统的增益K1及时间常数T1。Further, in step C2, it specifically includes: taking out the data after τ 1 in T 1i , performing data fitting identification on the data, and finding the gain K 1 and the time constant T 1 of the transfer function system.
进一步，所述步骤D：由数据确定加热体的温度传递数学模型，具体包括：步骤D1：确定温度传递函数的延时常数τ2；步骤D2：确定系统增益K2和时间常数T2。Further, the step D: determining the temperature transfer mathematical model of the heating body from the data, specifically includes: step D1: determining the delay constant τ 2 of the temperature transfer function; step D2: determining the system gain K 2 and the time constant T 2 .
进一步，在步骤D1中，具体包括：依据温控箱的温度T2i，求出温度曲线T2i的斜率，查找斜率的最大值，在斜率最大值处做该曲线的切线，该切线与X轴相交的值即为传递函数的延时常数τ2。Further, in step D1, it specifically includes: according to the temperature T 2i of the temperature control box, calculate the slope of the temperature curve T 2i , find the maximum value of the slope, and make a tangent to the curve at the maximum value of the slope. The intersecting value is the delay constant τ 2 of the transfer function.
进一步，在步骤D2中，具体包括：取出T2i中τ2后的数据，对该数据进行数据拟合辨识，求的传递函数的增益K2及时间常数T2。Further, in step D2, it specifically includes: taking out the data after τ 2 in T 2i , performing data fitting identification on the data, and finding the gain K 2 and the time constant T 2 of the transfer function.
利用该方法进行热传递函数建模，能够有效解决所处环境不同，对应模型不同，而采用同一PID进行控制的弊端，同时，由于接收机不参与温度调制，该建模方法能够得出接收机和加热体单独的热传递函数的数学模型，对调制系统的PID整定，系统仿真方面等提供有效的模型依据，防止PID参数不合适导致的系统震荡，为高精度温控系统的稳定提供必要的依据。Using this method to model the heat transfer function can effectively solve the disadvantages of using the same PID for control in different environments and corresponding models. At the same time, since the receiver does not participate in temperature modulation, this modeling method can obtain the The mathematical model of the separate heat transfer function of the heating body provides an effective model basis for the PID tuning of the modulation system and system simulation, prevents system oscillation caused by inappropriate PID parameters, and provides the necessary for the stability of the high-precision temperature control system. in accordance with.
附图说明Description of drawings
图1是本发明实施例的流程图；Fig. 1 is the flowchart of the embodiment of the present invention;
图2是本发明实施例的传递函数的单位阶跃响应的原理示意图；Fig. 2 is the principle schematic diagram of the unit step response of the transfer function of the embodiment of the present invention;
具体实施方式detailed description
为了解决现有技术中问题，本发明提供了一种方法，本发明实施例的技术方案基于温度数据，对接收机和加热体的热传递数学模型进行拟合，利用该模型，为不同温度环境下PID参数的整定提供模型依据。以下结合附图以及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不限定本发明。In order to solve the problems in the prior art, the present invention provides a method. The technical solution of the embodiment of the present invention is based on the temperature data to fit the heat transfer mathematical model of the receiver and the heating body. Using this model, different temperature environments The setting of the PID parameters provides the basis for the model. The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
实施例1Example 1
根据本发明的实施例，提供了辐射计温控系统建模的方法，图1是本发明实施例的流程图，以下结合附图，对本发明实施例的上述技术方案进行详细说明。According to an embodiment of the present invention, a method for modeling a radiometer temperature control system is provided. FIG. 1 is a flow chart of the embodiment of the present invention. The above technical solution of the embodiment of the present invention will be described in detail below in conjunction with the accompanying drawings.
步骤A，分析辐射计温控系统热传递数学模型。Step A, analyze the heat transfer mathematical model of the radiometer temperature control system.
步骤A具体包括如下处理：Step A specifically includes the following processing:
设定set up
QR——温控系统接收机产生的热量Q R ——the heat generated by the receiver of the temperature control system
QT——温控系统加热体产生的热量Q T ——the heat generated by the heating body of the temperature control system
T内——温控系统内部温度Tin— the internal temperature of the temperature control system
C——温控系统内部比热C——Specific heat inside the temperature control system
H——温控系统热传递系数H——heat transfer coefficient of temperature control system
T外——温控系统外部温度T outside - the temperature outside the temperature control system
Q内外——温控系统内部传递给外部的热量Q inside and outside —the heat transferred from the inside of the temperature control system to the outside
Td——温控系统内部与外部的温差T d ——The temperature difference between the inside and outside of the temperature control system
对接收机加热进行分析，可得：Analyzing the receiver heating, we can get:
公式1 Formula 1
用Td表示经整理可得Use T d to indicate that it can be obtained after sorting out
公式2 Formula 2
由于在数据采集过程中，外部温度变化不大，因此可以近似为0，因此，经过拉普拉斯变换后，该式整理可得Since the external temperature does not change much during data acquisition, it can be approximated by is 0, therefore, after Laplace transform, the formula can be arranged as
公式3 Formula 3
因此，接收机加热时的传递函数为Therefore, the transfer function when the receiver is heated is
公式4 Formula 4
考虑到系统延时L1，此系统的传递函数模型为Considering the system delay L 1 , the transfer function model of this system is
公式5 Formula 5
其中in
K1——温控系统接收机传递函数的增益K 1 ——The gain of the receiver transfer function of the temperature control system
T1——温控系统接收机传递函数的时间常数T 1 ——the time constant of the receiver transfer function of the temperature control system
该传递函数的单位节约响应曲线如图2所示，不考虑延时该传递函数阶跃响应的拉普拉斯反变换为The unit saving response curve of this transfer function is shown in Figure 2, and the inverse Laplace transform of the step response of this transfer function is
公式6 Formula 6
对加热体进行分析，同理可得：Analyzing the heating body, it can be obtained in the same way:
考虑到系统延时L2，此系统的传递函数模型为Considering the system delay L 2 , the transfer function model of this system is
公式7 Formula 7
其中in
K2——温控系统加热体传递函数的增益K 2 ——The gain of the transfer function of the heating body of the temperature control system
T2——温控系统加热体传递函数的时间常数T 2 ——The time constant of the transfer function of the heating body of the temperature control system
该传递函数的单位节约响应曲线如图2所示，不考虑延时该传递函数阶跃响应的拉普拉斯反变换为The unit saving response curve of this transfer function is shown in Figure 2, and the inverse Laplace transform of the step response of this transfer function is
公式8 Formula 8
因此，温控系统的传递函数为Therefore, the transfer function of the temperature control system is
公式9 Formula 9
步骤B，获取建模所需数据Step B, obtain the data required for modeling
步骤C，由数据确定接收机的温度传递模型。Step C, determining the temperature transfer model of the receiver from the data.
步骤C具体包括如下处理：Step C specifically includes the following processing:
步骤C1，确定温度传递函数的延时常数τ1，即图2中的L，具体实现过程为：Step C1, determine the delay constant τ 1 of the temperature transfer function, that is, L in Figure 2, the specific implementation process is as follows:
依据接收机加热时温控系统的温度数据T1i，求出温度曲线T1i的斜率，查找斜率的最大值，在斜率最大值处做该曲线的切线，该切线与X轴相交的值即为传递函数的延时常数τ1。Calculate the slope of the temperature curve T 1i according to the temperature data T 1i of the temperature control system when the receiver is heated, find the maximum value of the slope, and draw a tangent to the curve at the maximum value of the slope, and the intersection of the tangent with the X axis is The delay constant τ 1 of the transfer function.
步骤C2，确定系统增益K1和时间常数T1，即图2中的K和T，具体实现过程为：Step C2, determine the system gain K 1 and time constant T 1 , that is, K and T in Figure 2, the specific implementation process is:
取出T1i中τ1后的数据，根据公式6对该数据进行数据拟合辨识，求的传递函数的增益K1及时间常数T1。Take out the data after τ 1 in T 1i , carry out data fitting identification on the data according to formula 6, and obtain the gain K 1 and time constant T 1 of the transfer function.
步骤D，由数据确定加热体的温度传递数学模型。Step D, determining the temperature transfer mathematical model of the heating body from the data.
步骤D具体包括如下处理：Step D specifically includes the following processing:
步骤D1，确定温度传递函数的延时常数τ2，即图2中的L，具体实现过程为：Step D1, determine the delay constant τ 2 of the temperature transfer function, that is, L in Figure 2, the specific implementation process is as follows:
依据加热体加热时的温度数据T2i，求出温度曲线T2i的斜率，查找斜率的最大值，在斜率最大值处做该曲线的切线，该切线与X轴相交的值即为传递函数的延时常数τ2。Calculate the slope of the temperature curve T 2i according to the temperature data T 2i when the heating body is heated, find the maximum value of the slope, and make a tangent to the curve at the maximum value of the slope, and the intersection of the tangent with the X axis is the value of the transfer function Delay constant τ 2 .
步骤D2，确定系统增益K2和时间常数T2，即图2中的K和T，具体实现过程为：Step D2, determine the system gain K 2 and time constant T 2 , that is, K and T in Figure 2, the specific implementation process is:
取出T2i中τ2后的数据，根据公式8对该数据进行数据拟合辨识，求的传递函数的增益K2及时间常数T2。Take out the data after τ 2 in T 2i , carry out data fitting identification on the data according to formula 8, and obtain the gain K 2 and time constant T 2 of the transfer function.
综上所述，本发明提供一种辐射计温控系统热传递数学模型的建立分析方法，可以实现不同环境下的温控系统传递函数的获取，为不同场景下辐射计温控系统提供一种有效的热传递数学模型建立方法。In summary, the present invention provides a method for establishing and analyzing the heat transfer mathematical model of the radiometer temperature control system, which can realize the acquisition of the transfer function of the temperature control system in different environments, and provides a method for the radiometer temperature control system in different scenarios. An effective method for establishing a mathematical model of heat transfer.
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| CN109949550A (en) * | 2019-02-28 | 2019-06-28 | 成都派沃特科技股份有限公司 | The cloud monitoring system of distributive data center equipment state |
| CN109828618A (en) * | 2019-02-28 | 2019-05-31 | 成都派沃特科技股份有限公司 | Data center apparatus measure and control device based on artificial intelligence technology |
| CN110095980A (en) * | 2019-03-25 | 2019-08-06 | 安徽工程大学 | Room heater temperature control system model and its robust AF panel control method |
| CN110296774B (en) * | 2019-07-04 | 2021-03-09 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for quickly identifying heat load of liquid cooling plate |
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| DE19729632C1 (en) * | 1997-07-10 | 1999-04-08 | Siemens Ag | Method for setting several controllers for controlling a controlled system consisting of coupled controlled systems |
| CN103674310B (en) * | 2012-09-26 | 2016-01-20 | 中国人民解放军第二炮兵工程大学 | A kind of fuel temperature measurement method based on oil pipe surface temperature measurement |
| CN103234662A (en) * | 2013-05-03 | 2013-08-07 | 大连测控技术研究所 | Compensation method for automatic temperature detection and automatic temperature detection system |
| CN104571186A (en) * | 2015-01-05 | 2015-04-29 | 中国电子科技集团公司第二十二研究所 | High-precision constant temperature control device for microwave radiometer |
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