PID调节风柜系统

mh-quartz/src/main/java/com/mh/quartz/domain/FuzzyLevel.java

@@ -0,0 +1,11 @@
+package com.mh.quartz.domain;
+
+/**
+ * @Classname FuzzyLevel
+ * Todo:
+ * @Date 2025-05-31 14:19
+ * @Created by LJF
+ */
+public enum FuzzyLevel {
+    NB, NM, NS, ZO, PS, PM, PB; // 极小，较小，小，零，稍大，较大，极大
+}

mh-quartz/src/main/java/com/mh/quartz/task/AHUTask.java

@@ -93,10 +93,6 @@ public class AHUTask {
                 continue;
             }
 
-            // 初始化PID参数（可动态调整）
-//            PIDParams params = new PIDParams(2.5, 0.1, 0.5);
-            PIDParams params = new PIDParams(new BigDecimal(kp).doubleValue(), new BigDecimal(ki).doubleValue(), new BigDecimal(kd).doubleValue()); // Kp, Ki, Kd
-
             // 过滤获取回风温度设置值
             Optional<CollectionParamsManage> second = collectionParamsManages
                     .stream()
@@ -106,10 +102,12 @@ public class AHUTask {
                 continue;
             }
             // 得出回风温度设置值
-            double backTemp = second.get().getCurValue().doubleValue();
+            double backTempSet = second.get().getCurValue().doubleValue();
 
             // 设定目标温度（夏季制冷24℃）
-            AHUPIDControlUtil pid = new AHUPIDControlUtil(params, backTemp);
+            AHUPIDControlUtil controller = new AHUPIDControlUtil();
+
+            System.out.println("开始模糊PID控制循环：");
 
             // 过滤获取当前回风温度
             Optional<CollectionParamsManage> third = collectionParamsManages
@@ -123,7 +121,7 @@ public class AHUTask {
             double temp = third.get().getCurValue().doubleValue();
 
             // 2. 计算水阀开度（时间间隔1秒）
-            double valveOpening1 = pid.calculate(temp, 1.0);
+            double valveOpening1 = controller.compute(backTempSet, temp, 60.0);
             int valveOpening = new BigDecimal(valveOpening1).intValue();
 
             // 过滤获取水阀调节参数
@@ -143,8 +141,8 @@ public class AHUTask {
                 changeValues.add(new OrderEntity(collectionParamsManage.getId(), String.valueOf(valveOpening), Integer.parseInt(collectionParamsManage.getParamType()), collectionParamsManage.getOtherName()));
                 sendOrderToMqtt(changeValues);
                 // 3. 应用水阀开度（实际应用发送给执行机构）
-                log.info("回风温度: {} ℃ | 水阀开度: {} % | P:{}, I:{} D:{} ",
+                log.info("回风温度: {} ℃ | 水阀开度: {} % ",
-                        temp, valveOpening, params.getKp(), params.getKi(), params.getKd());
+                        temp, valveOpening);
             }
 
         }

mh-quartz/src/main/java/com/mh/quartz/util/AHUPIDControlUtil.java

@@ -1,5 +1,6 @@
 package com.mh.quartz.util;
 
+import com.mh.quartz.domain.FuzzyLevel;
 import com.mh.quartz.domain.PIDParams;
 
 /**
@@ -11,46 +12,70 @@ import com.mh.quartz.domain.PIDParams;
  */
 public class AHUPIDControlUtil {
 
-    // PID控制器核心实现
+    private double kp = 2.0, ki = 0.1, kd = 0.0;
-    private PIDParams params;
+    private double integral = 0;
-    private double setPoint;      // 目标温度
+    private double previousError = 0;
-    private double prevError;     // 上次误差
+
-    private double integral;      // 积分累积值
+    // 模糊增益修正比例
-    private double minOutput = 0; // 输出下限(0%)
+    private double deltaKpScale = 0.5;
-    private double maxOutput = 100; // 输出上限(100%)
+    private double deltaKiScale = 0.01;
-
+    private double deltaKdScale = 0.01;
-    public AHUPIDControlUtil(PIDParams params, double setPoint) {
+
-        this.params = params;
+    public double compute(double setTemp, double currentTemp, double deltaTime) {
-        this.setPoint = setPoint;
+        double error = setTemp - currentTemp;
-    }
+        double dError = (error - previousError) / deltaTime;
 
-    // 计算水阀开度百分比 (0-100%)
+        // 模糊映射
-    public double calculate(double currentTemp, double deltaTime) {
+        FuzzyLevel eLevel = toFuzzyLevel(error);
-        // 1. 计算当前误差
+        FuzzyLevel ecLevel = toFuzzyLevel(dError);
-        double error = setPoint - currentTemp;
 
-        // 2. 比例项计算
+        // 获取PID参数调整
-        double proportional = params.getKp() * error;
+        FuzzyLevel kpAdjust = FuzzyRuleBase.getKpAdjust(eLevel, ecLevel);
+        FuzzyLevel kiAdjust = kpAdjust; // 简化处理
+        FuzzyLevel kdAdjust = kpAdjust;
 
-        // 3. 积分项计算（带抗饱和）
+        kp += fuzzyDeltaToValue(kpAdjust, deltaKpScale);
-        integral += params.getKi() * error * deltaTime;
+        ki += fuzzyDeltaToValue(kiAdjust, deltaKiScale);
-        // 积分限幅防止超调
+        kd += fuzzyDeltaToValue(kdAdjust, deltaKdScale);
-        integral = Math.max(minOutput, Math.min(maxOutput, integral));
 
-        // 4. 微分项计算（带低通滤波）
+        // 限幅
-        double derivative = params.getKd() * (error - prevError) / deltaTime;
+        kp = Math.max(0, Math.min(kp, 10));
-        prevError = error;  // 更新误差记录
+        ki = Math.max(0, Math.min(ki, 1));
+        kd = Math.max(0, Math.min(kd, 1));
 
-        // 5. 综合输出（0-100%）
+        // PID 计算
-        double output = proportional + integral + derivative;
+        integral += error * deltaTime;
+        double output = kp * error + ki * integral + kd * dError;
+//        System.out.println("计算输出值：" + output + "，误差：" + error + "，误差变化：" + dError);
+        previousError = error;
+
+        // 输出冷冻水阀开度，限制在0~100%
+        return Math.max(0, Math.min(100, Math.abs(output)));
+    }
 
-        // 6. 输出限幅
+    // 将数值误差映射为模糊等级
-        return Math.max(minOutput, Math.min(maxOutput, output));
+    public static FuzzyLevel toFuzzyLevel(double value) {
+        if (value <= -3) return FuzzyLevel.NB;
+        else if (value <= -2) return FuzzyLevel.NM;
+        else if (value <= -1) return FuzzyLevel.NS;
+        else if (value <= 1) return FuzzyLevel.ZO;
+        else if (value <= 2) return FuzzyLevel.PS;
+        else if (value <= 3) return FuzzyLevel.PM;
+        else return FuzzyLevel.PB;
     }
 
-    // 更新设定温度
+    // 将模糊等级转为实际数值调整量
-    public void setSetPoint(double setPoint) {
+    public static double fuzzyDeltaToValue(FuzzyLevel level, double scale) {
-        this.setPoint = setPoint;
+        switch (level) {
+            case NB: return -3 * scale;
+            case NM: return -2 * scale;
+            case NS: return -1 * scale;
+            case ZO: return 0;
+            case PS: return 1 * scale;
+            case PM: return 2 * scale;
+            case PB: return 3 * scale;
+            default: return 0;
+        }
     }
 
 }

mh-quartz/src/main/java/com/mh/quartz/util/FuzzyRuleBase.java

@@ -0,0 +1,29 @@
+package com.mh.quartz.util;
+
+import com.mh.quartz.domain.FuzzyLevel;
+
+/**
+ * @Classname FuzzyRuleBase
+ * Todo:
+ * @Date 2025-05-31 14:20
+ * @Created by LJF
+ */
+public class FuzzyRuleBase {
+
+    // ΔKp 规则：根据误差 e 与误差变化 ec 得到修正量
+    private static final FuzzyLevel[][] kpRuleTable = {
+            {FuzzyLevel.PB, FuzzyLevel.PM, FuzzyLevel.PS, FuzzyLevel.ZO, FuzzyLevel.NS, FuzzyLevel.NM, FuzzyLevel.NB},
+            {FuzzyLevel.PM, FuzzyLevel.PS, FuzzyLevel.ZO, FuzzyLevel.NS, FuzzyLevel.NM, FuzzyLevel.NB, FuzzyLevel.NB},
+            {FuzzyLevel.PS, FuzzyLevel.ZO, FuzzyLevel.NS, FuzzyLevel.NM, FuzzyLevel.NB, FuzzyLevel.NB, FuzzyLevel.NB},
+            {FuzzyLevel.ZO, FuzzyLevel.ZO, FuzzyLevel.ZO, FuzzyLevel.ZO, FuzzyLevel.ZO, FuzzyLevel.ZO, FuzzyLevel.ZO},
+            {FuzzyLevel.NS, FuzzyLevel.ZO, FuzzyLevel.PS, FuzzyLevel.PM, FuzzyLevel.PB, FuzzyLevel.PB, FuzzyLevel.PB},
+            {FuzzyLevel.NM, FuzzyLevel.NS, FuzzyLevel.ZO, FuzzyLevel.PS, FuzzyLevel.PM, FuzzyLevel.PB, FuzzyLevel.PB},
+            {FuzzyLevel.NB, FuzzyLevel.NB, FuzzyLevel.NS, FuzzyLevel.ZO, FuzzyLevel.PS, FuzzyLevel.PM, FuzzyLevel.PB}
+    };
+
+    public static FuzzyLevel getKpAdjust(FuzzyLevel e, FuzzyLevel ec) {
+        return kpRuleTable[e.ordinal()][ec.ordinal()];
+    }
+
+    // 可扩展为不同规则表：getKiAdjust(), getKdAdjust()
+}