姚立平 刘伟章 吴文明 姜杨阳 唐元梁 雷鹏 谭仲威　王康宁　李桂香　徐飞　吴新社　黄德群　陈军　顾珩

摘  要：温控系统具有时变性、非线性及纯滞后性等特点，针对此问题，设计了一套基于STM32微控制器为核心的温控系统，下位机主要负责实时采集温度信息与调节半导体制冷器TEC的工作功率，同时通过串口传输温度信息到计算机软件端，计算机软件端依据接收当前的温度与设定的目标温度进行温度调节，将PID调节输出值发送给下位机软件实现一次闭环的温度调节控制。此外，设计了一种改进的PID温控算法，主要体现于引入了积分分离、变积分及抗积分饱和等优化算法。实验结果表明，改进的PID控制算法比传统的PID算法具有系统响应速度快、误差小、稳定性高等优点，在恒温控制的场合具有一定的应用和推广价值。

关键词：温控系统  STM32微控制器  半导体制冷器  PID调节

中图分类号：TF325.64 文献标识码：A 文章编号：1674-098X（2021）06（c）-0068-07

Abstract： The temperature control system has the characteristics of time-varying， nonlinear and pure lag. To solve this problem， a temperature control system based on STM32 microcontroller is designed. The lower computer is mainly responsible for collecting temperature information in real time and adjusting the working power of semiconductor cooler TEC. At the same time， the temperature information is transmitted to the computer software through serial port， the computer software adjusts the temperature according to the received current temperature and the set target temperature， and sends the PID adjustment output value to the lower computer software to realize a closed-loop temperature adjustment control. In addition， an improved PID temperature control algorithm is designed， which is mainly reflected in the introduction of optimization algorithms such as integral separation， variable integral and anti integral saturation. The experimental results show that the improved PID control algorithm has the advantages of fast system response， small error and high stability compared with the traditional PID algorithm. It has certain application and popularization value in the occasion of constant temperature control.

Key Words： Temperature control system; STM32 micro-controller; Semiconductor cooler; PID control

溫度控制在科学实验和工业生成过程中占有重要位置。而PID算法具有稳定无静差、鲁棒性强等优点，其控制原理相对简单且易于实现，是在温度控制中应用最广泛、最基本的一种控制方式[1-3]。然而温控系统具有时变性、非线性及纯滞后性等特点[4-5]，常规的PID算法难以在快速性和高精度上实现较好的温控效果。研究发现，在常规的PID方法中引入积分环节的目的主要是为了消除静态误差，提高控制精度[6]。但累积了较大的偏差值，会引起系统较大的超调引……