Multi-energy valve integrated control method and system

Abstract

The invention relates to the technical field of integrated control, in particular to a multi-energy valve integrated control method and system.The multi-energy valve integrated control method comprises the steps that operation records of a multi-energy valve are obtained, the energy supply rate, transmission delay and instantaneous pressure variation in each energy mode are calculated, and the displacement change rate and load torque deviation of a valve executing mechanism are obtained; and calculating an execution synchronization error under the multiple energy modes to obtain a multi-energy mode execution synchronization offset. According to the invention, by calculating the energy supply rate, transmission delay and instantaneous pressure variation in various energy modes and combining the displacement change rate and the load torque deviation of the valve actuating mechanism, the control capability of the execution synchronism of the energy modes is improved, and by combining the execution error brought by energy mode conversion, the trigger advance of a control signal is adjusted, so that the control accuracy of the energy modes is improved. The control signal time sequence is corrected, the coordination of energy scheduling is improved, the valve opening adjusting rate is optimized according to the fluid flow speed and pressure data, transient pressure impact is reduced, and the stability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of integrated control technology, and in particular to a multi-energy valve integrated control method and system. Background Art

[0002] The field of integrated control technology involves the unified scheduling and optimization of multiple control objects or control parameters, aiming to improve system stability, responsiveness, and overall operational efficiency. This technology is widely used in fields such as industrial automation, energy management, traffic control, and intelligent manufacturing, encompassing signal acquisition, data fusion, control algorithm design, and actuator scheduling. The core goal of integrated control is to achieve optimal control in complex environments by coordinating multiple control units. This typically involves a variety of control methods, including PID control, adaptive control, optimal control, fuzzy control, and neural network control, combined with modern computing technologies to implement efficient control strategies.

[0003] The multi-energy valve integrated control method is a control solution for unified management and optimized regulation of valves driven by multiple energy media. Its purpose is to coordinate different valve drive systems. Taking into account factors such as energy supply status, operating requirements, and operational constraints, it uses optimization algorithms to achieve precise regulation, improving valve response speed, reducing energy consumption, and enhancing system reliability. This method is suitable for scenarios such as industrial fluid control, energy distribution, and intelligent pipeline network management. It can achieve dynamic optimized control of valves in complex energy environments, improving overall energy efficiency.

[0004] Traditional control methods for valve control in multiple energy modes fail to perform a detailed analysis of the energy supply rate, transmission delay, and instantaneous pressure change of different energy modes. This makes it difficult to ensure actuator synchronization during energy mode switching, leading to accumulated execution errors and affecting precise valve control. Because the impact of different energy input modes on the actuator's motion inertia is not fully considered, the valve's execution consistency across different energy modes is poor, resulting in target opening deviations and reduced control accuracy. Differences in response time are not effectively compensated, making it difficult to unify response times across different energy modes, affecting system coordination. When setting the control signal trigger timing, traditional methods fail to account for the execution errors caused by energy mode switching, resulting in insufficient or excessive control signal trigger lead, causing lag or overshoot in the valve execution timing, and affecting overall control effectiveness. During fluid dynamic regulation, existing technologies do not accurately analyze the transient changes in flow rate and pressure, resulting in an inability to effectively predict the trend of fluid resistance changes. The lack of refinement in valve opening adjustment can cause pipeline pressure fluctuations, impacting system safety and operational efficiency. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a multi-energy valve integrated control method and system.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solution: a multi-energy valve integrated control method, comprising the following steps: S1: Obtain the operation records of the multi-energy valve, calculate the energy supply rate, transmission delay, and instantaneous pressure change in each energy mode, obtain the displacement change rate and load torque deviation of the valve actuator, calculate the execution synchronization error in multiple energy modes, and obtain the multi-energy mode execution synchronization offset; S2: Calling the multi-energy mode to execute the synchronization offset, obtaining the valve angular acceleration and load torque changes under the multiple energy modes, calculating the impact of each energy input mode on the motion inertia of the valve actuator, and obtaining the actuator inertia offset; S3: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, comparing the valve response curves under the various energy modes, calculating the deviation between the target response time and the actual response time, establishing the response time compensation parameters under the various energy modes, and obtaining energy mode compensation information; S4: calling the energy mode compensation information, calculating the trigger time offset of the current control signal, adjusting the trigger advance of the control signal in combination with the execution error caused by the energy mode conversion, and obtaining the corrected control signal timing.

[0007] The present invention has improvements in that the multi-energy mode execution synchronization offset includes valve execution time deviation, energy supply delay of different energy input modes, valve action displacement error, load torque change ratio and synchronization error correction coefficient; the actuator inertia offset includes inertia compensation parameter, actuator acceleration correction value, load torque dynamic correction factor, valve motion inertia distribution parameter and energy input mode inertia influence factor; the energy mode compensation information specifically includes energy mode conversion correction parameter, response time correction factor, execution signal delay compensation value, valve target response adjustment parameter and energy input adjustment coefficient; the corrected control signal timing includes trigger time optimization parameter, execution signal timing correction value, energy input mode correction factor and control signal synchronization adjustment parameter.

[0008] The present invention is improved in that the step of obtaining the synchronization offset of the multi-energy mode is specifically as follows: S111: Obtaining the operation record of the multi-energy valve, extracting the energy mode identification data, time series energy supply data, transmission path information, and actuator displacement data, calculating the energy supply rate, transmission delay, and instantaneous pressure change under each energy mode, calculating the displacement change rate based on the valve actuator displacement data, and calculating the load torque deviation based on the torque measurement data to obtain the energy mode energy supply characteristic parameters; S112: Based on the energy supply characteristic parameters of the energy modes, calculating execution synchronization errors under multiple energy modes, synchronously matching the displacement change rates of the actuators and the load torque deviations under the multiple energy modes, and calculating consistency deviations of the displacement and torque changes at multiple time nodes under the multiple modes to obtain multi-mode execution synchronization error data; S113: Based on the multi-mode execution synchronization error data, the formula is used: ; The synchronization offset measurement value of the actuator in each energy mode is obtained by calculation, the maximum execution synchronization offset is screened, and the overall synchronization offset trend is calculated to generate the execution synchronization offset of multiple energy modes; in, Represents the energy mode execution synchronization offset, Representative The displacement change rate of each time node, Represents the average displacement change rate of the time node, Representative The load moment deviation at each time node, represents the average value of the load moment deviation at the time node, Representative The time interval between a time node and the previous time node, Represents the total number of time nodes.

[0009] The present invention is improved in that the step of obtaining the inertia offset of the actuator is specifically as follows: S211: Calling the multi-energy mode to execute the synchronization offset, obtaining the valve angular acceleration and load torque changes under the multiple energy modes, performing time series segmentation processing on the angular acceleration data, calculating the angular acceleration change rate under each energy mode, obtaining the load torque change amplitude under each energy mode, calculating the correlation coefficient between the angular acceleration and the load torque change, establishing an energy mode motion inertia data set, and obtaining the energy mode inertia influence parameter; S212: Based on the energy mode inertia impact parameter, the valve angular acceleration and load torque change are called using the formula: ; Calculate the inertia offset of the actuator; in, Represents the actuator inertia offset, Representative The angular acceleration at each time step is Representative The load torque at each time step is and are the average values of angular acceleration and load torque, is the total number of time steps, and is the weighting coefficient, is an index used to adjust the nonlinear effects; S213: calling the actuator inertia offset, selecting the energy mode with the smallest offset as the reference mode, calculating the inertia offset deviations of the remaining modes, establishing an inertia offset adjustment data set, and obtaining the inertia offset adjustment parameters.

[0010] The present invention is improved in that the step of obtaining the energy mode compensation information is specifically as follows: S311: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, the target opening, execution signal trigger time, and energy conversion rate change of each valve are obtained, the target opening curve and the actual opening curve under each energy mode are extracted, the difference between the target opening and the actual opening is compared, the response error of each time step is calculated, a response error data set is established, and the valve response error parameter is obtained; S312: Based on the valve response error parameter, calculate the deviation between the target response time and the actual response time, and extract the response time trend under each energy mode using the formula: ; Calculate and obtain response time compensation parameters; in, represents the response time compensation parameter, and Representing the The target response time and actual response time of time steps are is the total number of time steps evaluated, and is the adjustment factor used to balance the effect of errors.

[0011] S313: Call the response time compensation parameters, select the mode that achieves the target compensation effect as the benchmark mode, compare the compensation parameters of the remaining modes with the benchmark mode, calculate the compensation adjustment amount, establish the energy mode compensation data set, and obtain energy mode compensation information.

[0012] The present invention is improved in that the step of obtaining the corrected control signal timing is specifically as follows: S411: Calling the energy mode compensation information, calculating the trigger time offset of the current control signal, and obtaining the execution error caused by the energy mode conversion, adjusting the trigger time offset value according to the compensation information of each energy mode, and obtaining the control signal trigger time correction value; S412: Based on the control signal trigger time correction amount and the execution error caused by the energy mode conversion, the trigger advance amount of the control signal is adjusted using the formula: ; Calculate and obtain the trigger time of the correction control signal; in, Represents the trigger time of the correction control signal, Represents the original control signal trigger time, Represents the control signal trigger time correction amount, represents the energy mode conversion error, Represents the execution system response rate, represents the control signal adjustment coefficient; S413: Calling the modified control signal trigger time, establishing the signal timing adjustment parameters in the multi-energy mode, and performing time calibration to obtain the modified control signal timing.

[0013] The present invention is improved in that the method further comprises: S5: calling the corrected control signal timing sequence, obtaining the current flow velocity and pressure data of the fluid, calculating the transient change degree of the flow velocity and pressure, determining the change trend of the fluid resistance, changing the adjustment rate of the valve opening, and obtaining the valve opening optimization adjustment information; The valve opening optimization adjustment information specifically includes a flow rate offset rate correction value, an opening adjustment step optimization parameter, a fluid resistance change compensation parameter, and a valve target opening dynamic adjustment factor.

[0014] The present invention is improved in that the steps for obtaining the valve opening optimization adjustment information are specifically as follows: S511: calling the corrected control signal timing sequence, obtaining the current flow velocity and pressure data of the fluid, and calculating the degree of transient change of the flow velocity and pressure, and establishing a fluid transient change parameter set by comparing the flow velocity change rate and the pressure fluctuation in each time period; S512: Based on the fluid transient change parameter set, the formula is used: ; Calculate and obtain the rate of change of fluid resistance; in, represents the rate of change of fluid resistance, Represents the pressure change, represents the change in flow rate, represents the pressure change influence coefficient, represents the flow velocity change influence coefficient, Representative The flow rate at a moment, represents the flow velocity at the previous moment, Represents the number of data points in the time period; S513: calling the fluid resistance change rate, adjusting the adjustment rate of the valve opening, and optimizing the adjustment range according to the resistance change trend to obtain valve opening optimization adjustment information.

[0015] A multi-energy valve integrated control system, which is used to execute the multi-energy valve integrated control method described above, comprises: The synchronization offset analysis module obtains the operation records of the multi-energy valve, obtains the displacement change rate and load torque deviation of the valve actuator, calculates the execution synchronization error under multiple energy modes, and obtains the execution synchronization offset of the multi-energy mode; The inertia impact analysis module calls the multi-energy mode to execute the synchronization offset, obtains the valve angular acceleration and load torque changes under the multiple energy modes, calculates the impact of each energy input mode on the motion inertia of the valve actuator, and obtains the actuator inertia offset; The mode impact compensation module compares valve response curves under various energy modes based on the multi-energy mode execution synchronization offset and the actuator inertia offset, establishes response time compensation parameters under various energy modes, and obtains energy mode compensation information; The signal trigger correction module calls the energy mode compensation information, calculates the trigger time offset of the current control signal, and adjusts the trigger advance of the control signal in combination with the execution error caused by the energy mode conversion to obtain the corrected control signal timing; The opening optimization adjustment module calls the corrected control signal timing, obtains the current flow rate and pressure data of the fluid, determines the change trend of the fluid resistance, changes the adjustment rate of the valve opening, and obtains the valve opening optimization adjustment information.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, by calculating the energy supply rate, transmission delay and instantaneous pressure change under various energy modes, combined with the displacement change rate and load torque deviation of the valve actuator, the synchronization error of different energy input modes is quantified, and the control ability of the synchronization of energy mode execution is improved. Combined with the influence of the energy input method on the motion inertia of the actuator, the inertia offset is corrected, so that the execution consistency of the valve under various energy modes is optimized. By comparing the valve response curves under different energy modes, the deviation value between the target response time and the actual response time is calculated, and the response time compensation parameter is established so that the valves under different energy modes can be optimized. The response time difference is compensated to improve the accuracy of valve response. Based on the current control signal trigger time offset calculation and the execution error caused by the energy mode conversion, the control signal trigger advance is adjusted and the control signal timing is corrected to achieve timing optimization of the energy mode conversion process and improve the coordination of energy scheduling. According to the fluid flow rate and pressure data, the fluid resistance change trend is analyzed, the valve opening adjustment rate is optimized, the transient pressure shock is reduced, and the stability of the system is improved, so that the multi-energy valve control system can achieve efficient and accurate execution response under different energy modes, and improve the energy consumption control capability and operation stability under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of the method of the present invention; Figure 2 A flowchart of obtaining a synchronization offset for executing a multi-energy mode according to the present invention; Figure 3 A flow chart for obtaining the inertia offset of the actuator according to the present invention; Figure 4 A flow chart for obtaining energy mode compensation information according to the present invention; Figure 5 A flow chart of obtaining a corrected control signal timing sequence according to the present invention; Figure 6 This is a flow chart of the present invention for obtaining valve opening optimization adjustment information. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention. In addition, in the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0020] See also Figure 1 The present invention provides a technical solution: a multi-energy valve integrated control method, comprising the following steps: S1: Obtain the operation records of the multi-energy valve, calculate the energy supply rate, transmission delay, and instantaneous pressure change in each energy mode, obtain the displacement change rate and load torque deviation of the valve actuator, calculate the execution synchronization error in multiple energy modes, and obtain the multi-energy mode execution synchronization offset; S2: Call the multi-energy mode to execute the synchronous offset, obtain the valve angular acceleration and load torque changes under various energy modes, calculate the impact of each energy input mode on the valve actuator motion inertia, and obtain the actuator inertia offset; S3: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, the target opening, execution signal trigger time and energy conversion rate change of each valve are obtained. The valve response curves under various energy modes are compared, and the deviation between the target response time and the actual response time is calculated. The response time compensation parameters under various energy modes are established to obtain energy mode compensation information. S4: Call the energy mode compensation information to calculate the trigger time offset of the current control signal. Combined with the execution error caused by the energy mode conversion, the trigger advance of the control signal is adjusted to obtain the corrected control signal timing. S5: Call the corrected control signal timing to obtain the current fluid velocity and pressure data, calculate the transient change degree of the flow velocity and pressure, determine the change trend of the fluid resistance, change the adjustment rate of the valve opening, and obtain the valve opening optimization adjustment information; The multi-energy mode execution synchronization offset includes the valve execution time deviation, the energy supply delay of different energy input methods, the valve action displacement error, the load torque change ratio and the synchronization error correction coefficient. The actuator inertia offset includes the inertia compensation parameter, the actuator acceleration correction value, the load torque dynamic correction factor, the valve motion inertia distribution parameter and the energy input mode inertia influence factor. The energy mode compensation information specifically includes the energy mode conversion correction parameter, the response time correction factor, the execution signal delay compensation value, the valve target response adjustment parameter and the energy input adjustment coefficient. The corrected control signal timing includes the trigger time optimization parameter, the execution signal timing correction value, the energy input method correction factor and the control signal synchronization adjustment parameter. The valve opening optimization adjustment information specifically includes the flow offset rate correction value, the opening adjustment step optimization parameter, the fluid resistance change compensation parameter and the valve target opening dynamic adjustment factor.

[0021] See also Figure 2 ,The steps for obtaining the synchronization offset in the multi-energy mode are as follows: S111: Obtaining the operation record of the multi-energy valve, extracting the energy mode identification data, time series energy supply data, transmission path information, and actuator displacement data, calculating the energy supply rate, transmission delay, and instantaneous pressure change under each energy mode, calculating the displacement change rate based on the valve actuator displacement data, and calculating the load torque deviation based on the torque measurement data to obtain the energy mode energy supply characteristic parameters; Data is obtained from the operation records of multi-energy valves, including energy mode identification data, time series energy supply data, transmission path information, and actuator displacement data. First, the energy mode identification data is extracted to confirm the energy mode used during operation, such as electric, pneumatic, hydraulic, etc., and the time series energy supply data is established. The energy supply at different times is recorded in an array to form a time series set; secondly, the energy transmission path parameters under each energy mode are extracted from the transmission path information, including the transmission medium type (such as wire, cable, air pipe, hydraulic pipe) from the energy supply end to the valve actuator and its length, diameter and other structural parameters. The transmission delay of each path is calculated. The delay calculation is based on the formula ,in represents the transmission path length, Represents the rate of energy transfer (electric current, electromagnetic waves, gas flow rate, or liquid flow rate), which is determined by the path material properties and the type of transmission medium The range of values is, for example, 10-30 m / s for pneumatic transmission and 1-5 m / s for hydraulic transmission. The actuator displacement data is used to calculate the displacement change rate, i.e. ,in represents the displacement increment, is the time increment. For example, if the actuator moves from 0 mm to 10 mm in 1 second, the displacement change rate is 10 mm / s. In addition, the load torque deviation is calculated by combining the actuator torque measurement data. The specific method is to obtain the instantaneous measurement torque in the time series. , calculate its difference with the historical mean Deviation When screening the actuator displacement change rate and load torque deviation, set the threshold to determine whether it is within the normal range. The threshold is obtained based on historical operation data statistics. The specific setting method is to calculate the standard deviation in each mode. , and set the threshold range to ,in is the mean, is the standard deviation. If the data exceeds this range, it is considered abnormal data. This method ensures that the data fluctuation is within a reasonable range. For example, in hydraulic mode, if N·m, N·m, then the threshold range is N·m. Torque deviations outside this range are marked as abnormal. Based on the energy supply, transmission delay, instantaneous pressure change, and displacement change rate of different energy modes, the energy supply characteristic parameters of the energy mode are generated, as shown in Table 1.

[0022] Table 1 Energy mode energy supply characteristic parameters

[0023] As shown in Table 1, the energy supply characteristic parameters of each energy mode are different. Among them, the hydraulic energy mode has the highest energy supply rate, low transmission delay, and large displacement change rate, while the electric mode has the smallest load torque deviation and the lowest transmission delay, indicating that its energy supply is relatively stable.

[0024] S112: Based on the energy mode energy supply characteristic parameters, the execution synchronization errors under multiple energy modes are calculated, the displacement change rates of the actuators under the multiple energy modes are synchronously matched with the load torque deviations, and the consistency deviations of the displacement and torque changes at multiple time nodes under the multiple modes are calculated to obtain the multi-mode execution synchronization error data; Based on the energy supply characteristic parameters of the energy mode, the execution synchronization error under various energy modes is calculated. First, the displacement change rate of the actuator in different modes is obtained at multiple time nodes, such as , and calculate its average ; At the same time, obtain the load moment deviation data set at the same time node , calculate its average value Then, the deviation of the displacement change rate from the average value is calculated at each time node. and load torque deviation , and based on the time interval Normalization processing is performed to calculate the synchronization error dataset. Subsequently, the synchronization errors under different modes are compared to obtain the execution synchronization deviation values between different energy modes. The consistency deviation of the displacement and torque changes at multiple time nodes under multiple modes is calculated. Examples are shown in Table 2.

[0025] Table 2 Multi-mode execution synchronization error data table

[0026] In the error calculation process, the weight factor is used Adjust the contribution of displacement change rate and load torque deviation respectively. The weight setting is based on the influence of each parameter on the execution deviation. The setting method is ,in and They represent the standard deviation of displacement change rate and load moment deviation respectively. For example, if mm / s, N·m, then , indicating that the influence of torque deviation is relatively large, so it needs to be given a higher weight when calculating the synchronization error.

[0027] S113: Based on the multi-mode execution synchronization error data, the formula is used: ; The synchronization offset measurement value of the actuator in each energy mode is obtained by calculation, the maximum execution synchronization offset is screened, and the overall synchronization offset trend is calculated to generate the execution synchronization offset of multiple energy modes; in, Represents the energy mode execution synchronization offset, Representative The displacement change rate of each time node, Represents the average displacement change rate of the time node, Representative The load moment deviation at each time node, represents the average value of the load moment deviation at the time node, Representative The time interval between a time node and the previous time node, Represents the total number of time nodes.

[0028] Based on the calculated multi-mode execution synchronization error data, the formula is used: ; Calculate the synchronization offset measurement value of the actuator in each energy mode, filter the maximum execution synchronization offset, calculate the overall synchronization offset trend, and obtain the execution synchronization offset of multiple energy modes. When filtering the maximum execution synchronization offset, set the benchmark value As a judgment standard, the calculation method is ,in and are the mean and standard deviation of the synchronization offset respectively. If the reference value is exceeded, it is determined that the synchronization deviation is large and the energy supply method needs to be optimized. ,but , if a certain mode is calculated , it indicates that there is a large offset in its execution synchronization and the energy supply strategy should be adjusted. This result shows that the execution synchronization offset under the current energy mode can be used to evaluate the synchronization stability of different energy modes and optimize the adjustment parameters.

[0029] See also Figure 3 , the specific steps for obtaining the inertia offset of the actuator are: S211: Calling multiple energy modes to execute synchronization offset, obtaining valve angular acceleration and load torque changes under multiple energy modes, performing time series segmentation processing on the angular acceleration data, calculating the angular acceleration change rate under each energy mode, obtaining the load torque change amplitude under each energy mode, calculating the correlation coefficient between angular acceleration and load torque changes, establishing an energy mode motion inertia data set, and obtaining the energy mode inertia influence parameter; Call the multi-energy mode to execute the synchronous offset data and obtain the valve angular acceleration and load torque changes under each energy mode. First, sample the angular acceleration data and set the time step As a segmentation benchmark, obtain angular velocity data sets at different times , and calculate the angular acceleration data set , where the angular acceleration is calculated as , for example at time step In the case of s, if rad / s, rad / s, then the corresponding angular acceleration is rad / s2. Then, the angular acceleration data is segmented into time series according to the time window Divide the energy into multiple intervals, calculate the mean and standard deviation of the angular acceleration in each interval, and obtain the rate of change of angular acceleration under different energy modes, that is, At the same time, obtain the load torque data , calculate the load torque variation, that is For example, if the load torque data under a certain energy mode is N·m, then N·m. Next, the correlation coefficient between angular acceleration and load torque is calculated using the Pearson correlation coefficient formula. This correlation coefficient is used to measure the degree of coupling between angular acceleration and load torque under different energy modes. Its value is usually between The setting of the correlation coefficient should be based on the evaluation of the inertial effect under different modes. For example, in energy modes with large inertia, the value may be close to 1, while in modes with insignificant inertia changes, the value may be close to 0. In subsequent analysis, the value of this coefficient will affect the inertial parameter calculation process. By calculating the inertial influence parameters under different energy modes, the energy mode motion inertia dataset is established, as shown in Table 3.

[0030] Table 3 Energy mode motion inertia data

[0031] As shown in Table 3, the inertia characteristics of each energy mode are different. The angular acceleration change rate and load torque of the hydraulic mode have larger changes, indicating that the inertia influence is stronger, while the inertia influence of the electric mode is relatively small.

[0032] S212: Based on the energy mode inertia impact parameter, call the valve angular acceleration and load torque change using the formula: ; Calculate the inertia offset of the actuator; in, Represents the actuator inertia offset, Representative The angular acceleration at each time step is Representative The load torque at each time step is and are the average values of angular acceleration and load torque, is the total number of time steps, and is the weighting coefficient, is an index used to adjust the nonlinear effects; Based on the energy mode inertia impact parameters, the valve angular acceleration and load torque change data are called to calculate the actuator inertia offset using the formula: ; Set the number of time steps , and take the following data for calculation: rad / s2, rad / s2, rad / s2, N·m, N·m, N·m, mean angular acceleration: rad / s2, average load torque: N·m, weight and According to the degree of inertia influence, the parameters with greater inertia influence account for a higher proportion in the calculation, so the angular acceleration weight is set to 0.7, and the load torque weight The weight ratio is set to 0.3, and is calculated from historical data of multiple energy models, and is consistent with the reasonable range of the inertia impact factor in the range of 0.6 to 0.8. - Nonlinear adjustment index It is mainly used to emphasize the impact of large deviation data. The setting range of this index is usually between 1.5 and 3. According to the trend of inertia parameter changes, the final setting , so that the larger inertial offset has an appropriate amplifying effect on the overall calculation results.

[0033] Calculate the actuator inertia offset: ; Calculate the final result: ; The result shows that the actuator inertia offset in the current energy mode is 1.24.

[0034] S213: Calling the actuator inertia offset, selecting the energy mode with the smallest offset as the reference mode, calculating the inertia offset deviations of the remaining modes, establishing an inertia offset adjustment data set, and obtaining the inertia offset adjustment parameters; Call the actuator inertia offset and select the energy mode with the smallest offset as the benchmark mode. First, compare the inertia offsets under different energy modes and set the inertia offsets of electric mode, pneumatic mode, and hydraulic mode to be , select the electric mode with the smallest inertia offset as the reference mode, and then calculate the inertia offset deviation of the remaining modes. The inertia offset deviation is defined as , calculate the inertial offset deviation for pneumatic mode and hydraulic mode: ; ; The principle of selecting the reference mode is to minimize the inertia offset, that is, This benchmark mode is used to construct the subsequent inertia adjustment data set. The basis for its setting is that the mode with the smallest inertia offset has the best control stability for the overall actuator, so it is selected as the reference mode.

[0035] The inertial offset adjustment dataset is established, as shown in Table 4.

[0036] Table 4 Inertia offset adjustment data table

[0037] As shown in Table 4 , the hydraulic mode has the largest inertia offset deviation, and the electric mode is used as the baseline mode, indicating that the pneumatic and hydraulic modes need to be compensated or optimized during the inertia adjustment process.

[0038] See also Figure 4 ,The specific steps for obtaining energy mode compensation information are as follows: S311: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, the target opening, execution signal trigger time, and energy conversion rate change of each valve are obtained. The target opening curve and actual opening curve under each energy mode are extracted, and the difference between the target opening and the actual opening is compared. The response error of each time step is calculated, and a response error data set is established to obtain the valve response error parameter. Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, the target opening of each valve, the execution signal trigger time and the energy conversion rate change are obtained. First, the target opening data set is called and actual opening data set , respectively record the execution signal trigger time in different energy modes and energy conversion rate change , then, according to the time step Calculate the error between the target opening curve and the actual opening curve. The error calculation method is: For example, if an energy mode has a time step The target opening is 80%, and the actual opening is 75%. The corresponding response error is Then, the error is calculated for all time steps to form a response error data set, and the error trend analysis is performed to obtain the valve response error parameters, as shown in Table 5. During the error analysis process, the response error threshold is set. , which is set based on the allowable error range of the system response, and is usually based on the equipment accuracy requirements, system control stability analysis, and valve response speed evaluation. In the current system, set , which is derived from the error distribution of the historical data between the target opening and the actuator feedback, and the acceptable degree of the error range in ensuring the stability of the system is determined through experiments. , it is determined that the response error of this time step exceeds the control standard, and the control parameters need to be adjusted to optimize the response performance.

[0039] Table 5 Valve response error data table

[0040] As shown in Table 5, there is a difference between the target opening and the actual opening at each time step, and the valve response error parameter is calculated.

[0041] S312: Based on the valve response error parameter, calculate the deviation between the target response time and the actual response time, and extract the response time trend under each energy mode using the formula: ; Calculate and obtain response time compensation parameters; in, represents the response time compensation parameter, and Representing the The target response time and actual response time of time steps are is the total number of time steps evaluated, and is the adjustment factor used to balance the effect of errors.

[0042] Based on the valve response error parameter, the deviation between the target response time and the actual response time is calculated. First, the target response time dataset is called and actual response time dataset , calculate the response time deviation of each time step For example, if an energy mode has a time step The target response time is 2.5 s, and the actual response time is 3.0 s. The corresponding response time deviation is s. Using the formula: ; Calculate response time compensation parameters and set the total evaluation time step , adjustment coefficient The setting basis is the influence of time error on the overall control system, and this coefficient is used to adjust the weight of the error influence. This value is derived from the execution delay analysis of different energy modes, taking into account the inertia characteristics of the actuator and the sensitivity of the control system to time deviation, to ensure that the error adjustment is adaptive and does not cause system oscillation due to overcompensation. s, actual response time data s, calculate the response time compensation parameters: ; Calculate item by item: ; ; ; Final calculation: ; The result shows that the response time compensation parameter in the current energy mode is 0.1118.

[0043] S313: Call the response time compensation parameters, select the mode that achieves the compensation effect as the benchmark mode, compare the compensation parameters of the remaining modes with the benchmark mode, calculate the compensation adjustment amount, establish the energy mode compensation data set, and obtain the energy mode compensation information.

[0044] Call the response time compensation parameters and select the mode that achieves the target compensation effect as the benchmark mode. First, compare the response time compensation parameters under different energy modes and set the compensation parameters of electric mode, pneumatic mode and hydraulic mode respectively. , select the electric mode with the compensation effect closest to the target as the reference mode, and then calculate the compensation adjustment amount of the remaining modes. The compensation adjustment amount is defined as , calculate the compensation adjustment for pneumatic mode and hydraulic mode: ; ; When calculating the compensation adjustment amount, set the compensation adjustment reference value The setting is based on the response time deviation data under different energy modes, combined with the maximum error range acceptable to the control system. , which is derived from the statistical analysis of response time data, to ensure that the compensation adjustment does not exceed the system's allowable error range. , it is determined that the compensation adjustment amount of this mode is large and further optimization of energy supply or actuator parameters is required.

[0045] The energy mode compensation dataset is established, as shown in Table 6.

[0046] Table 6 Energy mode compensation data table

[0047] As shown in Table 6, the compensation adjustment amount of the hydraulic mode is the largest. The electric mode is used as the benchmark mode. The compensation adjustment amounts of the pneumatic mode and the hydraulic mode are compared with the benchmark mode to calculate the energy mode compensation information.

[0048] See also Figure 5 , the specific steps for obtaining the corrected control signal timing are: S411: Calling the energy mode compensation information, calculating the trigger time offset of the current control signal, and obtaining the execution error caused by the energy mode conversion, adjusting the trigger time offset value according to the compensation information of each energy mode, and obtaining the control signal trigger time correction value; Call the energy mode compensation information to calculate the trigger time offset of the current control signal. First, obtain the signal trigger time dataset for each energy mode. , then calculate the signal trigger time offset ,in Represents the trigger time of the reference mode. For example, if the trigger time of the reference mode is 1.2s and the trigger time of the pneumatic mode is 1.5s, the corresponding trigger time offset is s. Then, the execution error caused by the energy mode conversion is obtained , the execution error calculation method is ,in represents the target opening, represents the actual opening, for example, at the time step The target opening is 85%, and the actual opening is 80%, so the execution error Then, the trigger time offset value is adjusted according to the compensation information of each energy mode. The adjustment formula is: ,in is the compensation parameter, for example, if s, , then the adjusted trigger time correction amount s, and finally the control signal trigger time correction is obtained, as shown in Table 7. Control signal compensation parameters The setting of is based on the fluctuation range of the execution system response time in the historical operation data, which depends on the root mean square error (RMSE) of the conversion error and the execution error of the energy mode. Under different energy modes, the standard deviation of the statistical execution error is calculated. and historical response time standard deviation , and then calculate the normalized weight , and finally set the compensation parameters to ,in is the average of the historical execution time. For example, if s, s, and s, then , the compensation parameter calculation result is s.

[0049] Table 7 Control signal trigger time correction data table

[0050] As shown in Table 7, the control signal trigger time correction amounts for different energy modes are different and are ultimately used for subsequent control signal trigger adjustments.

[0051] S412: Based on the control signal trigger time correction amount and the execution error caused by the energy mode conversion, the trigger advance amount of the control signal is adjusted using the formula: ; Calculate and obtain the trigger time of the correction control signal; in, Represents the trigger time of the correction control signal, Represents the original control signal trigger time, Represents the control signal trigger time correction amount, represents the energy mode conversion error, Represents the execution system response rate, represents the control signal adjustment coefficient; Based on the control signal trigger time correction amount and the execution error caused by the energy mode conversion, the trigger advance amount of the control signal is adjusted using the formula: ; in, is the original control signal trigger time, is the control signal trigger time correction value, is the energy mode conversion error, To perform system response rate, Adjust the coefficient of the control signal. Set the initial control signal trigger time of the electric mode, pneumatic mode and hydraulic mode They are 1.2s, 1.5s, and 1.6s respectively, and the control signal adjustment coefficient , execution system response rate Set to 2.0 , substitute the correction data in Table 1 and calculate the corrected control signal trigger time: Among them, the control signal adjustment coefficient Set the execution error ratio based on different energy modes, ranging from , take a higher value when the execution error is large, for example, when the execution error is between 5% and 10%, set , when the error exceeds 10%, set Adjust the intensity by accelerating time.

[0052] ; ; Finally, the trigger time of the modified control signal is calculated and shown in Table 8.

[0053] Table 8 Modified control signal triggering schedule

[0054] As shown in Table 8, the corrected control signal triggering time has been adjusted according to the energy mode conversion error and the execution system response rate.

[0055] S413: Calling the modified control signal trigger time, establishing the signal timing adjustment parameters in the multi-energy mode, and performing time calibration to obtain the modified control signal timing; Call the correction control signal trigger time and establish the signal timing adjustment parameters in the multi-energy mode. First, obtain the correction trigger time data set Then, according to the time adjustment of different modes, calculate the time adjustment ratio ,in The trigger time of the base mode (electric mode). Time adjustment ratio Setting range is If the adjustment value of a certain mode exceeds this range, the compensation parameters need to be reset to ensure the stability of the time correction, as shown in Table 9.

[0056] Table 9 Corrected control signal timing table

[0057] As shown in Table 9, the signal timings of different energy modes have been corrected according to the adjustment ratio, and the corrected control signal timings are finally obtained.

[0058] See also Figure 6 , the specific steps for obtaining valve opening optimization adjustment information are as follows: S511: Call the corrected control signal timing to obtain the current flow velocity and pressure data of the fluid, and calculate the degree of transient change of the flow velocity and pressure. By comparing the flow velocity change rate and pressure fluctuation in each time period, a fluid transient change parameter set is established; Call the corrected control signal timing to obtain the current fluid flow rate and pressure data. First, measure the flow rate in different time steps and pressure Data, flow rate is measured by fluid sensor and at the specified sampling time For example, within a 0.5 s time step, the flow velocity data is m / s, pressure data is kPa. Then, calculate the rate of change of flow rate and pressure fluctuation , for example, in a 2.5 s sampling time, m / s2, kPa. Subsequently, the flow rate change rate and pressure fluctuation amount were recorded for multiple time periods, and the change trends within each time period were compared to establish a set of fluid transient change parameters, as shown in Table 1. The calculation reference value of the flow rate change rate is set according to the maximum and minimum flow rate ranges allowed by the system. The difference between the steady-state flow rate and the maximum transient flow rate is usually selected as the calculation reference value. For example, for pneumatic systems, the steady-state flow rate is usually 1.0-1.5 m / s, and the transient maximum flow rate is approximately 2.5-3.0 m / s, so the calculation reference value is set to 1.5 m / s. The threshold value of the pressure fluctuation amount refers to the typical working pressure range in liquid pipelines. For example, the pressure fluctuation range of industrial pipelines is usually between 1.5-3.0 kPa, so 2.0 kPa is set as the reference range for analysis, as shown in Table 10.

[0059] Table 10 Fluid transient change parameters

[0060] As shown in Table 10, the transient change parameters of the fluid in multiple time steps are recorded, and the transient change parameter set of the fluid is calculated.

[0061] S512: Based on the fluid transient change parameter set, the formula is: ; Calculate and obtain the rate of change of fluid resistance; in, represents the rate of change of fluid resistance, Represents the pressure change, represents the change in flow rate, represents the pressure change influence coefficient, represents the flow velocity change influence coefficient, Representative The flow rate at a moment, represents the flow velocity at the previous moment, Represents the number of data points in the time period; Based on the transient change parameter set of the fluid, the formula is adopted: ; Calculate the rate of change of fluid resistance, where is the pressure change influence coefficient, is the flow rate change influence coefficient, set , , calculate the rate of change of resistance in the first time step: ; Calculate the first term: ; Calculate the second term: ; Final calculation: ; The value of 0.6 is based on historical calculation data of the influence of different pressure fluctuations on fluid flow. Usually, the influence coefficient of pressure fluctuations on flow rate changes in gas systems is between 0.5 and 0.7, so 0.6 is taken as a reasonable value range. It is set to 0.4 because the flow velocity fluctuation has little effect on the fluid resistance, which generally fluctuates between 0.3 and 0.5. Therefore, 0.4 is taken as the calculation parameter. The calculation results are shown in Table 11.

[0062] Table 11 Fluid resistance change rate table

[0063] As shown in Table 11, the fluid resistance change rate calculation is completed, and a fluid resistance change rate data set is obtained.

[0064] S513: Calling the fluid resistance change rate to adjust the valve opening adjustment rate, and optimizing the adjustment range according to the resistance change trend to obtain valve opening optimization adjustment information; Call the fluid resistance change rate to adjust the valve opening adjustment rate. First, obtain the valve opening adjustment rate and resistance change trend data , the calculation method for setting the opening adjustment rate is: ; in, To adjust the rate influence coefficient, set , reference opening adjustment rate Set to 1.5% / s. Referring to the standard opening change rate of industrial valves, the valve opening adjustment rate range is usually between 1.2-1.8% / s, so 1.5% / s is selected as a reasonable value. Adjustment rate influence coefficient The value of 0.1 is the adjustment coefficient based on the fluid resistance's response to valve opening. It usually ranges from 0.08 to 0.12, so 0.1 is selected as a reasonable value. As shown in Table 12, the valve opening optimization adjustment information is obtained.

[0065] Table 12 Valve opening optimization adjustment information table

[0066] As shown in Table 12, the valve opening adjustment rate has been optimized, and the valve opening optimization adjustment information is finally obtained.

[0067] A multi-energy valve integrated control system, which is used to execute the multi-energy valve integrated control method described above, includes: The synchronization offset analysis module obtains the operation records of the multi-energy valve, calculates the energy supply rate, transmission delay and instantaneous pressure change in each energy mode, obtains the displacement change rate and load torque deviation of the valve actuator, calculates the execution synchronization error in multiple energy modes, and obtains the execution synchronization offset of the multiple energy modes; The inertia impact analysis module uses multiple energy modes to execute synchronous offset, obtains the changes in valve angular acceleration and load torque under various energy modes, calculates the impact of each energy input method on the motion inertia of the valve actuator, and obtains the actuator inertia offset; The mode impact compensation module compares the valve response curves under various energy modes based on the multi-energy mode execution synchronization offset and the actuator inertia offset, calculates the deviation between the target response time and the actual response time, establishes the response time compensation parameters under various energy modes, and obtains the energy mode compensation information; The signal trigger correction module calls the energy mode compensation information, calculates the trigger time offset of the current control signal, and adjusts the trigger advance of the control signal based on the execution error caused by the energy mode conversion to obtain the corrected control signal timing; The opening optimization and adjustment module calls the corrected control signal timing, obtains the current flow rate and pressure data of the fluid, calculates the transient change degree of flow rate and pressure, determines the change trend of fluid resistance, changes the adjustment rate of the valve opening, and obtains the valve opening optimization adjustment information.

[0068] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A multi-energy valve integrated control method, characterized in that: The following steps are involved: S1: Obtain the operation records of the multi-energy valve, calculate the energy supply rate, transmission delay, and instantaneous pressure change in each energy mode, obtain the displacement change rate and load torque deviation of the valve actuator, calculate the execution synchronization error in multiple energy modes, and obtain the multi-energy mode execution synchronization offset; S2: Calling the multi-energy mode to execute the synchronization offset, obtaining the valve angular acceleration and load torque changes under the multiple energy modes, calculating the impact of each energy input mode on the motion inertia of the valve actuator, and obtaining the actuator inertia offset; S3: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, comparing the valve response curves under the various energy modes, calculating the deviation between the target response time and the actual response time, establishing the response time compensation parameters under the various energy modes, and obtaining energy mode compensation information; S4: calling the energy mode compensation information, calculating the trigger time offset of the current control signal, adjusting the trigger advance of the control signal in combination with the execution error caused by the energy mode conversion, and obtaining the corrected control signal timing.

2. The multi-energy valve integrated control method according to claim 1, characterized in that: The multi-energy mode execution synchronization offset includes valve execution time deviation, energy supply delay of different energy input methods, valve action displacement error, load torque change ratio and synchronization error correction coefficient; the actuator inertia offset includes inertia compensation parameter, actuator acceleration correction value, load torque dynamic correction factor, valve motion inertia distribution parameter and energy input mode inertia influence factor; the energy mode compensation information specifically includes energy mode conversion correction parameter, response time correction factor, execution signal delay compensation value, valve target response adjustment parameter and energy input adjustment coefficient; the corrected control signal timing includes trigger time optimization parameter, execution signal timing correction value, energy input mode correction factor and control signal synchronization adjustment parameter.

3. The multi-energy valve integrated control method according to claim 1, characterized in that: The steps for obtaining the synchronization offset of the multi-energy mode are specifically as follows: S111: Obtaining the operation record of the multi-energy valve, extracting the energy mode identification data, time series energy supply data, transmission path information, and actuator displacement data, calculating the energy supply rate, transmission delay, and instantaneous pressure change under each energy mode, calculating the displacement change rate based on the valve actuator displacement data, and calculating the load torque deviation based on the torque measurement data to obtain the energy mode energy supply characteristic parameters; S112: Based on the energy supply characteristic parameters of the energy modes, calculating execution synchronization errors under multiple energy modes, synchronously matching the displacement change rates of the actuators and the load torque deviations under the multiple energy modes, and calculating consistency deviations of the displacement and torque changes at multiple time nodes under the multiple modes to obtain multi-mode execution synchronization error data; S113: Based on the multi-mode execution synchronization error data, the formula is used: ； The synchronization offset measurement value of the actuator in each energy mode is obtained by calculation, the maximum execution synchronization offset is screened, and the overall synchronization offset trend is calculated to generate the execution synchronization offset of multiple energy modes; in, Represents the energy mode execution synchronization offset, Representative The displacement change rate of each time node, Represents the average displacement change rate of the time node, Representative The load moment deviation at each time node, represents the average value of the load moment deviation at the time node, Representative The time interval between a time node and the previous time node, Represents the total number of time nodes.

4. The multi-energy valve integrated control method according to claim 1, characterized in that: The steps for obtaining the inertia offset of the actuator are specifically as follows: S211: Calling the multi-energy mode to execute the synchronization offset, obtaining the valve angular acceleration and load torque changes under the multiple energy modes, performing time series segmentation processing on the angular acceleration data, calculating the angular acceleration change rate under each energy mode, obtaining the load torque change amplitude under each energy mode, calculating the correlation coefficient between the angular acceleration and the load torque change, establishing an energy mode motion inertia data set, and obtaining the energy mode inertia influence parameter; S212: Based on the energy mode inertia impact parameter, the valve angular acceleration and load torque change are called using the formula: ； Calculate the inertia offset of the actuator; in, Represents the actuator inertia offset, Representative The angular acceleration at each time step is Representative The load torque at each time step is and are the average values of angular acceleration and load torque, is the total number of time steps, and is the weighting coefficient, is an index used to adjust the nonlinear effects; S213: calling the actuator inertia offset, selecting the energy mode with the smallest offset as the reference mode, calculating the inertia offset deviations of the remaining modes, establishing an inertia offset adjustment data set, and obtaining the inertia offset adjustment parameters.

5. The multi-energy valve integrated control method according to claim 1, characterized in that: The steps for obtaining the energy mode compensation information are specifically as follows: S311: Based on the multi-energy mode execution synchronization offset and the actuator inertia offset, the target opening, execution signal trigger time, and energy conversion rate change of each valve are obtained, the target opening curve and the actual opening curve under each energy mode are extracted, the difference between the target opening and the actual opening is compared, the response error of each time step is calculated, a response error data set is established, and the valve response error parameter is obtained; S312: Based on the valve response error parameter, calculate the deviation between the target response time and the actual response time, and extract the response time trend under each energy mode using the formula: ； Calculate and obtain response time compensation parameters; in, represents the response time compensation parameter, and Representing the The target response time and actual response time of time steps are is the total number of time steps evaluated, and is the adjustment factor used to balance the effect of errors; S313: Call the response time compensation parameters, select the mode that achieves the target compensation effect as the benchmark mode, compare the compensation parameters of the remaining modes with the benchmark mode, calculate the compensation adjustment amount, establish the energy mode compensation data set, and obtain energy mode compensation information.

6. The multi-energy valve integrated control method according to claim 1, characterized in that: The steps for obtaining the corrected control signal timing are specifically as follows: S411: Calling the energy mode compensation information, calculating the trigger time offset of the current control signal, and obtaining the execution error caused by the energy mode conversion, adjusting the trigger time offset value according to the compensation information of each energy mode, and obtaining the control signal trigger time correction value; S412: Based on the control signal trigger time correction amount and the execution error caused by the energy mode conversion, the trigger advance amount of the control signal is adjusted using the formula: ； Calculate and obtain the trigger time of the correction control signal; in, Represents the trigger time of the correction control signal, Represents the original control signal trigger time, Represents the control signal trigger time correction amount, represents the energy mode conversion error, Represents the execution system response rate, represents the control signal adjustment coefficient; S413: Calling the modified control signal trigger time, establishing the signal timing adjustment parameters in the multi-energy mode, and performing time calibration to obtain the modified control signal timing.

7. The multi-energy valve integrated control method according to claim 1, characterized in that: The method further comprises: S5: calling the corrected control signal timing sequence, obtaining the current flow velocity and pressure data of the fluid, calculating the transient change degree of the flow velocity and pressure, determining the change trend of the fluid resistance, changing the adjustment rate of the valve opening, and obtaining the valve opening optimization adjustment information; The valve opening optimization adjustment information specifically includes a flow rate offset rate correction value, an opening adjustment step optimization parameter, a fluid resistance change compensation parameter, and a valve target opening dynamic adjustment factor.

8. The multi-energy valve integrated control method according to claim 7, characterized in that: The steps for obtaining the valve opening optimization adjustment information are specifically as follows: S511: calling the corrected control signal timing sequence, obtaining the current flow velocity and pressure data of the fluid, and calculating the degree of transient change of the flow velocity and pressure, and establishing a fluid transient change parameter set by comparing the flow velocity change rate and the pressure fluctuation in each time period; S512: Based on the fluid transient change parameter set, the formula is used: ； Calculate and obtain the rate of change of fluid resistance; in, represents the rate of change of fluid resistance, Represents the pressure change, represents the change in flow rate, represents the pressure change influence coefficient, represents the flow velocity change influence coefficient, Representative The flow rate at a moment, represents the flow velocity at the previous moment, Represents the number of data points in the time period; S513: calling the fluid resistance change rate, adjusting the adjustment rate of the valve opening, and optimizing the adjustment range according to the resistance change trend to obtain valve opening optimization adjustment information.

9. A multi-energy valve integrated control system, characterized in that: According to any one of claims 1 to 8, the multi-energy valve integrated control method comprises: The synchronization offset analysis module obtains the operation records of the multi-energy valve, obtains the displacement change rate and load torque deviation of the valve actuator, calculates the execution synchronization error under multiple energy modes, and obtains the execution synchronization offset of the multi-energy mode; The inertia impact analysis module calls the multi-energy mode to execute the synchronization offset, obtains the valve angular acceleration and load torque changes under the multiple energy modes, calculates the impact of each energy input mode on the motion inertia of the valve actuator, and obtains the actuator inertia offset; The mode impact compensation module compares valve response curves under various energy modes based on the multi-energy mode execution synchronization offset and the actuator inertia offset, establishes response time compensation parameters under various energy modes, and obtains energy mode compensation information; The signal trigger correction module calls the energy mode compensation information, calculates the trigger time offset of the current control signal, and adjusts the trigger advance of the control signal in combination with the execution error caused by the energy mode conversion to obtain the corrected control signal timing; The opening optimization adjustment module calls the corrected control signal timing, obtains the current flow rate and pressure data of the fluid, determines the change trend of the fluid resistance, changes the adjustment rate of the valve opening, and obtains the valve opening optimization adjustment information.

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