Hydrogen valve flow control method and system

Abstract

The application provides a hydrogen valve flow control method and system, relates to the technical field of high-pressure hydrogen valves, and comprises the following steps: acquiring operation parameters of a valve in real time, including valve core displacement, inlet pressure, outlet pressure and real-time flow passing through the valve; at least one key characteristic parameter of a flow field in the valve under a current state is calculated based on the operation parameters, whether the current position of the valve core is in a key adjustment area is judged; if yes, an optimized motion trajectory instruction for the valve core is dynamically generated based on a model predictive control algorithm, with the goal of minimizing system pressure oscillation and valve core impact; the optimized motion trajectory instruction is executed, the valve core is controlled to move according to the corresponding optimized motion trajectory, and the working state of a flow guide component is adjusted coordinately. The application can generate an optimized valve core motion trajectory before severe pressure oscillation occurs, greatly reduce the dynamic load on the pressure impact and the valve core, and improve the service life and safety of the valve and the pipeline system.

Description

Technical Field

[0001] This application relates to the field of high-pressure hydrogen valve technology, specifically to a hydrogen valve flow control method and system. Background Technology

[0002] In the hydrogen energy industry, the storage and transportation of high-pressure hydrogen is a crucial link. High-pressure hydrogen valves, as key actuators controlling the flow and control of hydrogen, directly impact the safety and reliability of the entire system. Due to hydrogen's small molecular weight, tendency to leak, flammability, and explosiveness, as well as its high compressibility and drastic flow field changes under high pressure, extremely high requirements are placed on the valve's sealing performance, stability, and dynamic regulation capabilities.

[0003] In the prior art, for example, the invention patent with publication number CN120027274A discloses a high-pressure hydrogen valve with high sealing performance. This valve, by setting a buffer plate, shock-absorbing spring, auxiliary guide plate, and mechanical pressure indicating mechanism, can passively alleviate the pressure shock and vibration generated by the valve core during the closing process to a certain extent. However, due to its reliance on a purely mechanical structure, it still has inherent defects: the movement of the valve core depends entirely on the operator's manual adjustment or simple electric drive, and its movement trajectory is preset and fixed. During the closing process, when the valve core approaches the valve seat, the flow channel suddenly contracts, and the flow velocity increases sharply, inevitably causing violent pressure fluctuations and water hammer. Existing mechanical buffer structures can only passively and delayedly absorb and dissipate pressure shocks after they occur, and cannot actively adjust the valve core movement before the shock occurs to suppress or avoid the shock at its source. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide a hydrogen valve flow control method and system to improve the service life and safety of hydrogen valves and pipeline systems.

[0005] In a first aspect, this application proposes a method for controlling the flow of a hydrogen valve. The valve includes a valve body, a valve seat disposed within the valve body, a valve core cooperating with the valve seat to open and close a flow channel, a buffer member fixedly installed in the inner cavity of the valve body, and a flow guide member rotatably disposed in the inner cavity of the valve body. The method includes the following steps:

[0006] The valve's operating parameters are acquired in real time, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve.

[0007] Based on the operating parameters and the preset valve dynamic model, at least one key characterization parameter of the flow field inside the valve under the current state is calculated.

[0008] Based on the key characterization parameters, it is determined whether the current position of the valve core is in the key adjustment zone; wherein, the key adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds a first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds a second preset threshold when the valve core displacement is less than a preset critical opening value.

[0009] If so, then with the goal of minimizing system pressure oscillations and valve core impact, an optimized motion trajectory command for the valve core is dynamically generated based on a model predictive control algorithm.

[0010] The optimized motion trajectory command is executed to control the valve core to move according to the corresponding optimized motion trajectory, and to coordinate the working state of the flow guiding component.

[0011] According to the technical solution provided in this application, the key characterization parameters include dynamic load estimates and flow field force estimates, wherein the dynamic load estimates are used to characterize the force acting on the buffer member due to flow field changes; and the flow field force estimates are used to characterize the force applied to the guide member due to flow field effects and tend to drive it to change state.

[0012] According to the technical solution provided in this application, the step of calculating at least one key characterization parameter of the flow field inside the valve in the current state based on the operating parameters and the preset valve dynamic model includes the following steps:

[0013] Based on the real-time acquired valve core displacement, the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat is calculated.

[0014] Based on the inlet pressure, the outlet pressure, and the equivalent throttling area, the instantaneous mass flow rate through the annular flow channel is obtained;

[0015] A dynamic model of the flow field inside the valve is constructed. The dynamic model defines the chamber affected by the dynamic behavior of the buffer component as the first control volume and the chamber affected by the dynamic behavior of the guide component as the second control volume.

[0016] Using the instantaneous mass flow rate as the boundary condition connecting the first control body and the second control body, and combining the equivalent stiffness and damping parameters of the buffer component and the real-time equivalent tilt angle of the guide component, the dynamic load estimate and the flow field force estimate are dynamically output by solving the dynamic model.

[0017] Wherein, the estimated value of the dynamic load is the net pressure load acting on the buffer member, and the estimated value of the flow field force is the aerodynamic torque acting on the guide member.

[0018] According to the technical solution provided in this application, the coordinated adjustment of the working state of the flow guiding component includes the following steps:

[0019] The optimal guiding angle is obtained by retrieving a cost function with the optimization objective of minimizing the dynamic load fluctuation of the buffer component, using the real-time equivalent tilt angle of the guiding component as the optimization variable, and using the estimated flow field force as the constraint condition.

[0020] The optimal guiding angle is compared with the current actual angle of the guiding component to obtain the target compensation angle;

[0021] Based on the target compensation angle, a control command for the guide component is generated, driving the guide component to rotate to the target position.

[0022] According to the technical solution provided in this application, the method further includes the following steps:

[0023] Real-time monitoring of the load change rate of the dynamic load estimate;

[0024] Based on the comparison between the load change rate and the preset safety threshold, it is determined whether the buffer component has the risk of resonant frequency excitation.

[0025] Executing the optimized motion trajectory command includes the following steps:

[0026] If not, then execute the optimized motion trajectory instruction.

[0027] According to the technical solution provided in this application, after determining whether the buffer component has a risk of resonant frequency excitation, the method further includes the following steps:

[0028] If so, the dominant frequency component that triggers resonance is identified based on the time-frequency characteristics of the dynamic load estimate.

[0029] Based on the dominant frequency component and the inherent frequency characteristics of the buffer component, the resonant frequency range to be avoided is determined.

[0030] According to the technical solution provided in this application, after determining the resonant frequency range to be avoided, the method further includes the following steps:

[0031] Based on the resonant frequency range to be avoided, an active damping intervention command is generated.

[0032] The optimized motion trajectory command is superimposed on the active damping intervention command to obtain and execute the updated optimized motion trajectory command;

[0033] The active damping intervention command is configured to superimpose a high-frequency damping component onto the optimized motion trajectory of the valve core. The amplitude and phase of the high-frequency damping component are optimized to generate a control effect that is opposite to the dominant frequency component in the final motion trajectory of the valve core, so that the excitation frequency of the valve core avoids the resonant frequency range.

[0034] According to the technical solution provided in this application, the step of calculating the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat based on the real-time acquired valve core displacement includes the following steps:

[0035] Based on the nonlinear mapping relationship and the real-time obtained valve core displacement, the initial geometric area of ​​the annular flow channel is obtained; the nonlinear mapping relationship is the mapping relationship between the valve core displacement and the geometric diameter of the annular flow channel.

[0036] The real-time compensation factor for the compressibility and viscosity effect of high-pressure hydrogen is obtained, and the initial geometric area is corrected to obtain the equivalent throttling area.

[0037] The real-time compensation factor is dynamically obtained through a pre-established compensation function model that takes the inlet pressure and outlet pressure under the current operating conditions as input.

[0038] According to the technical solution provided in this application, the step of dynamically outputting the dynamic load estimate and the flow field force estimate by solving the dynamic model includes the following steps:

[0039] The dynamic model is discretized into state-space equations in the time domain;

[0040] The instantaneous mass flow rate, the equivalent stiffness and damping parameters of the buffer component, and the real-time equivalent tilt angle of the guide component are used as the time-varying input vector of the state-space equation.

[0041] A real-time solver based on a recurrent neural network is used to solve the state-space equations recursively, and the estimated values ​​of the dynamic load and the flow field force at the current moment are output synchronously during the system control cycle.

[0042] Secondly, this application proposes a hydrogen valve flow control system for implementing the hydrogen valve flow control method described above, comprising:

[0043] The acquisition module is configured to acquire the valve's operating parameters in real time, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve.

[0044] The calculation module is configured to calculate at least one key characterization parameter of the flow field inside the valve in the current state based on the operating parameters and the preset valve dynamic model.

[0045] The judgment module is configured to determine whether the current position of the valve core is in the critical adjustment zone based on the key characterization parameters; wherein the critical adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds a first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds a second preset threshold when the valve core displacement is less than a preset critical opening value.

[0046] The control module is configured to, if so, dynamically generate optimized motion trajectory commands for the valve core based on a model predictive control algorithm, with the goal of minimizing system pressure oscillations and valve core impact.

[0047] The control module is also configured to execute the optimized motion trajectory command, control the valve core to move according to the corresponding optimized motion trajectory, and coordinate the working state of the flow guiding component.

[0048] Compared with the prior art, the beneficial effects of this application are as follows:

[0049] First, it achieves proactive prediction and suppression. By acquiring operating parameters in real time and performing calculations based on the valve's dynamic model, it can predict the changing trends of the flow field and key characterization parameters in advance. By determining whether the valve core has entered the critical adjustment zone, the model predictive control algorithm can be activated before severe pressure oscillations occur, generating an optimized valve core motion trajectory. This achieves prevention at the source, greatly reducing pressure shocks and dynamic loads on the valve core, and significantly improving the service life and safety of valves and piping systems.

[0050] Second, it achieves intelligent collaborative control of multiple actuators, enabling coordinated scheduling of the valve core and the flow guide component. For example, while the valve core moves along an optimized trajectory for smooth throttling, the flow guide can be instructed to rotate to a specific angle to guide and redistribute the flow field, jointly achieving the goal of minimizing system pressure oscillations. This collaborative control produces system-level optimization effects that cannot be achieved by a single component, further improving control accuracy and stability.

[0051] Third, the response speed of this method far exceeds that of the passive deformation and energy dissipation process of purely mechanical structures. This enables the system to keep up with the rapidly changing dynamic characteristics of the high-pressure hydrogen flow field, respond promptly to various operating conditions, and ensure that the valve maintains stable and low-vibration operation throughout the entire regulation process. Attached Figure Description

[0052] Figure 1 A flowchart illustrating the steps of the hydrogen valve flow control method provided in this application;

[0053] Figure 2 A schematic diagram of the overall structure of the high-sealing, high-pressure hydrogen valve provided in this application;

[0054] Figure 3 A cross-sectional view of the overall structure of the high-sealing high-pressure hydrogen valve provided in this application;

[0055] Figure 4 For the purposes of this application Figure 3 Enlarged view of the structure at point A in the image;

[0056] Figure 5 For the purposes of this application Figure 3 Enlarged view of the structure at point B in the image;

[0057] Figure 6 For the purposes of this application Figure 3 Enlarged view of the structure at point C in the image;

[0058] Figure 7 A longitudinal sectional view of the overall structure of the high-sealing high-pressure hydrogen valve provided in this application;

[0059] Figure 8 This is a cross-sectional view of the buffer tube in this application;

[0060] Figure 9 This is a schematic diagram of the internal hydrogen flow when the application is opened;

[0061] Figure 10 This is a schematic diagram of the internal hydrogen flow during the shutdown process of this application;

[0062] Figure 11 This is a schematic diagram of the internal structure of this application when it is closed.

[0063] The text labels in the image represent:

[0064] 1. Gas supply pipe; 2. Fixing bolts; 3. Connecting valve body; 4. Reinforcing base; 5. Buffer pipe; 6. Connecting cover plate; 601. Indicator groove; 7. Scale plate; 8. Warning shell; 9. Top seal; 10. Isolation plate; 11. Valve mounting component; 12. Inner regulating cylinder; 1201. Mounting plate; 1202. Limiting rod; 13. Outer regulating cylinder; 14. Sealing clamp; 1401. Sealing bolt; 15. Gas outlet pipe; 16. Sealing plate; 1601. Connecting groove; 17. 18. Columnar seal; 19. Fixing base; 20. Auxiliary guide plate; 21. Fixing groove; 22. Connecting spring; 23. Spring fixing component; 24. Shock-absorbing spring; 25. Buffer plate; 26. Rubber diaphragm; 27. Guide hole; 28. Protective membrane; 29. ​​Sealing head; 20. Sealing groove; 20. Reinforcing plate; 21. Connecting column; 22. Damping groove; 23. Damping push plate; 34. Magnetic core; 35. Buffer spring; 36. Magnetic sheet; 37. Indicator push rod. Detailed Implementation

[0065] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0066] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] Example 1

[0068] As mentioned in the background section, in view of the problems in the prior art, this application proposes a high-pressure hydrogen valve with high sealing performance, such as... Figure 2-11As shown, the device includes a connecting valve body 3, with an air supply pipe 1 at one end and an air outlet pipe 15 at the other end. A top seal 9 is fixedly installed on the upper end of the connecting valve body 3, with an outer adjusting cylinder 13 threaded in the middle of the top seal 9. A cylindrical seal 17 is fixedly installed on the lower end of the top seal 9, and an isolation plate 10 is fixedly installed on the upper end of the top seal 9. An inner adjusting cylinder 12 is threaded in the middle of the outer adjusting cylinder 13, and a sealing head 2 is fixedly installed on the lower end of the cylindrical seal 17. 5. A sealing groove 2501 is fixedly installed at the lower end of the sealing head 25. A sealing plate 16 is fixedly installed in the middle of the connecting valve body 3. A connecting groove 1601 is opened in the middle of the sealing plate 16. A buffer plate 23 is fixedly installed on the upper side of the inner cavity of the sealing plate 16. A plurality of guide holes 2302 are equidistantly opened at the lower end of the buffer plate 23. A rubber membrane 2301 is fixedly installed at the upper end of the buffer plate 23. A protective membrane 24 is fixedly installed in the inner cavity of the buffer plate 23. A plurality of shock-absorbing springs 22 are fixedly installed in a ring on the inner side of the protective membrane 24.

[0069] An installation plate 1201 is fixedly installed at the lower end of the outer regulating cylinder 13, and a limit rod 1202 is fixedly installed at the lower end of the installation plate 1201. A fixing seat 18 is fixedly installed on the bottom side of the inner cavity of the connecting valve body 3. An auxiliary guide plate 19 is rotatably provided at the upper end of the fixing seat 18, and a fixing groove 20 is opened at the upper end of the auxiliary guide plate 19.

[0070] A buffer tube 5 is fixedly installed on the upper front side of the connecting valve body 3. A damping groove 27 is fixedly installed in the middle of the inner cavity of the buffer tube 5. A damping push plate 28 is slidably arranged on the inner side of the damping groove 27. A magnetic core 29 is fixedly installed on the side of the damping push plate 28. A buffer spring 30 is fixedly installed on the outer side of the magnetic core 29. A connecting cover plate 6 is fixedly installed at the front end of the buffer tube 5. A warning outer shell 8 is fixedly installed in the middle of the front side of the connecting cover plate 6. An indicator groove 601 is opened in the middle of the warning outer shell 8. An indicator push rod 32 is arranged on the inner side of the indicator groove 601. A magnetic sheet 31 is fixedly installed at the rear end of the indicator push rod 32. A scale plate 7 is fixedly installed on the side of the warning outer shell 8.

[0071] The gas supply pipe 1 and the connecting valve body 3, the gas outlet pipe 15 and the connecting valve body 3, and the top seal 9 and the connecting valve body 3 are all fixedly connected by fixing bolts 2. A reinforcing base 4 is fixedly installed at the lower end of the connecting valve body 3.

[0072] The outer adjusting cylinder 13 has a reinforcing plate 26 threaded on the outer side of its middle section. The reinforcing plate 26 has connecting posts 2601 threaded on both the front and rear sides. The outer adjusting cylinder 13 has a pair of sealing clamps 14 on both sides below the reinforcing plate 26. The sealing clamps 14 are fixedly connected by sealing bolts 1401.

[0073] Valve mounting components 11 are fixedly installed on the upper end of the outer regulating cylinder 13 and the upper end of the inner regulating cylinder 12. The valve mounting components 11 are square components.

[0074] The lower end of the sealing head 25 is a cylindrical component, and the sealing plate 16 is located at the upper end of the connecting groove 1601 and has a circular groove corresponding to the lower end of the sealing head 25.

[0075] The buffer plate 23 consists of multiple semi-circular ring components, and the rubber membrane 2301 and the protective membrane 24 are made of flexible rubber.

[0076] A connecting spring 21 is fixedly installed on the side of the auxiliary guide plate 19. A spring fixing member 2101 is fixedly installed on the bottom of the inner cavity of the connecting valve body 3 on one side of the fixing seat 18. The side of the auxiliary guide plate 19 near the air supply pipe 1 is a concave component. The auxiliary guide plate 19 is an arc-shaped component. The bottom of the inner cavity of the connecting valve body 3 is an elliptical structure.

[0077] The buffer plate 23 is a memory metal component. The upper end of the inner ring recess of the buffer plate 23 is fixedly connected to the connecting valve body 3. The top wall of the inner cavity of the connecting valve body 3 is provided with a circular groove corresponding to the outer circle of the lower end of the buffer plate 23.

[0078] Example 2

[0079] Based on Example 1, this example proposes a hydrogen valve flow control method. The valve includes a valve body, a valve seat disposed in the valve body, a valve core that cooperates with the valve seat to open and close the flow channel, a buffer member fixedly installed in the inner cavity of the valve body, and a flow guide member rotatably disposed in the inner cavity of the valve body.

[0080] The valve body corresponds to the connecting valve body 3 in Embodiment 1, which constitutes the main structure of the valve, accommodating and supporting all internal components, and connecting the air supply pipe 1 and the air outlet pipe 15. The valve seat corresponds to the sealing plate 16 in the middle of the connecting valve body 3, with a connecting groove 1601 in the middle of the sealing plate 16 and a circular groove on its upper part that mates with the lower end of the sealing head 25. This structure together forms the fixed sealing pair of the valve, namely the valve seat. The valve core corresponds to the moving component consisting of a cylindrical sealing element 17 and a sealing head 25 fixedly installed at its lower end. This component performs vertical linear motion driven by the outer adjusting cylinder 13 and the inner adjusting cylinder 12, achieving contact or separation with the valve seat (sealing plate 16), thereby completing the opening and closing of the flow channel. The buffer component corresponds to the buffer plate assembly fixedly installed on the upper side of the inner cavity of the sealing plate 16. This assembly includes the buffer plate 23 itself, the rubber diaphragm 2301 at its upper end, the protective diaphragm 24 in the inner cavity, and several shock-absorbing springs 22 arranged in a ring. Its function is to jointly absorb and dissipate the impact energy of the fluid and suppress pressure oscillations. The flow guiding component corresponds to the auxiliary flow guiding plate 19 and its transmission mechanism, which are rotatably disposed on the bottom side of the inner cavity of the connecting valve body 3. This component changes the flow field distribution and guides the airflow through its own rotation, thereby dynamically adjusting the pressure distribution inside the valve.

[0081] like Figure 1 As shown, the method includes the following steps:

[0082] S1. Real-time acquisition of valve operating parameters, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve;

[0083] S2. Based on the operating parameters and the preset valve dynamic model, calculate at least one key characterization parameter of the flow field inside the valve in the current state.

[0084] S3. Based on the key characterization parameters, determine whether the current position of the valve core is in the key adjustment zone; wherein, the key adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds the first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds the second preset threshold when the valve core displacement is less than the preset critical opening value.

[0085] S4. If so, then with the goal of minimizing system pressure oscillation and valve core impact, dynamically generate optimized motion trajectory commands for the valve core based on the model predictive control algorithm.

[0086] S5. Execute the optimized motion trajectory command to control the valve core to move according to the corresponding optimized motion trajectory, and coordinately adjust the working state of the flow guiding component.

[0087] Specifically, the high-pressure hydrogen valve with high sealing performance in Embodiment 1 also includes a control unit for executing the method. The control unit is signal-connected to a valve core displacement sensor (to acquire valve core displacement), an inlet pressure sensor (to acquire inlet pressure), an outlet pressure sensor (to acquire outlet pressure), a flow sensor (to acquire real-time flow rate, i.e., hydrogen mass flow rate), an electric actuator, and a guide plate actuator. The valve core displacement sensor is installed on the top seal 9 or the outer regulating cylinder 13 for real-time detection of the displacement of the sealing head 25. The inlet pressure sensor is installed on the gas supply pipe 1. The outlet pressure sensor is installed on the gas outlet pipe 15. The flow sensor is installed on the gas supply pipe 1 or the gas outlet pipe 15. The electric actuator is drivenly connected to the outer regulating cylinder 13 and / or the inner regulating cylinder 12. The guide plate actuator is drivenly connected to the auxiliary guide plate 19.

[0088] Specifically, key characterization parameters are calculated: based on the acquired operating parameters, calculations are performed using a preset valve dynamic model. This model is a digital twin model established by combining computational fluid dynamics (CFD) simulations and experimental data. Key control zones are determined: the preset critical opening value is set to 20% of the valve's full opening (adjustable according to specific operating conditions). The first preset threshold is set to a flow rate change rate ≥ 5% / mm, and the second preset threshold is set to a pressure gradient change rate ≥ 0.1MPa / mm. The values ​​of dQ / dX and dP / dX (where Q is flow rate, P is pressure, and X is valve core displacement) are calculated in real time and compared with these thresholds. An optimized motion trajectory is generated: a model predictive control (MPC) algorithm is used, with a prediction time domain of 10 control cycles and a control time domain of 5 cycles. The objective function is designed as: min J = ∫(α·ΔP) 2 +β·ΔF 2 +γ·ΔX 2 )dt, where ΔP is the pressure oscillation, ΔF is the valve core impact force, ΔX is the trajectory tracking error, α is the weighting coefficient of the pressure oscillation (dimensionless) used to adjust the importance of the pressure oscillation in the objective function, β is the weighting coefficient of the valve core impact force (dimensionless) used to adjust the importance of the valve core impact in the objective function, and γ is the weighting coefficient of the trajectory tracking error (dimensionless) used to adjust the importance of the displacement tracking accuracy in the objective function. By solving the constrained optimization problem, the optimal valve core displacement sequence for a future period is generated (optimized motion trajectory: essentially, it is a sequence of optimal displacement values ​​that the valve core should reach at each moment from now to a future period. It aims to achieve the target opening smoothly, quickly, and safely). The optimized motion trajectory command is sent to the electric actuator to drive the outer regulating cylinder 13 and the inner regulating cylinder 12, while simultaneously adjusting the rotation angle of the auxiliary guide plate 19 according to the flow field state, thereby realizing the coordinated control of the valve core and the guide component.

[0089] The technical principle is described below: When the valve core approaches the closed position, the flow area decreases sharply and the flow velocity increases significantly. According to Bernoulli's equation, this will lead to drastic local pressure fluctuations. Traditional valves will experience water hammer and structural vibration under this condition. This invention identifies this critical adjustment zone in advance and uses the MPC algorithm to optimize the valve core's movement trajectory, allowing the valve core to pass through this area at a gentle speed. Simultaneously, the flow field energy is dispersed through the coordinated adjustment of the flow guiding components, thereby reducing pressure fluctuations by more than 60% and valve core impact force by more than 50%, significantly improving valve lifespan and system safety.

[0090] In a preferred embodiment, the key characterization parameters include dynamic load estimates and flow field force estimates, wherein the dynamic load estimates are used to characterize the forces acting on the buffer member due to changes in the flow field; and the flow field force estimates are used to characterize the forces applied to the guide member due to the flow field and tend to drive it to change state.

[0091] Furthermore, the step of calculating at least one key characterization parameter of the flow field inside the valve in the current state based on the operating parameters and the preset valve dynamic model includes the following steps:

[0092] Based on the real-time acquired valve core displacement, the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat is calculated.

[0093] Based on the inlet pressure, the outlet pressure, and the equivalent throttling area, the instantaneous mass flow rate through the annular flow channel is obtained;

[0094] A dynamic model of the flow field inside the valve is constructed. The dynamic model defines the chamber affected by the dynamic behavior of the buffer component as the first control volume and the chamber affected by the dynamic behavior of the guide component as the second control volume.

[0095] Using the instantaneous mass flow rate as the boundary condition connecting the first control body and the second control body, and combining the equivalent stiffness and damping parameters of the buffer component and the real-time equivalent tilt angle of the guide component, the dynamic load estimate and the flow field force estimate are dynamically output by solving the dynamic model.

[0096] Wherein, the estimated value of the dynamic load is the net pressure load acting on the buffer member, and the estimated value of the flow field force is the aerodynamic torque acting on the guide member.

[0097] Further, the calculation of the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat based on the real-time acquired valve core displacement includes the following steps:

[0098] Based on the nonlinear mapping relationship and the real-time obtained valve core displacement, the initial geometric area of ​​the annular flow channel is obtained; the nonlinear mapping relationship is the mapping relationship between the valve core displacement and the geometric diameter of the annular flow channel.

[0099] The real-time compensation factor for the compressibility and viscosity effect of high-pressure hydrogen is obtained, and the initial geometric area is corrected to obtain the equivalent throttling area.

[0100] The real-time compensation factor is dynamically obtained through a pre-established compensation function model that takes the inlet pressure and outlet pressure under the current operating conditions as input.

[0101] Furthermore, the step of dynamically outputting the estimated dynamic load and the estimated flow field force by solving the dynamic model includes the following steps:

[0102] The dynamic model is discretized into state-space equations in the time domain;

[0103] The instantaneous mass flow rate, the equivalent stiffness and damping parameters of the buffer component, and the real-time equivalent tilt angle of the guide component are used as the time-varying input vector of the state-space equation.

[0104] A real-time solver based on a recurrent neural network is used to solve the state-space equations recursively, and the estimated values ​​of the dynamic load and the flow field force at the current moment are output synchronously during the system control cycle.

[0105] Specifically, the dynamic load estimate is the result of mechanical analysis performed on the first control body (the chamber affected by the buffer component), and the flow field force estimate is the result of aerodynamic analysis performed on the second control body (the chamber affected by the guide component) and the guide component itself.

[0106] Specifically, the first stage is the preparation of high-precision boundary conditions, namely the calculation of instantaneous mass flow rate. This stage is the foundation for ensuring the accuracy of the entire model. Its goal is to calculate the accurate instantaneous mass flow rate through the annular flow channel between the valve core and the valve seat.

[0107] Implementation steps: Obtain basic operating parameters: The control system reads the real-time displacement X from the valve core displacement sensor (such as an optical grating ruler), the inlet pressure P_in and the outlet pressure P_out from the inlet and outlet pressure sensors, and the medium temperature T from the temperature sensor.

[0108] Calculate the initial geometric area (A_geo): Based on the accurate 3D CAD model of the valve core and valve seat, a nonlinear mapping relationship is established between the valve core displacement X and the geometric diameter area A_geo of the annular flow channel through parametric programming or a pre-generated lookup table. For example, A_geo can be obtained directly from the current value of X using a lookup table.

[0109] Calculate the real-time compensation factor (Ψ): To address the compressibility and viscosity effects of high-pressure hydrogen, a compensation function model Ψ = f(P_in, P_out, T) is established, taking the current operating conditions P_in, P_out, and T as inputs. This model can be fitted using computational fluid dynamics (CFD) simulation data or calibrated using extensive experimental data. Its purpose is to correct errors introduced by the assumptions of ideal gas and incompressible fluid.

[0110] Determine the precise equivalent throttling area (A_eq): Calculation formula: A_eq = A_geo * Ψ, where A_eq is the equivalent flow area that takes into account both geometry and fluid properties.

[0111] Calculate the instantaneous mass flow rate (Q_m): using the classic throttling formula: Q_m = A_eq * C_d * Where ρ is the hydrogen density, calculated from P_in and T according to the real gas law. C_d is the flow coefficient, a parameter pre-calibrated experimentally and related to valve opening and Reynolds number.

[0112] Phase Two: Valve System Dynamics Model Construction: This phase aims to establish a mathematical model that can describe the energy transfer and conversion within the valve.

[0113] Implementation steps:

[0114] Definition of Control Volumes: First Control Volume: Defined as the chamber influenced by the dynamic behavior of the buffer component, i.e., the area above the sealing plate 16 and covered by the buffer plate 23. The pressure dynamics of this control volume are directly coupled with the deformation (elasticity and damping) of the buffer component. Second Control Volume: Defined as the chamber influenced by the dynamic behavior of the guide vane, i.e., the main flow field region around the auxiliary guide vane 19. The flow state of this control volume determines the aerodynamic forces acting on the guide vane.

[0115] Model Equations: The core of the model is a set of simultaneous differential equations describing the conservation of mass, momentum, and energy. Key Settings: The Q_m calculated in the first stage is used as the core boundary condition connecting the first and second control volumes, representing the mass flow through the connecting channel 1601. Model Inputs: Q_m, P_in, P_out, and the equivalent stiffness K_buf and damping parameter C_buf of the buffer component (obtained through material testing and modal analysis), and the real-time equivalent tilt angle θ of the guide vane (feedback from the encoder of the guide vane actuator). Model Outputs: Dynamic Load Estimate (F_buf): The model internally calculates the pressure distribution of the first control volume and the deformation of the buffer vane, outputting the net pressure load acting on the buffer component. This is a force (unit: Newton). Flow Field Force Estimate (M_aero): The model internally calculates the pressure difference generated by the airflow through the second control volume on the guide vane surface, outputting the aerodynamic torque acting on the guide vane. This is a torque (unit: Newton-meter).

[0116] Phase 3: Real-time model solving and parameter output. This phase addresses how to enable complex dynamic models to run quickly on controllers with limited computational resources.

[0117] Implementation steps:

[0118] Model Discretization and Solidification:

[0119] The continuous-time dynamics model is discretized into state-space equations in the time domain. Q_m, K_buf, C_buf, and θ are used as time-varying input vectors for the state-space equations. A real-time RNN solver is deployed: Offline training: A recurrent neural network (RNN), such as an LSTM (Long Short-Term Memory network), is trained in advance using high-fidelity simulation and experimental data. The network's learning objective is to accurately predict the system state and output vector (i.e., F_buf and M_aero) at the next time step, given the current system state and input vector. Online deployment: The trained RNN model is integrated into the valve's embedded control unit. Recursive solution and synchronous output: In each control cycle (e.g., 1ms), the controller inputs the latest sensor data and state vector into the RNN. The RNN propagates forward through the network, recursively solving for the current system state and synchronously outputting F_buf and M_aero at the current time step.

[0120] This completes the transformation from raw data to key characterization parameters. The dynamic load estimates and flow field force estimates are precisely the results output by this RNN-based software sensor at the end of each control cycle.

[0121] In a preferred embodiment, the coordinated adjustment of the working state of the flow guiding component includes the following steps:

[0122] The optimal guiding angle is obtained by retrieving a cost function with the optimization objective of minimizing the dynamic load fluctuation of the buffer component, using the real-time equivalent tilt angle of the guiding component as the optimization variable, and using the estimated flow field force as the constraint condition.

[0123] The optimal guiding angle is compared with the current actual angle of the guiding component to obtain the target compensation angle;

[0124] Based on the target compensation angle, a control command for the guide component is generated, driving the guide component to rotate to the target position.

[0125] Specifically, the cost function is retrieved and constructed: the control unit retrieves the preset cost function J = ∫(w1* (F_buf - F_buf_target) from memory. 2 + w2* (dF_buf / dt) 2 dF_buf / dt. Where F_buf is the dynamic load estimate, F_buf_target is a desired, stable load value (which can be set to 0 or based on the average load), dF_buf / dt is the load change rate, and w1 and w2 are weighting coefficients used to balance the importance of load amplitude and rate of change. The goal of this function is to find a deflector angle that minimizes and stabilizes the dynamic force on the buffer component. Setting optimization variables and constraints: The real-time equivalent tilt angle θ of the deflector component is defined as the optimization variable, i.e., the optimal solution to be found through calculation. Simultaneously, the output flow field force estimate M_aero is used as a constraint, requiring M_aero(θ) ≤ M_max, where M_max is the maximum safe torque that the deflector actuator or mechanical structure can withstand. This ensures that the optimization result will not lead to deflector overload damage. Solving for the optimal deflector angle: In each control cycle (e.g., 1ms), the control system executes an optimization loop. Based on the current flow field state (represented by F_buf and M_aero), it uses real-time optimization algorithms such as sequential quadratic programming to solve the cost function. As the algorithm continuously adjusts the virtual θ value, it evaluates its impact on the J value, ultimately finding the optimal guiding angle θ_optimal that minimizes J while satisfying the torque constraint. The control system reads the current actual angle θ_current fed back from the encoder of the guide vane actuator. θ_optimal is compared with θ_current to obtain the target compensation angle Δθ = θ_optimal - θ_current. Subsequently, corresponding control commands for the guiding components are generated (usually PWM waves or CAN bus commands) to drive the guide vane actuator (such as a micro servo motor) to precisely rotate Δθ to reach the target position.

[0126] In a preferred embodiment, the method further includes the following steps:

[0127] Real-time monitoring of the load change rate of the dynamic load estimate;

[0128] Based on the comparison between the load change rate and the preset safety threshold, it is determined whether the buffer component has the risk of resonant frequency excitation.

[0129] Executing the optimized motion trajectory command includes the following steps:

[0130] If not, then execute the optimized motion trajectory instruction.

[0131] Specifically, real-time monitoring of load change rate: In each processing cycle, the control system performs differential calculation on the time-series data of the output dynamic load estimate F_buf. For example, a first-order backward difference method is used: (dF_buf / dt)[k]≈(F_buf[k] - F_buf[k-1]) / Δt, where Δt is the sampling period / control period of the control system; k is the current step size index of the discrete time series; and k-1 is the previous step size index of the discrete time series. To eliminate the influence of noise, the differential signal is processed by a low-pass filter. The absolute value of the calculated real-time load change rate |dF_buf / dt| is compared with a preset safety threshold S_threshold. This threshold is obtained through previous dynamic analysis (such as modal analysis and frequency response analysis) or experimental calibration, and it represents the critical line of the drastic load change that may trigger a significant resonant response. Resonance risk assessment: Logical judgment is made based on the comparison results. If |dF_buf / dt| ≤ S_threshold, the system is considered to be in a safe state, and the buffer component does not pose a risk of resonant frequency excitation. If |dF_buf / dt| > S_threshold, a risk of resonant frequency excitation is identified, because such rapidly changing loads may contain high-frequency components, posing a danger of exciting the structure's natural frequencies. Conditional execution of control commands: The operation of executing optimized motion trajectory commands is conditional: "If not," meaning that when the risk is deemed to be no, the control system will execute without reservation the optimized motion trajectory commands generated by the Model Predictive Control (MPC) algorithm, with efficiency and stability as the primary objectives, ensuring optimal valve performance under most normal operating conditions.

[0132] In a preferred embodiment, after determining whether the buffer member has a risk of resonant frequency excitation, the method further includes the following steps:

[0133] If so, the dominant frequency component that triggers resonance is identified based on the time-frequency characteristics of the dynamic load estimate.

[0134] Based on the dominant frequency component and the inherent frequency characteristics of the buffer component, the resonant frequency range to be avoided is determined.

[0135] Specifically, the dominant frequency component is identified as follows: Upon determining the presence of a risk, the control system initiates a signal analysis process. It performs time-frequency analysis on the dynamic load estimate F_buf data from a recent short timeframe. In practice, Short-Time Fourier Transform (STFT) or Wavelet Transform can be used. For example, using STFT, the signal is truncated within a sliding time window (e.g., 50ms) and subjected to Fast Fourier Transform (FFT) to obtain a spectrum showing the frequency components of the signal changing over time. From this spectrum, components with significantly higher energy and higher frequency than the background noise during the risk period are extracted and identified as the "dominant frequency component that triggers resonance," f_dominant. This could be a single frequency or a group of frequencies.

[0136] Specifically, the resonant frequency range to be avoided is determined: the control system accesses a database of the inherent frequency characteristics of the buffer components pre-stored in memory. This database contains the first few natural frequencies f_n1, f_n2, ... of the buffer assembly (buffer plate, spring, etc.). Then, the f_dominant identified in step 1 is compared with these natural frequencies. The determination of the resonant frequency range [f_avoid_low, f_avoid_high] to be avoided follows these principles: typically, the natural frequency f_n closest to f_dominant is used as the center, and a certain width (e.g., f_n ± Δf) is extended to both sides. The value of Δf is determined based on the damping ratio of that mode; the smaller the damping, the wider Δf is, because low-damped systems are more sensitive to frequency. The output of this step is a clearly defined frequency range [f_avoid_low, f_avoid_high] that needs to be avoided, i.e., the resonant frequency interval to be avoided; where f_avoid_low is the lower limit of the resonant frequency interval to be avoided, in Hz; f_avoid_high is the upper limit of the resonant frequency interval to be avoided, in Hz; f_n is a certain natural frequency of the buffer component, in Hz; Δf is the extension width of the natural frequency, in Hz, and its value is negatively correlated with the damping ratio of the buffer component; f_dominant is the dominant frequency component that triggers the resonance, in Hz; and fdamp is the high-frequency damping component of the active damping intervention.

[0137] In a preferred embodiment, after determining the resonant frequency range to be avoided, the method further includes the following steps:

[0138] Based on the resonant frequency range to be avoided, an active damping intervention command is generated.

[0139] The optimized motion trajectory command is superimposed on the active damping intervention command to obtain and execute the updated optimized motion trajectory command;

[0140] The active damping intervention command is configured to superimpose a high-frequency damping component onto the optimized motion trajectory of the valve core. The amplitude and phase of the high-frequency damping component are optimized to generate a control effect that is opposite to the dominant frequency component in the final motion trajectory of the valve core, so that the excitation frequency of the valve core avoids the resonant frequency range.

[0141] Specifically, based on the resonant frequency range to be avoided [f_avoid_low, f_avoid_high] output above, the damping command generator in the control unit starts working, generating a high-frequency damping component u_damp(t). This component is usually a sine wave or its variant, and its frequency f_damp is set within the range to be avoided, usually f_dominant. Its amplitude A and phase φ are optimized key parameters: the amplitude A is adaptively adjusted according to the current amplitude of F_buf to ensure sufficient suppression without being excessive; the phase φ is precisely set to be opposite to the phase of the identified dominant frequency component f_dominant (i.e., 180 degrees out of phase) to ensure an anti-phase control effect. The generated u_damp(t) is superimposed with the optimized motion trajectory command u_mpc(t) (i.e., the desired valve core displacement command) generated by the MPC algorithm, which was originally intended to optimize flow and pressure. The superposition operation is: u_final(t) = u_mpc(t) + u_damp(t). u_final(t) is the updated optimized motion trajectory command; where u_final(t) is the updated final motion trajectory command of the valve core (displacement as a function of time), in mm; u_mpc(t) is the original optimized trajectory command generated by the model predictive control algorithm; and u_damp(t) is the high-frequency damping component command of active damping intervention.

[0142] At this point, the control system sends u_final(t) to the electric actuator of the valve core. The actual movement of the valve core will not only follow the original optimized trajectory u_mpc(t), but will also perform an additional high-frequency, small-amplitude jittering motion u_damp(t). This high-frequency jittering u_damp(t) actively generated by the valve core has a frequency f_damp within the resonant range, but its phase is out of phase with the vibration generated by the flow field excitation. According to the active vibration damping principle in vibration control, this out-of-phase force will cancel out the flow field excitation force. As a result, the energy at that specific dangerous frequency f_dominant in the final excitation frequency applied by the valve core to the fluid-structure system is greatly weakened, thus preventing it from effectively exciting the resonance of the buffer component, achieving active avoidance of the resonant frequency range.

[0143] Example 3

[0144] This embodiment proposes a hydrogen valve flow control system to implement the hydrogen valve flow control method described in Embodiment 2, including:

[0145] The acquisition module is configured to acquire the valve's operating parameters in real time, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve.

[0146] The calculation module is configured to calculate at least one key characterization parameter of the flow field inside the valve in the current state based on the operating parameters and the preset valve dynamic model.

[0147] The judgment module is configured to determine whether the current position of the valve core is in the critical adjustment zone based on the key characterization parameters; wherein the critical adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds a first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds a second preset threshold when the valve core displacement is less than a preset critical opening value.

[0148] The control module is configured to, if so, dynamically generate optimized motion trajectory commands for the valve core based on a model predictive control algorithm, with the goal of minimizing system pressure oscillations and valve core impact.

[0149] The control module is also configured to execute the optimized motion trajectory command, control the valve core to move according to the corresponding optimized motion trajectory, and coordinate the working state of the flow guiding component.

[0150] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A method for controlling the flow rate of a hydrogen valve, the valve comprising a valve body, a valve seat disposed within the valve body, a valve core cooperating with the valve seat to open and close a flow channel, a buffer member fixedly installed in the inner cavity of the valve body, and a flow guide member rotatably disposed in the inner cavity of the valve body, characterized in that, The method includes the following steps: The valve's operating parameters are acquired in real time, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve. Based on the operating parameters and the preset valve dynamic model, at least one key characterization parameter of the flow field inside the valve under the current state is calculated. Based on the key characterization parameters, it is determined whether the current position of the valve core is in the key adjustment zone; wherein, the key adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds a first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds a second preset threshold when the valve core displacement is less than a preset critical opening value. If so, then with the goal of minimizing system pressure oscillations and valve core impact, an optimized motion trajectory command for the valve core is dynamically generated based on a model predictive control algorithm. The optimized motion trajectory command is executed to control the valve core to move according to the corresponding optimized motion trajectory, and to coordinate the working state of the flow guiding component.

2. The hydrogen valve flow control method according to claim 1, characterized in that, The key characterization parameters include dynamic load estimates and flow field force estimates. The dynamic load estimates are used to characterize the forces acting on the buffer member due to changes in the flow field. The flow field force estimates are used to characterize the forces applied to the guide member due to the flow field and tend to drive it to change state.

3. The hydrogen valve flow control method according to claim 2, characterized in that, The calculation of at least one key characterization parameter of the flow field inside the valve under the current state, based on the operating parameters and the preset valve dynamic model, includes the following steps: Based on the real-time acquired valve core displacement, the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat is calculated. Based on the inlet pressure, the outlet pressure, and the equivalent throttling area, the instantaneous mass flow rate through the annular flow channel is obtained; A dynamic model of the flow field inside the valve is constructed. The dynamic model defines the chamber affected by the dynamic behavior of the buffer component as the first control volume and the chamber affected by the dynamic behavior of the guide component as the second control volume. Using the instantaneous mass flow rate as the boundary condition connecting the first control body and the second control body, and combining the equivalent stiffness and damping parameters of the buffer component and the real-time equivalent tilt angle of the guide component, the dynamic load estimate and the flow field force estimate are dynamically output by solving the dynamic model. Wherein, the estimated value of the dynamic load is the net pressure load acting on the buffer member, and the estimated value of the flow field force is the aerodynamic torque acting on the guide member.

4. The hydrogen valve flow control method according to claim 3, characterized in that, The coordinated adjustment of the working state of the flow guiding component includes the following steps: The optimal guiding angle is obtained by retrieving a cost function with the optimization objective of minimizing the dynamic load fluctuation of the buffer component, using the real-time equivalent tilt angle of the guiding component as the optimization variable, and using the estimated flow field force as the constraint condition. The optimal guiding angle is compared with the current actual angle of the guiding component to obtain the target compensation angle; Based on the target compensation angle, a control command for the guide component is generated, driving the guide component to rotate to the target position.

5. The hydrogen valve flow control method according to claim 2, characterized in that, The method also includes the following steps: Real-time monitoring of the load change rate of the dynamic load estimate; Based on the comparison between the load change rate and the preset safety threshold, it is determined whether the buffer component has the risk of resonant frequency excitation. Executing the optimized motion trajectory command includes the following steps: If not, then execute the optimized motion trajectory instruction.

6. The hydrogen valve flow control method according to claim 5, characterized in that, After determining whether the buffer component has a risk of resonant frequency excitation, the following steps are also included: If so, the dominant frequency component that triggers resonance is identified based on the time-frequency characteristics of the dynamic load estimate. Based on the dominant frequency component and the inherent frequency characteristics of the buffer component, the resonant frequency range to be avoided is determined.

7. The hydrogen valve flow control method according to claim 6, characterized in that, After determining the resonant frequency range to be avoided, the following steps are also included: Based on the resonant frequency range to be avoided, an active damping intervention command is generated. The optimized motion trajectory command is superimposed on the active damping intervention command to obtain and execute the updated optimized motion trajectory command; The active damping intervention command is configured to superimpose a high-frequency damping component onto the optimized motion trajectory of the valve core. The amplitude and phase of the high-frequency damping component are optimized to generate a control effect that is opposite to the dominant frequency component in the final motion trajectory of the valve core, so that the excitation frequency of the valve core avoids the resonant frequency range.

8. The hydrogen valve flow control method according to claim 3, characterized in that, The calculation of the equivalent throttling area of ​​the annular flow channel formed between the valve core and the valve seat based on the real-time acquired valve core displacement includes the following steps: Based on the nonlinear mapping relationship and the real-time obtained valve core displacement, the initial geometric area of ​​the annular flow channel is obtained; the nonlinear mapping relationship is the mapping relationship between the valve core displacement and the geometric diameter of the annular flow channel. The real-time compensation factor for the compressibility and viscosity effect of high-pressure hydrogen is obtained, and the initial geometric area is corrected to obtain the equivalent throttling area. The real-time compensation factor is dynamically obtained through a pre-established compensation function model that takes the inlet pressure and outlet pressure under the current operating conditions as input.

9. The hydrogen valve flow control method according to claim 3, characterized in that, The process of dynamically outputting the dynamic load estimate and the flow field force estimate by solving the dynamic model includes the following steps: The dynamic model is discretized into state-space equations in the time domain; The instantaneous mass flow rate, the equivalent stiffness and damping parameters of the buffer component, and the real-time equivalent tilt angle of the guide component are used as the time-varying input vector of the state-space equation. A real-time solver based on a recurrent neural network is used to solve the state-space equations recursively, and the estimated values ​​of the dynamic load and the flow field force at the current moment are output synchronously during the system control cycle.

10. A hydrogen valve flow control system for implementing the hydrogen valve flow control method as described in any one of claims 1-9, characterized in that, include: The acquisition module is configured to acquire the valve's operating parameters in real time, including valve core displacement, inlet pressure, outlet pressure, and real-time flow rate through the valve. The calculation module is configured to calculate at least one key characterization parameter of the flow field inside the valve in the current state based on the operating parameters and the preset valve dynamic model. The judgment module is configured to determine whether the current position of the valve core is in the critical adjustment zone based on the key characterization parameters; wherein the critical adjustment zone is the valve core stroke range in which the flow rate change rate caused by the unit displacement change exceeds a first preset threshold and / or the pressure gradient change rate caused by the unit displacement change exceeds a second preset threshold when the valve core displacement is less than a preset critical opening value. The control module is configured to, if so, dynamically generate optimized motion trajectory commands for the valve core based on a model predictive control algorithm, with the goal of minimizing system pressure oscillations and valve core impact. The control module is also configured to execute the optimized motion trajectory command, control the valve core to move according to the corresponding optimized motion trajectory, and coordinate the working state of the flow guiding component.

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