Method and device for controlling opening process of electric valve, storage medium and electronic equipment

Abstract

A kind of electric valve opening process control method, device, storage medium and electronic equipment, the method includes: establishing multiple electric valve database, and according to the structural characteristics, working condition and use requirement different of multiple electric valve are classified and stored;According to the type and work demand different of multiple electric valve, the control decision item of corresponding electric valve is respectively established;The opening process of electric valve is divided into multiple control units, and according to the type and corresponding control decision item different of each electric valve, the inflection point and parameter of each control unit are set;And corresponding to different electric valve, the opening process control method and control curve adapted to the electric valve are generated, and are bound with the electric valve, for controlling the opening of the electric valve.The present application also discloses electric valve opening process control device, storage medium and electronic equipment, effectively reduce the equipment series and model, easy to select and easy to use, suitable for large-scale production, greatly reduce the production, use, maintenance cost.

Description

Methods, devices, storage media, and electronic equipment for controlling the opening process of electric valves Technical Field

[0001] This invention relates to valve drive control technology, and in particular to a method, apparatus, storage medium, and electronic device for controlling the opening process of an electric valve. Background Technology

[0002] Currently, many valve actuators use AC asynchronous motors that are directly started by a power source. The motor drives a mechanical transmission mechanism to operate the valve, thus opening it. AC asynchronous motors are widely used in actuators due to their simple structure, reliable operation, light weight, low cost, and high starting torque. However, during operation, the fixed speed of the AC asynchronous motor during valve operation leads to a constant valve opening speed. Overload can accelerate wear on the valve sealing surface, reducing the valve's lifespan. Furthermore, the valve opening and stopping method uses point-to-point triggering, where a limit switch (or reed switch) is placed at the valve body's stopping point. The valve stops operating based on the limit switch's (or reed switch's) signal. However, the inherent mechanical backlash and significant error in repeatability of the limit switch (or reed switch) contacts contribute to this problem. This results in inaccurate valve opening positions; moreover, the point-to-point triggering and stopping method achieved through complex mechanical transmissions (counters and torque protection devices) not only fails to achieve high-precision position control throughout the entire stroke but also significantly increases manufacturing costs; the low torque control accuracy of AC asynchronous motors for valve opening, coupled with the influence of factors such as medium temperature, foreign objects, and corrosion, causes the driving torque during valve opening to be unable to overcome all resistance torques, resulting in the valve failing to open; at the same time, a fixed speed cannot meet the requirements for rapid valve opening in emergency situations, nor can it meet the speed regulation requirements for valves prone to "water hammer" conditions; and it cannot achieve highly reliable, anti-interference, and networked centralized remote control. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing an electric valve opening process control method, device, storage medium and electronic device for the electric valve opening process.

[0004] To achieve the above objectives, the present invention provides a method for controlling the opening process of an electric valve, comprising the following steps:

[0005] S100. Establish a database of various electric valves and classify and store them according to their structural characteristics, operating conditions and usage requirements.

[0006] S200. Based on the different types and working requirements of the various electric valves, establish corresponding control decision items for the electric valves;

[0007] S300: The opening process of the electric valve is divided into multiple control units, and the inflection points and parameters of each control unit are set according to the type of electric valve and the corresponding control decision items; and

[0008] S400: For different electric valves, generate an opening process control method and / or opening process control curve adapted to the electric valve, and bind it to the electric valve for the opening process control of the electric valve.

[0009] The above-mentioned electric valve opening process control method includes a multi-electric valve database comprising an electric valve execution process data structure that summarizes and establishes based on the valve opening control principle and the structural characteristics, operating conditions, and working strategies of the multi-electric valves.

[0010] The above-mentioned electric valve opening process control method includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, and a stopping unit.

[0011] In the above-described electric valve opening process control method, the following conditions apply: When the current speed of the electric valve's drive motor is greater than or equal to a set starting speed, it is a starting inflection point, and the drive motor is controlled to enter the acceleration unit from the starting unit; when the current speed of the drive motor is greater than or equal to a set percentage of a set uniform speed, it is an acceleration inflection point, and the drive motor is controlled to enter the uniform speed unit from the acceleration unit; when the current stroke of the electric valve is greater than or equal to a set stroke, it is a uniform speed inflection point, and the drive motor is controlled to enter the deceleration unit from the uniform speed unit; when the current speed of the drive motor is less than or equal to a set approximation speed, it is a deceleration inflection point, and the drive motor is controlled to enter the approximation unit from the deceleration unit; when the current torque of the electric valve's drive motor is greater than or equal to a set torque, it is an approximation inflection point, and the drive motor is controlled to enter the stop unit from the approximation unit; when the current speed of the electric valve is 0, it is a stop inflection point, and the electric valve opening process control ends.

[0012] The above-mentioned electric valve opening process control method further includes:

[0013] S500: Taking the set parameters and inflection points of each stage of the bound electric valve as input, and the real-time speed, valve stroke and / or torque of the bound electric valve as feedback, the PID control algorithm is used to make real-time corrections to the speed, torque and / or position parameters of the corresponding control unit to meet the response speed and control accuracy requirements of each stage of the valve opening process.

[0014] The above-mentioned electric valve opening process control method includes various electric valves such as gate valves, globe valves, butterfly valves, ball valves, plug valves, knife gate valves, and dampers.

[0015] In the above-described electric valve opening process control method, when the current speed of the drive motor is greater than or equal to the set starting speed, the drive motor is controlled to enter the acceleration unit from the starting unit; when the current speed of the drive motor is greater than or equal to a set ratio of the set uniform speed, the drive motor is controlled to enter the uniform speed unit from the acceleration unit; when the current stroke of the valve is greater than or equal to the set stroke, the drive motor is controlled to enter the deceleration unit from the uniform speed unit; when the current speed of the drive motor is less than or equal to the set approximation speed, the drive motor is controlled to enter the approximation unit from the deceleration unit; when the current torque of the drive motor is greater than or equal to the set torque, the drive motor is controlled to enter the stop unit from the approximation unit; when the current speed is 0, the opening process control of the gate valve and the stop valve ends.

[0016] The above-mentioned electric valve opening process control method includes a precision priority strategy, a safety priority strategy, and a fast opening strategy.

[0017] In the above-mentioned electric valve opening process control method, when executing the precision priority strategy, the acceleration unit, deceleration unit and stopping unit all use PID control algorithms to make real-time corrections to the corresponding speed, torque and position parameters, or make real-time corrections to the corresponding torque and speed parameters; extend the running time of the acceleration unit and deceleration unit, or optimize the acceleration and deceleration curves to ensure that the switching positions of each control unit are accurate and the transition is smooth.

[0018] In the above-mentioned electric valve opening process control method, when executing the safety priority strategy, the approximation unit uses a PID control algorithm to make real-time corrections to the corresponding speed, torque, and position parameters, or to make real-time corrections to torque and speed; extends the running time of the acceleration and deceleration units, or optimizes the acceleration and deceleration curves to ensure that the switching positions of each control unit are accurate and the transitions are smooth; and monitors the entire valve opening process to effectively identify overcurrent, overvoltage, undervoltage, phase loss, overtorque, overtemperature, and / or jamming faults, so as to predict or detect valve damage caused by the corresponding faults.

[0019] The above-mentioned electric valve opening process control method further includes reducing the jamming torque detection value to accurately identify jamming and display the jamming location.

[0020] In the above-mentioned electric valve opening process control method, when executing the fast opening strategy, a PID control algorithm is used to make real-time corrections to the speed, torque, and position parameters of the corresponding control unit, or to make real-time corrections to the torque and speed, throughout the entire valve opening process; the set maximum torque, maximum speed, and shortest acceleration and deceleration time are used to achieve rapid valve opening.

[0021] The above-mentioned electric valve opening process control method uses a torque sensor or a vector transformation method combined with an output current detection circuit to obtain real-time torque, so as to correct the output torque in real time, and improve torque accuracy by combining parameter identification and torque calibration.

[0022] To better achieve the above objectives, the present invention also provides an electric valve opening process control device, which includes a controller and uses the above-described electric valve opening process control method to control the opening process of the electric valve.

[0023] To better achieve the above objectives, the present invention also provides a storage medium storing a computer program configured to execute the above-described electric valve opening process control method during runtime.

[0024] To better achieve the above objectives, the present invention also provides an electronic device, comprising:

[0025] Processor; and

[0026] Memory for storing the executable instructions of the processor;

[0027] The processor is configured to execute the above-described electric valve opening process control method by executing the executable instructions.

[0028] The technical effects of this invention are as follows:

[0029] This invention, based on valve displacement, combines the opening of electric valves into stages: starting, acceleration, constant speed, deceleration, slow approach, and stopping. This ensures sufficient torque during starting to overcome static friction resistance; efficient execution speed during constant speed operation for rapid valve opening; lower approach speed and torque during approach to improve position accuracy; and monitoring throughout the opening process to predict or detect defects in the valve's mechanical system. Furthermore, through a review and analysis of all current electric valves, seven representative commonly used electric valves have been identified and categorized into three types based on their structural characteristics, operating conditions, and working strategies. Using universal data, logic structures, and hardware, optimal control methods are generated for different valves, enabling precise opening process control of various types of electric valves with a single universal device. This effectively reduces the number of equipment series and models, simplifies configuration and use, and is easy to select and use; it is suitable for large-scale production and significantly reduces production, use, and maintenance costs.

[0030] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0031] Figure 1 is a schematic diagram of the data structure of the electric valve execution process according to an embodiment of the present invention;

[0032] Figure 2 is a gate valve opening control curve diagram according to an embodiment of the present invention;

[0033] Figure 3 is a control curve of the shut-off valve opening according to an embodiment of the present invention;

[0034] Figure 4 is a control curve of the ball valve opening according to an embodiment of the present invention;

[0035] Figure 5 is a valve opening control curve diagram of a plug valve according to an embodiment of the present invention;

[0036] Figure 6 is a control curve of the opening of the gate valve according to an embodiment of the present invention;

[0037] Figure 7 is a control curve of the butterfly valve opening according to an embodiment of the present invention;

[0038] Figure 8 is an acceleration / deceleration curve diagram of an embodiment of the present invention.

[0039] Among them, the attached figures are labeled

[0040] 1. Motor speed line

[0041] 2 Valve Plate Position Line

[0042] 3 Motor Torque Line Detailed Implementation

[0043] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0044] The electric valve opening process control method of the present invention, based on valve displacement, precisely controls the opening of the electric valve in stages, including starting process, acceleration process, constant speed process, deceleration process, approach process and stopping process. The control method includes the following steps:

[0045] Step S100: Establish a database of multiple electric valves and classify and store them according to their structural characteristics, operating conditions, and usage requirements. The multiple electric valves include gate valves, globe valves, butterfly valves, ball valves, plug valves, knife gate valves, and dampers. The database of multiple electric valves includes an electric valve execution process data structure that is summarized and established based on the valve opening control principle, combined with the structural characteristics, operating conditions, and working strategies of the multiple electric valves. See Figure 1, which is a schematic diagram of the electric valve execution process data structure according to an embodiment of the present invention.

[0046] Step S200: Establish corresponding control decision items for the various electric valves according to their different types and operating requirements; the control decision items may include a precision priority strategy, a safety priority strategy, and a fast opening strategy;

[0047] Step S300: Divide the opening process of the electric valve into multiple control units, and set the inflection points and parameters of each control unit according to the type of each electric valve and the corresponding control decision items; the multiple control units include a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, and a stopping unit, respectively corresponding to the starting stage, acceleration stage, constant speed stage, deceleration stage, approximation stage, torque control stage, and stopping stage of the electric valve opening; and

[0048] Step S400: For different electric valves, generate an opening process control method and / or control curve adapted to a certain type of electric valve, and bind it to the specific electric valve for the opening process control of the specific electric valve.

[0049] It may also include:

[0050] Step S500: Using the set parameters and inflection points of each stage of the bound electric valve as input (which may include the starting stage, acceleration stage, constant speed stage, deceleration stage, approach stage, torque control stage and / or stopping stage, set the specific parameters and inflection points of each stage, such as setting the starting speed, constant speed, stroke, approach speed, torque and / or holding time, etc.), and correspondingly using the real-time speed, valve stroke and / or torque of the bound electric valve as feedback, use the PID control algorithm to make real-time corrections to the speed, torque and / or position parameters of the corresponding control unit to meet the response speed and control accuracy requirements of each stage of the valve opening process.

[0051] Although the steps of the method in this invention are described in a specific order in this embodiment, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Some steps can be omitted, such as when the stop position requirement is not high, the approximation stage is not needed, multiple steps can be combined into one step, and / or one step can be broken down into multiple steps. When setting the parameters for each stage of valve operation, differences in valve type and applied execution strategy are reflected in the data structure. For example, if the approximation stage is not needed, the "whether it is effective" parameter of the approximation unit should be set to "no".

[0052] Specifically, the starting inflection point is when the current speed of the electric valve's drive motor is greater than or equal to a set starting speed, at which point the drive motor is controlled to enter the acceleration unit from the starting unit; the acceleration inflection point is when the current speed of the drive motor is greater than or equal to a set percentage of a set constant speed, preferably 80%, i.e., when the current speed of the drive motor is greater than or equal to 80% of the constant speed, the drive motor is controlled to enter the constant speed unit from the acceleration unit; the constant speed inflection point is when the current stroke of the electric valve is greater than or equal to a set stroke, at which point the drive motor is controlled to enter the deceleration unit from the constant speed unit; the deceleration inflection point is when the current speed of the drive motor is less than or equal to a set approximation speed, at which point the drive motor is controlled to enter the approximation unit from the deceleration unit; the approximation inflection point is when the current torque of the electric valve's drive motor is greater than or equal to a set torque, at which point the drive motor is controlled to enter the stopping unit from the approximation unit; and the stopping inflection point is when the current speed of the electric valve is 0, at which point the opening process control of the electric valve ends.

[0053] The starting and acceleration processes operate in torque-priority mode to ensure sufficient torque to overcome the residual torque and static friction resistance during starting, and to overcome system inertia and dynamic friction resistance during acceleration. The stable operation process operates in speed-priority mode to optimize efficiency and achieve rapid valve opening. The slow approach phase operates in precision-priority mode to ensure lower approach speed and torque to avoid collisions and improve position accuracy.

[0054] When selecting a precision-priority strategy, mechanical shock must be avoided, the switching positions of each control unit must be precise, and the transitions between stages must be smooth. Effective opening must be ensured, with the valve fully open to prevent erosion damage. This embodiment prioritizes three-loop control (torque, speed, and position closed-loop control; torque and speed two-loop control can also be used if hardware limitations exist) to ensure position accuracy and real-time performance. Acceleration and deceleration times are appropriately extended, or the acceleration and deceleration curves are optimized (see Figure 8; linear acceleration and deceleration can be changed to curvilinear acceleration and deceleration, with options including S-curves, sine curves, and exponential curves) to avoid mechanical shock. Torque vector control is used, supplemented by parameter identification and torque calibration methods to improve torque accuracy. Speed, torque, and position parameters are set according to actual needs, and upper limits are set to ensure system safety. Specifically, the acceleration unit, deceleration unit, and approximation unit in the valve opening process all use three-loop control and S-shaped acceleration and deceleration curves to improve position accuracy and reduce mechanical shock.

[0055] Referring to Figures 2-7, Figure 2 is a gate valve opening control curve according to an embodiment of the present invention, Figure 3 is a stop valve opening control curve according to an embodiment of the present invention, Figure 4 is a ball valve opening control curve according to an embodiment of the present invention, Figure 5 is a plug valve opening control curve according to an embodiment of the present invention, Figure 6 is a knife gate valve opening control curve according to an embodiment of the present invention, and Figure 7 is a butterfly valve opening control curve according to an embodiment of the present invention. Among them, the three curves are motor speed line 1, valve plate position line 2, and motor torque line 3, respectively. The markings in the other curves are the same as in Figure 1 and will not be repeated. As shown in Figures 1-7, before the valve opening command is executed, the equipment reads data including valve type, execution strategy, various execution stages, control unit, and corresponding parameter data for each stage, generates and binds the valve opening control method and / or control curve, and uses it for the opening control of the specific valve. It can also be applied to the valve opening process of electric valves of the same type and under the same working conditions in the future. In the starting phase shown in Figure 1-7, a large torque is used to overcome static friction to start the valve opening. This phase ends after the actual speed reaches the starting speed, and the acceleration phase begins. During the acceleration phase, a large torque, high speed, and uniform acceleration are used to make the valve plate quickly and accurately reach the set speed. During the uniform speed phase, a high speed is used to achieve efficient valve opening, and a reasonable protective torque is used to monitor for blockages. During the deceleration phase, a large torque and uniform deceleration are used to make the valve plate quickly and accurately descend to the approach speed. During the approach phase, the valve plate moves at a low speed until it accurately reaches the fully open position of the valve, and the valve opening process ends.

[0056] When selecting a safety-first strategy, the safety of the pipeline system during execution must be considered to avoid mechanical shock, ensure precise switching positions of inflection points in each control unit, and ensure smooth transitions between stages; ensure effective opening and prevent valve erosion damage; and effectively predict faults to extend valve life and ensure safe valve operation. Therefore, torque, speed, and position three-loop control is the preferred approach for the entire opening process. If hardware limitations exist, torque and speed two-loop control can also be used to ensure full valve opening; torque vector control can be used, supplemented by parameter identification and torque calibration methods to improve torque accuracy; appropriately extend acceleration and deceleration time or optimize acceleration and deceleration curves, such as changing from linear acceleration and deceleration to curved acceleration and deceleration, with selectable curves including S-curves, sine curves, and exponential curves, to avoid mechanical shock; and monitor the entire process to effectively identify faults such as overcurrent, overvoltage, undervoltage, phase loss, overtorque, overtemperature, and jamming, effectively predicting or detecting valve damage caused by these reasons and improving valve life. For example, by setting acceleration and deceleration parameters or applying acceleration / deceleration curves, the smoothness of the speed change process of the acceleration and deceleration units can be improved, avoiding mechanical shock; during monitoring, the detection value of jamming torque can be reduced to accurately identify and display the jamming location, thus extending valve life; water hammer can be controlled / eliminated to ensure pipeline safety. Based on the characteristics of the pipeline network, the stroke of the deceleration and approximation units can be increased, and the speed of the approximation unit can be reduced to control / eliminate water hammer and prevent pipeline damage. For example, by analyzing and identifying pipeline characteristics and water hammer fluctuation patterns, the boundary conditions for water hammer control can be obtained, and water hammer can be controlled / eliminated using parameters such as the start time and deceleration of the deceleration and approximation units.

[0057] For scenarios requiring rapid valve opening, a fast-opening strategy can be selected to ensure quick valve opening. A three-loop control system (torque, speed, and position) is preferred; however, a two-loop control system (torque and speed) can be used if hardware limitations exist. The system utilizes maximum torque, maximum speed (generally 1.5 times or more of the rated speed), and shortest acceleration / deceleration time to achieve rapid valve opening. Torque vector control, supplemented by parameter identification and torque calibration methods, improves torque accuracy. For example, three-loop control is used throughout the valve opening process to enhance response speed; the set maximum torque, maximum speed, and shortest acceleration / deceleration time are used to increase the opening speed, achieving rapid valve opening. When executing the fast-opening strategy, a PID control algorithm is used throughout the entire valve opening process to real-time correct the speed, torque, and position parameters of the corresponding control unit, or real-time correct the torque and speed. Real-time torque can be obtained using a torque sensor or by combining an output current detection circuit with a vector transformation method to real-time correct the output torque, and parameter identification and torque calibration are used to improve torque accuracy.

[0058] When implementing the precision-priority strategy, a PID control algorithm is used throughout the entire valve opening process to instantly correct the speed, torque, and position parameters of the corresponding control units, or to instantly correct the torque and speed. The running time of the acceleration and deceleration units is extended, or the acceleration / deceleration curves are optimized to ensure precise switching positions and smooth transitions between the control units. Upper limits are set for the speed, torque, and position parameters to ensure safety. Overcurrent, overvoltage, undervoltage, phase loss, overtorque, overtemperature, and / or jamming faults are effectively identified to predict valve damage caused by these faults. Refer to Figure 8, which is an acceleration / deceleration curve diagram of an embodiment of the present invention. The figure clearly shows the correspondence between displacement s, speed v, acceleration a, and torque J for each control unit's starting unit, acceleration unit, constant speed unit, deceleration unit, approximation unit, torque control unit, and stopping units τ1-τ7, as well as the inflection points of each control unit corresponding to time periods t1-t7 and the corresponding control time periods T1-T7.

[0059] In this embodiment, the drive motor of the electric valve is preferably an AC asynchronous motor. The real-time torque is preferably obtained through an output current detection circuit combined with a vector transformation method. The output current detection circuit detects the physical parameters of the AC asynchronous motor and transmits them to a real-time torque detection unit. This real-time torque detection unit calculates the real-time torque and transmits it to a torque correction unit. The physical parameters may include stator resistance, rotor resistance, stator-rotor mutual inductance, stator-rotor leakage inductance, and no-load current, etc. The three-phase AC signal of the AC asynchronous motor can be converted into the torque component i of the stator current through coordinate transformation. sT The excitation component i of the stator current sM The real-time torque is calculated using different methods depending on the magnetic field orientation: rotor magnetic field orientation vector control, direct torque control, slip frequency vector control, stator magnetic field orientation vector control, or air gap magnetic field orientation vector control. In other words, vector torque control is used as the output method, with the detection result of the torque detection circuit (preferably the output current detection circuit in this embodiment) as the feedback signal. The output torque is adjusted through a PID closed-loop control to ensure that the actual output torque driving the electric valve operates within the set torque, i.e., the desired value.

[0060] To achieve more precise vector control, this embodiment can also perform parameter identification on the physical parameters of the AC asynchronous motor first. This involves collecting parameters such as stator resistance, rotor resistance, stator-rotor mutual inductance, and stator-rotor leakage inductance to ensure the accuracy of the basic parameters in torque vector control. A physical parameter identification unit can then acquire the physical parameters of the AC asynchronous motor for more accurate torque vector control. AC and DC excitation signals can be input to the AC asynchronous motor, and stator current feedback can be monitored in real time. The aforementioned relevant parameters are calculated based on the voltage and current values ​​and phase relationships. The no-load current is used to estimate the torque consumption during AC asynchronous motor operation (such as friction, ventilation, core loss, etc.) and to compensate for its output torque. This no-load current is preferably 20% to 50% of the motor's rated current.

[0061] In this embodiment, an output current detection circuit is preferably used for parameter detection. Real-time torque (which can be calculated from the rotor's equivalent self-inductance, rotor's equivalent mutual inductance, rotor flux linkage, and stator current torque components) is collected as feedback. A PID control principle is then used to perform closed-loop control and correction of the output torque, ultimately achieving torque vector control. This ensures the torque response speed and control accuracy during the operation of the electric valve. A torque calibration device can also be used to calibrate the AC asynchronous motor to correct its output torque.

[0062] This invention enables real-time monitoring of the position, speed, and torque of an electric valve. It employs a nested control mode, from the inside out, using torque loops, speed loops, and position loops, or a nested control mode of torque loops and speed loops. The torque loop directly affects the torque, offering fast response and high accuracy, meeting the requirements for real-time control of the motor's output torque. The speed loop operates on top of the torque loop, acquiring the current speed feedback from the electric valve through the basic principles of vector control and influencing it through the torque loop to meet speed requirements at different stages. The position loop, as an optional and supplementary element, operates on top of the speed and torque loops, serving as the outermost adjustment layer. It judges and adjusts the output based on the feedback from the electric valve to meet the requirements of the control logic and stop position accuracy.

[0063] Furthermore, the present invention also provides a device for controlling the opening process of an electric valve, including a controller, and employs the aforementioned method for controlling the opening process of an electric valve to control the opening process of the electric valve. It should be noted that this device is used for actuation, and its function can be implemented by several modules or units. In fact, according to embodiments of the present invention, the features and functions of two or more modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit can be further divided and embodied by multiple modules or units.

[0064] The starting and acceleration processes can be achieved using vector control mode to operate a standard AC asynchronous motor. The torque limit is 1.5 to 2 times the rated torque of the AC asynchronous motor, and the speed is the maximum speed of the AC asynchronous motor (generally 1.5 to 2 times the rated speed). This allows the valve to start with high torque to overcome static friction resistance and accelerate quickly to overcome system inertia and dynamic friction resistance. During the constant speed process, a maintenance control mode and set speed are used, automatically reducing the torque limit to the jamming torque (30% to 80% of the rated torque) while simultaneously monitoring the motor torque. If the output torque abnormally increases to the jamming torque, operation stops and an alarm is issued to prevent valve damage. After inspection and confirmation, the torque is gradually increased in steps based on the number of jams to continue valve opening. Upon reaching the valve opening deceleration point (the constant speed inflection point), a deceleration process begins, maintaining the control mode and torque limit, gradually reducing the operating speed to the approximation speed. Approaching the valve opening limit position, an approximation process begins, maintaining the control mode and torque limit, and operating at the approximation speed to the set position.

[0065] This invention provides precise control of valve displacement through a phased combination of the starting process, acceleration process, constant speed process, deceleration process, approach process, torque control process, and stopping process. It ensures that the starting process has sufficient torque to overcome the residual torque and static friction resistance during valve opening, the constant speed process has an efficient execution rate to achieve rapid valve opening, the approach process has a low approach speed and torque to avoid collisions and improve position accuracy, and the entire process is monitored to predict or detect defects in the valve's mechanical system.

[0066] The above method is applicable to valve actuator control where the encoder is the full-stroke measuring device, and is also compatible with schemes using limit switches as the measuring device. If a limit switch is used as the measuring device, the maximum operating speed can be appropriately reduced and the torque limit adjusted to ensure safe operation.

[0067] This invention analyzes all currently available electric valves and ultimately selects seven representative commonly used electric valves. Based on their structural characteristics, operating conditions, and working strategies, these seven electric valves are divided into three categories. Finally, a method for controlling these seven types of electric valves is developed. By establishing a database with valve characteristics, operating conditions, and working strategies as its main framework and content, and combining it with encapsulated, inheritable, instantiable, and reusable core control logic, the optimal control method / control curve adapted to a specific valve can be automatically generated for various operating conditions of various valve types. This optimal control method is then bound to the specified valve, and finally, optimal control of the specific valve is achieved through communication, display, I / O connection, and drive control. This method is applicable to the control of most electric valves. In essence, it uses data structures as examples, program logic as the core, and hardware devices as the implementation method. It can achieve the use of a "universal valve driver". After matching the corresponding valve control method through the method of this invention, it can be used for specific valve control without matching a dedicated valve driver for each type of valve. It can generate an appropriate control method according to the usage scenario and requirements, and easily and conveniently bind general equipment to convert it into dedicated equipment. It can significantly reduce the number of equipment series and models, simplify configuration and use, realize large-scale production, and greatly reduce production, use and maintenance costs.

[0068] Accordingly, based on the same inventive concept, the present invention also provides a storage medium storing a computer program configured to execute the above-described method for controlling the opening process of an electric valve during runtime. Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (e.g., a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (which may be a personal computer, server, mobile terminal, or network device, etc.) to execute the method according to the embodiments of the present invention.

[0069] In some possible implementations, various aspects of the present invention can also be implemented as a program product, comprising program code. When the program product is run on a terminal device, the program code causes the terminal device to execute the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. Using structured data organization and program decomposition methods, and according to actual needs, user-defined data strings with a certain order and logic can be used to reorganize mutually independent stages, ultimately achieving universal gate machine control for seven types of valves. For example, the relevant characteristics of operating conditions, workflows, and execution strategies are all implicit in the data layer (i.e., the "data string instruction" containing relevant characteristic information transmitted by the user or host computer to the valve actuator before the valve operates); structured, commonalities, and subroutines representing different execution stages form a unified, reconfigurable logic layer. After the valve is installed, the user selects the corresponding "data string instruction" according to its characteristics and transmits it to the valve actuator. By reorganizing the corresponding subroutines of the logic layer according to the information in the "data string instruction," multiple types and requirements of valve control can be completed. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0070] According to embodiments of the present invention, a program product for implementing the above-described method may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a host computer, a central controller, or a mobile smart terminal. However, the program product of the present invention is not limited thereto; the readable storage medium may be any tangible medium containing or storing a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples of readable storage media may include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0072] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0073] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0074] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device.

[0075] Accordingly, based on the same inventive concept, the present invention also provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-described method for controlling the opening process of an electric valve by executing the executable instructions.

[0076] Those skilled in the art will understand that the present invention can be implemented as a system, method, or program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system." The electronic device of this embodiment is manifested in the form of a general-purpose computing device. Components of the electronic device may include, but are not limited to: at least one processor described above, at least one memory described above, and a bus connecting different system components (including the memory and the processor). The memory is used to store executable instructions of the processor; the processor is configured to execute the above-described method for controlling the opening process of an electric valve by executing the executable instructions. The memory stores program code that can be executed by the processor, causing the processor to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0077] The memory may include readable media in the form of volatile memory cells, such as random access memory (RAM) and / or cache memory cells, and may further include read-only memory (ROM). The memory may also include programs / utilities having a set (at least one) of program modules, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0078] A bus can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus that uses any of the various bus structures.

[0079] The electronic device can also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable user interaction with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be achieved through input / output (I / O) interfaces. Furthermore, the electronic device can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. Other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0080] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the method according to the embodiments of the present invention.

[0081] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A method for controlling the opening process of an electric valve, characterized in that, The process includes the following steps: S100, establishing a database of various electric valves and classifying and storing them according to their structural characteristics, operating conditions, and usage requirements; S200, establishing corresponding control decision items for each electric valve based on its type and operating requirements; S300, dividing the opening process of the electric valve into multiple control units and setting the inflection points and parameters of each control unit according to the type of each electric valve and its corresponding control decision items; S400, generating opening process control curves adapted to different electric valves and binding them to the electric valves for controlling their opening process; and S500, using the set parameters and inflection points of each stage of the bound electric valve as input, and correspondingly using the real-time speed, valve stroke, and / or torque of the bound electric valve as feedback, employing a PID control algorithm to instantly correct the speed, torque, and / or position parameters of the corresponding control units to meet the response speed and control accuracy requirements of each stage of the valve opening process; wherein, the multiple control units include a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, and a stopping unit.

2. The method for controlling the opening process of an electric valve as described in claim 1, characterized in that, The database of various electric valves includes a data structure for the electric valve execution process that is summarized and established based on the valve opening control principle, combined with the structural characteristics, operating conditions and working strategies of the various electric valves.

3. The method for controlling the opening process of an electric valve as described in claim 1, characterized in that, The starting inflection point is when the current speed of the drive motor of the electric valve is greater than or equal to the set starting speed; the acceleration inflection point is when the current speed of the drive motor is greater than or equal to a set percentage of the set constant speed; the constant speed inflection point is when the current stroke of the electric valve is greater than or equal to the set stroke; the deceleration inflection point is when the current speed of the drive motor is less than or equal to the set approximation speed; the approximation inflection point is when the current torque of the drive motor of the electric valve is greater than or equal to the set torque; and the stopping inflection point is when the current speed of the electric valve is 0, thus ending the opening process control of the electric valve.

4. The method for controlling the opening process of an electric valve as described in claim 1, characterized in that, The various electric valves include gate valves, globe valves, butterfly valves, and plug valves.

5. The method for controlling the opening process of an electric valve as described in claim 4, characterized in that, When the current speed of the drive motor is greater than or equal to the set starting speed, the drive motor is controlled to enter the acceleration unit from the starting unit; when the current speed of the drive motor is greater than or equal to a set ratio of the set constant speed, the drive motor is controlled to enter the constant speed unit from the acceleration unit; when the current stroke of the valve is greater than or equal to the set stroke, the drive motor is controlled to enter the deceleration unit from the constant speed unit; when the current speed of the drive motor is less than or equal to the set approximation speed, the drive motor is controlled to enter the approximation unit from the deceleration unit. When the current torque of the drive motor is greater than or equal to the set torque, the drive motor is controlled to enter the stop unit from the approximation unit. When the current speed is 0, the opening process control of the electric valve ends.

6. The method for controlling the opening process of an electric valve as described in claim 1, characterized in that, The control decision items include a precision-first strategy, a safety-first strategy, and a fast-opening strategy.

7. The method for controlling the opening process of an electric valve as described in claim 6, characterized in that, When executing the precision-priority strategy, the acceleration unit, deceleration unit, and stopping unit all use PID control algorithms to make real-time corrections to the corresponding speed, torque, and position parameters, or to make real-time corrections to the corresponding torque and speed parameters; extend the running time of the acceleration unit and deceleration unit, or optimize the acceleration and deceleration curves to ensure that the switching positions of each control unit are accurate and the transitions are smooth.

8. The method for controlling the opening process of an electric valve as described in claim 6, characterized in that, When implementing the safety priority strategy, the approximation unit uses a PID control algorithm to make real-time corrections to the corresponding speed, torque, and position parameters, or to make real-time corrections to torque and speed; it extends the running time of the acceleration and deceleration units, or optimizes the acceleration and deceleration curves to ensure that the switching positions of each control unit are accurate and the transitions are smooth; and it monitors the entire valve opening process to effectively identify overcurrent, overpressure, underpressure, phase loss, overtorque, overtemperature, and / or jamming faults, so as to predict or detect valve damage caused by the corresponding faults.

9. The method for controlling the opening process of an electric valve as described in claim 8, characterized in that, It also includes reducing the jamming torque detection value to accurately identify and display the jamming location.

10. The method for controlling the opening process of an electric valve as described in claim 6, characterized in that, When executing the fast-opening strategy, a PID control algorithm is used to make real-time corrections to the speed, torque, and position parameters of the corresponding control unit, or to make real-time corrections to the torque and speed, throughout the entire valve opening process; the set maximum torque, maximum speed, and shortest acceleration and deceleration time are used to achieve rapid valve opening.

11. The method for controlling the opening process of an electric valve as described in claim 7, 8, 9, or 10, characterized in that, Real-time torque is obtained by using a torque sensor or by combining an output current detection circuit with a vector transformation method, so as to make immediate corrections to the output torque, and improve torque accuracy by combining parameter identification and torque calibration.

12. A control device for the opening process of an electric valve, characterized in that, It includes a controller and uses the electric valve opening process control method according to any one of claims 1-11 to control the opening process of the electric valve.

13. A storage medium, characterized in that, The storage medium stores a computer program, which is configured to execute the electric valve opening process control method according to any one of claims 1-11 when it is run.

14. An electronic device, characterized in that, include: processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the electric valve opening process control method of any one of claims 1-11 by executing the executable instructions.

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