Electric valve closing process control method and device, storage medium and electronic equipment

Abstract

A kind of electric valve closing 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 closing 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 closing process control method and control curve adapted to the electric valve are generated, and are bound with the electric valve, for the closing control of the electric valve.The present application also discloses electric valve closing 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 production, use, maintenance cost.

Description

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 closing process of an electric valve for precise closing. 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, achieving valve opening / closing. AC asynchronous motors are widely used in actuators due to their simple structure, reliable operation, light weight, low price, and high starting torque. However, various problems can easily arise during use, especially during valve closing. The AC asynchronous motor's speed is fixed, and the closing speed remains constant. When the valve reaches its stop point, it can easily cause dynamic load overload on the valve seat, resulting in the valve being unable to open after being tightly closed. Simultaneously, dynamic load overload can accelerate wear on the valve sealing surface, reducing the valve's service life. The valve closing method uses point-to-point triggering, where a limit switch (or reed switch) is installed at the valve body's closing stop point. The valve stops based on the limit switch's (or reed switch's) signal. Due to the inherent mechanical clearance of the limit switch (or reed switch) contacts and the relatively large error in repeatability control accuracy, the valve may not close completely or stop prematurely. The inability to stop the valve after it is fully closed can lead to internal leakage or burnout of the AC asynchronous motor. Point-to-point triggering for stopping via a complex mechanical transmission system (counter and torque protection device) not only fails to achieve high-precision position control throughout the entire stroke but also significantly increases manufacturing costs. Furthermore, the inability to control the force on the valve seat when it is fully closed prevents the establishment of the required sealing pressure, easily causing the valve to not close completely and resulting in internal leakage. Fixed speeds cannot meet the requirements for rapid valve closure in emergencies or for speed regulation operations in valves prone to water hammer. Finally, the inability to achieve highly reliable, anti-interference, networked centralized remote control presents other problems. 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 closing process control method, device, storage medium and electronic device for precise closing of electric valves.

[0004] To achieve the above objectives, the present invention provides a method for controlling the closing 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 closing 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 a closing process control method and / or control curve adapted to the electric valve, and bind it to the electric valve for the closing process control of the electric valve.

[0009] The above-mentioned electric valve closing 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 closing control principle and the structural characteristics, operating conditions, and working strategies of the multi-electric valves.

[0010] The above-mentioned electric valve closing process control method includes a plurality of control units, namely a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, a torque control unit, and a stopping unit.

[0011] In the above-described electric valve closing process control method, the following conditions apply: A starting inflection point occurs 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; an acceleration inflection point occurs when the current speed of the drive motor is greater than or equal to a set percentage of a set uniform speed, at which point the drive motor is controlled to enter the uniform speed unit from the acceleration unit; a uniform speed inflection point occurs 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 uniform speed unit; a deceleration inflection point occurs 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; an approximation inflection point occurs 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 torque control unit from the approximation unit; a torque control inflection point occurs when the torque holding time of the electric valve is greater than or equal to a set holding time, at which point the drive motor is controlled to enter the stopping unit from the torque control unit; and a stopping inflection point occurs when the current speed of the electric valve is 0, at which point the electric valve closing process control ends.

[0012] The above-mentioned electric valve closing 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 closing process.

[0014] The above-mentioned electric valve closing 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 closing process control method, when the electric valve is a gate valve or a stop valve, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, a torque control unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the gate valve or stop valve, 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 proportion of the set constant speed of the gate valve or stop valve, the drive motor is controlled to enter the constant speed unit from the acceleration unit; when the current stroke of the gate valve or stop valve is greater than or equal to a set stroke... When the speed is constant, the drive motor is controlled to enter the deceleration unit; when the current speed of the drive motor is less than or equal to the set approximation speed of the gate valve or shut-off valve, 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 of the gate valve and shut-off valve, the drive motor is controlled to enter the torque control unit from the approximation unit; when the torque holding time is greater than or equal to the set holding time of the gate valve and shut-off valve, the drive motor is controlled to enter the stop unit from the torque control unit; when the current speed is 0, the closing process control of the gate valve and shut-off valve ends.

[0016] In the above-described electric valve closing process control method, when the electric valve is a ball valve, plug valve, knife valve, or damper, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the ball valve, plug valve, knife valve, or damper, 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 proportion of the set constant speed of the ball valve, plug valve, knife valve, or damper, the drive motor is controlled to enter the constant speed unit from the acceleration unit. When the current stroke of the ball valve, plug valve, knife valve, or damper 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 of the ball valve, plug valve, knife valve, or damper, 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 of the ball valve, plug valve, knife valve, or damper, the drive motor is controlled to enter the stop unit from the approximation unit; when the current speed is 0, the closing process control of the ball valve, plug valve, knife valve, or damper ends.

[0017] In the above-described electric valve closing process control method, when the electric valve is a butterfly valve, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the butterfly valve, 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 proportion of the set constant speed of the butterfly valve, the drive motor is controlled to enter the constant speed unit from the acceleration unit; when the current stroke of the butterfly valve is greater than or equal to a 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 of the butterfly valve, the drive motor is controlled to enter the stopping unit from the deceleration unit; when the current speed is 0, the closing process control of the butterfly valve ends.

[0018] In the above-described electric valve closing process control method, when the butterfly valve has a sealing requirement, the control unit further includes an approximation unit and a torque control unit between the deceleration unit and the stop unit. When the current speed of the drive motor is less than or equal to the set approximation speed of the butterfly valve, 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 of the butterfly valve, the drive motor is controlled to enter the torque control unit from the approximation unit; when the torque holding time is greater than or equal to the set holding time of the butterfly valve, the drive motor is controlled to enter the stop unit from the torque control unit.

[0019] The above-mentioned electric valve closing process control method includes a precision priority strategy, a safety priority strategy, and a fast closing strategy.

[0020] In the above-mentioned electric valve closing process control method, when executing the precision priority strategy, a PID control algorithm is used to make real-time corrections to the speed, torque, and position parameters of the corresponding control units, or to make real-time corrections to the torque and speed, throughout the entire valve closing process; the running time of the acceleration unit and deceleration unit is extended, or the acceleration and deceleration curves are optimized to ensure that the switching positions of each control unit are accurate and the transitions are smooth; and upper limits for the speed, torque, and position parameters are set to ensure safety.

[0021] The above-mentioned electric valve closing process control method, wherein, when executing the safety priority strategy, a PID control algorithm is used throughout the entire valve closing process to real-time correct the speed, torque, and position parameters of the corresponding control unit, or real-time correct the torque and speed; the running time of the acceleration unit and deceleration unit is extended, or the acceleration and deceleration curves are optimized to ensure that the switching positions of each control unit are accurate and the transition is smooth; and monitoring is performed throughout the entire valve closing 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.

[0022] The above-mentioned electric valve closing process control method further includes, when executing the safety priority strategy, obtaining the boundary conditions for water hammer control based on the characteristics of the pipeline network and the water hammer fluctuation law, adjusting the start time of the deceleration unit and the approximation unit, increasing the stroke of the deceleration unit and the approximation unit, and reducing the operating speed of the approximation unit to weaken or eliminate water hammer.

[0023] In the above-mentioned electric valve closing process control method, when executing the fast closing 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 closing process; the set maximum torque, maximum speed, and shortest acceleration and deceleration time are used to achieve rapid valve closing.

[0024] The above-mentioned electric valve closing 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.

[0025] To better achieve the above objectives, the present invention also provides an electric valve closing process control device, which includes a controller and uses the above-described electric valve closing process control method to control the closing process of the electric valve.

[0026] 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 closing process control method during runtime.

[0027] To better achieve the above objectives, the present invention also provides an electronic device, comprising:

[0028] Processor; and

[0029] Memory for storing the executable instructions of the processor;

[0030] The processor is configured to execute the above-described electric valve closing process control method by executing the executable instructions.

[0031] The technical advantages of this invention are as follows:

[0032] This invention, based on valve displacement, precisely controls the closing of electric valves in stages: starting, acceleration, constant speed, deceleration, approach, torque control, and stopping. It ensures sufficient torque during starting to overcome residual torque and static friction resistance; efficient execution speed during constant speed operation for rapid valve closing; lower approach speed and torque during approach to avoid collisions and improve positional accuracy; stable torque output during torque control (the valve's elastic deformation stage) for precise control of sealing pressure; and monitoring throughout the closing process to predict or detect defects in the valve's mechanical system. Furthermore, through a comprehensive analysis of all electric valves, seven representative commonly used electric valves were identified and categorized into three types based on structural characteristics, operating conditions, and working strategies. Using universal data, logic structures, and hardware, optimal control methods are generated for different valves, enabling precise closing 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 makes it easy to select and use; it is suitable for large-scale production and significantly reduces production, usage, and maintenance costs.

[0033] 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

[0034] Figure 1 This is a schematic diagram of the valve closing control principle according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the data structure for the electric valve execution process according to an embodiment of the present invention;

[0036] Figure 3 This is a gate valve closing control curve diagram according to an embodiment of the present invention;

[0037] Figure 4 This is a shut-off valve control curve diagram according to an embodiment of the present invention;

[0038] Figure 5 This is a control curve diagram of a ball valve closing according to an embodiment of the present invention;

[0039] Figure 6 This is a control curve diagram of a plug valve closing according to an embodiment of the present invention;

[0040] Figure 7 This is a control curve diagram of the gate valve closing according to an embodiment of the present invention;

[0041] Figure 8 This is a control curve diagram of a butterfly valve closing according to an embodiment of the present invention;

[0042] Figure 9 This is an acceleration / deceleration curve diagram according to an embodiment of the present invention.

[0043] Among them, the attached figures are labeled

[0044] 1. Motor speed line

[0045] 2 Valve Plate Position Line

[0046] 3 Motor Torque Line Detailed Implementation

[0047] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0048] See Figure 1 , Figure 1 This is a schematic diagram illustrating the valve closing control principle according to an embodiment of the present invention. The electric valve closing process control method of the present invention includes the following steps:

[0049] Step S100: Establish a database of multiple electric valves, and classify and store them according to their structural characteristics, operating conditions, and usage requirements. This database includes a data structure summarizing and establishing the electric valve execution process of the various electric valves based on the valve closing control principle, combined with their structural characteristics, operating conditions, and working strategies. (See also...) Figure 2 , Figure 2 This is a schematic diagram of the data structure for the electric valve execution process according to an embodiment of the present invention;

[0050] Step S200: Establish corresponding control decision items for the various electric valves according to their different types and operating requirements;

[0051] Step S300: Divide the closing process of the electric valve into multiple control units, and set the inflection point and parameters of each control unit according to the type of each electric valve and the corresponding control decision item; and

[0052] Step S400: For different electric valves, generate a closing process control method and / or control curve that is adapted to a certain type of electric valve, and bind it to the specific electric valve for the closing process control of the specific electric valve.

[0053] It may also include:

[0054] 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, setting the specific parameters and inflection points of acceleration time, deceleration time, torque, speed and / or stroke for each stage, such as setting the starting speed, constant speed, stroke, approach speed, torque and / or holding time, etc.), and using 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 closing process.

[0055] In this embodiment, the plurality of control units include a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, a torque control unit, and a stopping unit, corresponding to the starting stage, acceleration stage, constant speed stage, deceleration stage, approximation stage, torque control stage, and stopping stage of the electric valve closing process, respectively. Although in the appendix Figure 1 The steps of the method in this invention are described in a specific order; however, 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. Depending on the application requirements, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps. When setting parameters for each stage of valve operation, differences in valve type and applied execution strategy are reflected in the data structure. For example, the difference between a gate valve and a knife gate valve is that a knife gate valve does not have a torque control stage; therefore, the setting value of the "Is it effective?" parameter of the torque control unit should be "No".

[0056] Specifically, the starting inflection point is defined as follows: when the current speed of the electric valve's drive motor is greater than or equal to a set starting speed, the drive motor is controlled to enter the acceleration unit from the starting unit; the acceleration inflection point is defined as follows: 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 defined as follows: when the current stroke of the electric valve is greater than or equal to a 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, 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 drive motor of the electric valve is greater than or equal to the set torque, it is an approximation inflection point, and the drive motor is controlled to enter the torque control unit from the approximation unit; when the torque holding time of the electric valve is greater than or equal to the set holding time, it is a torque control inflection point, and the drive motor is controlled to enter the stop unit from the torque control unit; when the current speed of the electric valve is 0, it is a stop inflection point, and the closing process control of the electric valve ends.

[0057] The various electric valves of this invention include gate valves, globe valves, butterfly valves, ball valves, plug valves, knife gate valves, and dampers. When the electric valve is a gate valve or globe valve, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, a torque control unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the gate valve or globe valve, 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 80% of the set constant speed of the gate valve or globe valve, the drive motor is controlled to enter the constant speed unit from the acceleration unit; when the current stroke of the gate valve or globe valve is greater than or equal to the set stroke, the drive motor is controlled to... The motor enters 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 of the gate valve or shut-off valve, 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 of the gate valve and shut-off valve, the drive motor is controlled to enter the torque control unit from the approximation unit; when the torque holding time is greater than or equal to the set holding time of the gate valve and shut-off valve, the drive motor is controlled to enter the stop unit from the torque control unit; when the current speed is 0, the closing process control of the gate valve and shut-off valve ends.

[0058] The control decision items of this invention may include a precision-priority strategy, a safety-priority strategy, and a fast-closing strategy. When selecting a precision-priority strategy, the precision of torque, speed, and position must be considered first, ensuring accurate switching positions of each control unit and smooth transitions between stages; ensuring effective closure, precise torque control, maintaining sealing pressure, and preventing internal leakage of the valve. This embodiment preferentially uses three-loop control (torque, speed, and position three-loop control; if hardware limitations exist, torque and speed two-loop control can also be used) to ensure position accuracy and real-time performance; appropriately extending acceleration and deceleration time, or optimizing acceleration and deceleration curves (see...). Figure 9 The acceleration and deceleration can be changed from linear to curvilinear acceleration and deceleration (selectable curves include 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 and ensure sealing pressure. Parameters such as speed, torque, and position are set according to actual needs, and upper limits are set to ensure system safety. During valve closing, the acceleration and deceleration units utilize three-loop control and S-shaped acceleration / deceleration curves to improve position accuracy and reduce mechanical shock. The torque control unit reduces the speed to an approximate speed, and vector control (combined with parameter identification and torque calibration methods) improves torque accuracy, precisely controlling the valve closing sealing pressure.

[0059] The gate valve closing process of the precision-first strategy is as follows: Figure 1 As shown, the control curve for this process is as follows: Figure 3 As shown, the three curves are the motor speed line 1, the valve plate position line 2, and the motor torque line 3, respectively. The markings on the other curves are the same as those in the diagram. Figure 3 The same applies, so I won't repeat myself. For example... Figure 3 As shown, before executing the valve closing command, the equipment reads data including valve type, execution strategy, each execution stage, control unit, and corresponding parameter data for each stage, generates and binds the optimal closing process control method and / or control curve suitable for the gate valve, and uses it for the closing process control of the gate valve. It can also be applied to the closing process of gate valves of the same type and under the same working conditions in the future. Figure 3 In the starting phase, a large torque is used to overcome static friction to initiate valve closure. This phase ends once 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 quickly and accurately bring the valve plate to the set speed. In the constant speed phase, high speed is used to achieve efficient shut-off, and a reasonable protective torque is used to monitor for blockages. In the deceleration phase, a large torque and uniform deceleration enable the valve plate to quickly and accurately descend to the approach speed. In the approach phase, the valve plate moves at a low speed and searches for the contact position between the valve plate and the sealing surface. After the torque reaches the limit value, the torque control phase begins. During the torque control phase, the valve plate maintains the set torque to accurately establish the sealing pressure. In the stopping phase, the sealing pressure has been established, the valve actuator stops outputting, and the valve closing process ends.

[0060] 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 smooth transitions between stages; ensure effective closure, precise torque control, maintain sealing pressure, and prevent erosion caused by internal leakage in valves; and effectively predict faults to extend valve life and ensure safe valve operation. Therefore, the preferred control method for the entire closure process is a three-loop control system of torque, speed, and position. If hardware limitations exist, a two-loop control system of torque and speed can be used to ensure complete valve closure. Torque vector control, supplemented by parameter identification and torque calibration methods, can improve torque accuracy and ensure sealing pressure to prevent internal leakage and erosion. Appropriately extending acceleration and deceleration times or optimizing acceleration and deceleration curves, such as changing from linear acceleration and deceleration to curved acceleration and deceleration, with options including S-curves, sine curves, and exponential curves, can help avoid mechanical shock. Continuous monitoring is essential to effectively identify faults such as overcurrent, overvoltage, undervoltage, phase loss, overtorque, overtemperature, and jamming, effectively predicting or detecting valve and pipeline damage caused by these factors, and improving the service life of the pipeline system. For example, the torque control unit uses vector control combined with parameter identification and torque calibration methods to improve torque accuracy, ensuring sealing pressure and preventing internal leakage and erosion; by setting acceleration and deceleration or applying acceleration / deceleration curves, the smoothness of the speed change process of the acceleration and deceleration units is improved, avoiding mechanical shock; during monitoring, the jamming torque detection value is reduced, accurately identifying and displaying the jamming location, extending valve life; water hammer is controlled / eliminated to ensure pipeline safety. Based on pipeline characteristics, the stroke of the deceleration and approximation units is increased, and the speed of the approximation unit is reduced to control / eliminate water hammer and prevent pipeline damage. For instance, by analyzing and identifying pipeline characteristics and water hammer fluctuation patterns, the boundary conditions for water hammer control are obtained, and water hammer is controlled / eliminated using parameters such as the start time and deceleration of the deceleration and approximation units.

[0061] For scenarios requiring rapid shut-off and check-back, a fast-closing strategy can be selected to ensure rapid valve closure; ensure effective closure, precise torque control, maintain sealing pressure, and prevent erosion caused by internal leakage. 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. Utilizing maximum torque, maximum speed (generally 1.5 times or more of the rated speed), and shortest acceleration / deceleration time achieves rapid valve closure. Torque vector control, supplemented by parameter identification and torque calibration methods, improves torque accuracy to ensure sealing pressure. Alternatively, during valve closure, three-loop control can be used except for the torque control unit and the stop unit to improve response speed; maximum torque, maximum speed, and shortest acceleration / deceleration time are used to increase valve closure speed; the torque control unit reduces speed to near-speed, and vector control combined with parameter identification and torque calibration methods improves torque accuracy to precisely control the valve sealing pressure.

[0062] See Figure 4 , Figure 4This is a shut-off valve closing control curve according to an embodiment of the present invention. The main difference between the shut-off valve closing control curve and the gate valve closing control curve lies in the torque change trend during the approximation phase. During the closing process, the valve disc of the shut-off valve (equivalent to the valve plate of the gate valve) gradually approaches the sealing seat. At this time, the reverse force of the medium pressure inside the valve on the valve disc slowly increases, leading to a slow increase in the control torque during the approximation phase of the shut-off valve closing process. Figure 4 The motor torque curve is shown in the diagram. The medium pressure varies depending on the operating conditions; this diagram only illustrates a general pattern. At the instant the valve disc contacts the sealing seat, the reverse force caused by the medium pressure decreases, causing the motor torque curve to jump. This is the reason for the torque decrease at the end of the approach phase.

[0063] See Figures 5-7 , Figure 5 This is a ball valve closing control curve according to an embodiment of the present invention. Figure 6 This is a control curve diagram of a plug valve closing according to an embodiment of the present invention. Figure 7 This is a control curve diagram for a gate valve closing according to an embodiment of the present invention. The main difference between the control curve for a ball valve closing and that for a gate valve closing lies in the approximation stage and the torque control stage. Ball valves do not require torque control or the establishment of sealing pressure; therefore, their closing does not involve a torque control stage, and an approximation stage is not required if the stop position requirement is not high. When the electric valve is a ball valve, plug valve, knife valve, or damper, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the ball valve, plug valve, knife valve, or damper, 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 proportion of the set constant speed of the ball valve, plug valve, knife valve, or damper, the drive motor is controlled to enter the constant speed unit from the acceleration unit; the ball valve, plug valve, When the current stroke of the knife valve or damper 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 of the ball valve, plug valve, knife valve, or damper, 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 of the ball valve, plug valve, knife valve, or damper, the drive motor is controlled to enter the stop unit from the approximation unit; when the current speed is 0, the closing process control of the ball valve, plug valve, knife valve, or damper ends.

[0064] See Figure 8 , Figure 8This is a control curve diagram for a butterfly valve closing according to an embodiment of the present invention. When the electric valve is a butterfly valve, the control unit includes a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, and a stopping unit. When the current speed of the drive motor is greater than or equal to the set starting speed of the butterfly valve, 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 of the butterfly valve, the drive motor is controlled to enter the constant speed unit from the acceleration unit; when the current stroke of the butterfly valve is greater than or equal to a 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 of the butterfly valve, the drive motor is controlled to enter the stopping unit from the deceleration unit; when the current speed is 0, the closing process control of the butterfly valve ends.

[0065] When the butterfly valve has sealing requirements, the control unit further includes an approximation unit and a torque control unit between the deceleration unit and the stop unit. When the current speed of the drive motor is less than or equal to the set approximation speed of the butterfly valve, 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 of the butterfly valve, the drive motor is controlled to enter the torque control unit from the approximation unit; when the torque holding time is greater than or equal to the set holding time of the butterfly valve, the drive motor is controlled to enter the stop unit from the torque control unit.

[0066] When implementing the precision-priority strategy, a PID control algorithm is used throughout the entire valve closing process to instantly correct the speed, torque, and position parameters of the corresponding control units, or to instantly correct the torque and speed. The operating 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. See also... Figure 9 , Figure 9 This is an acceleration / deceleration curve diagram according to an embodiment of the present invention. The diagram shows the correspondence between displacement s, velocity v, acceleration a, and torque J of each control unit (starting unit, acceleration unit, constant speed unit, deceleration unit, approximation unit, torque control unit, and stopping unit τ1-τ7), as well as the inflection point time t1-t7 of each control unit and the control time period T1-T7 of each control unit.

[0067] When implementing the aforementioned safety priority strategy, a PID control algorithm is used throughout the entire valve closing 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 and deceleration curves are optimized to ensure that the switching positions of each control unit are accurate and the transitions are smooth. Overcurrent, overpressure, underpressure, phase loss, overtorque, overtemperature, and / or jamming faults are effectively identified to predict valve damage caused by the corresponding faults. Based on the characteristics of the pipeline network and the water hammer fluctuation pattern, the boundary conditions for water hammer control are obtained, and the start time of the deceleration and approximation units are adjusted, the stroke of the deceleration and approximation units is increased, and the running speed of the approximation units is reduced to weaken or eliminate water hammer.

[0068] When executing the fast-closing strategy, a PID control algorithm is used throughout the entire valve closing process to instantly correct the speed, torque, and position parameters of the corresponding control unit, or to instantly correct the torque and speed. The set maximum torque, maximum speed, and shortest acceleration / deceleration time are used to achieve rapid valve closure. Real-time torque can be obtained using a torque sensor or by combining an output current detection circuit with a vector transformation method to instantly correct the output torque, and parameter identification and torque calibration are used to improve torque accuracy.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Furthermore, the present invention also provides an electric valve closing process control device, including a controller, and employs the aforementioned electric valve closing process control method to control the closing process of the electric valve. It should be noted that this device is used for action execution, 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.

[0074] This invention employs a phased combination of precise control based on the displacement's starting process, acceleration process, constant speed process, deceleration process, approach process, torque control process, and stopping process. This ensures that the starting process has sufficient torque to overcome the residual torque at valve closure and the static friction resistance at startup; the constant speed process has an efficient execution rate to achieve rapid valve closure; the approach process has a low approach speed and torque to avoid collisions and improve positional accuracy; the torque control process (elastic deformation process) provides stable torque output to precisely control the sealing pressure; and the entire process is monitored to predict or detect defects in the valve's mechanical system.

[0075] During startup and acceleration, vector control mode can be used to control the operation of a common AC asynchronous motor. The torque limit is generally 1.5 to 2 times the rated torque of the common AC asynchronous motor, and the speed is the maximum speed of the common AC asynchronous motor (generally 1.5 to 2 times the rated speed). This allows the valve actuator 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, the control mode and set speed are maintained, and the torque limit is automatically reduced to the jamming torque (30% to 80% of the rated torque), while motor torque monitoring is performed simultaneously. If the output torque abnormally increases to the jamming torque, operation can be stopped immediately and an alarm message can be issued to avoid valve damage. After inspection and confirmation, the valve closing operation can continue. After the valve displacement reaches the valve closing deceleration point, the deceleration process begins. The control mode and torque limit remain unchanged, and the running speed is gradually reduced to the approach speed. After approaching the valve closing position limit, the approach process begins. The valve actuator maintains the control mode and torque limit unchanged and runs at the approach speed to the torque control starting position. After reaching the torque control start position, the torque control stage begins, further reducing the speed and setting the torque limit to 50%–100% of the rated torque. Operation continues until the actual torque reaches the desired torque, and the output stops after maintaining the set holding time. This stage is based on torque vector control, using the torque calibration results of a standard AC asynchronous motor to reduce torque deviation. It can be combined with superimposed torque closed-loop control to ensure the sealing specific pressure.

[0076] 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. Under the premise that the limit switch position is properly adjusted, a stable valve closing sealing pressure can still be ensured.

[0077] This invention analyzes all 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 specific valve, and optimal control of the 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.

[0078] 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 electric valve closing process control method 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.

[0079] 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.

[0080] 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.

[0081] 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, a random access memory, a read-only memory, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Accordingly, based on the same inventive concept, the present invention also provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-described electric valve closing process control method by executing the executable instructions.

[0086] 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 embodied 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 electric valve closing process control method 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.

[0087] 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.

[0088] 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.

[0089] 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 performed 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.

[0090] 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.

[0091] 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 closing process of an electric valve, characterized in that, Includes the following steps: S100. Establish a database of various electric valves and classify and store them according to their structural characteristics, operating conditions and usage requirements. S200. Based on the different types and working requirements of the various electric valves, establish corresponding control decision items for the electric valves; S300: The closing process of the electric valve is divided into multiple control units, and the inflection point and parameters of each control unit are set according to the type of each electric valve and the corresponding control decision item. as well as S400: For different electric valves, generate a closing process control method and / or control curve adapted to the electric valve, and bind it to the electric valve for the closing process control of the electric valve; The plurality of control units include a starting unit, an acceleration unit, a constant speed unit, a deceleration unit, an approximation unit, a torque control unit, and a stopping unit; When the current speed of the electric valve's drive motor is greater than or equal to the set starting speed, it is the starting inflection point, controlling the drive motor 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 the set constant speed, it is the acceleration inflection point, controlling the drive motor to enter the constant speed unit from the acceleration unit; when the current stroke of the electric valve is greater than or equal to the set stroke, it is the constant speed inflection point, controlling the drive motor 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, it is the deceleration inflection point, controlling the drive motor 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 the set torque, it is the approximation inflection point, controlling the drive motor to enter the torque control unit from the approximation unit; when the torque holding time of the electric valve is greater than or equal to the set holding time, it is the torque control inflection point, controlling the drive motor to enter the stop unit from the torque control unit; when the current speed of the electric valve is 0, it is the stop inflection point, ending the closing process control of the electric valve.

2. The method for controlling the closing 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 closing control principle, combined with the structural characteristics, operating conditions and working strategies of the various electric valves.

3. The method for controlling the closing process of an electric valve as described in claim 1 or 2, characterized in that, Also includes: 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 closing process.

4. The method for controlling the closing process of an electric valve as described in claim 3, characterized in that, The various electric valves include gate valves, globe valves, butterfly valves, ball valves, plug valves, and dampers.

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

6. The method for controlling the closing process of an electric valve as described in claim 4, characterized in that, When the electric valve is a ball valve, plug valve, or damper, when the current speed of the drive motor is greater than or equal to the set starting speed of the ball valve, plug valve, or damper, 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 proportion of the set uniform speed of the ball valve, plug valve, or damper, the drive motor is controlled to enter the uniform speed unit from the acceleration unit; when the current stroke of the ball valve, plug valve, or damper 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 of the ball valve, plug valve, or damper, 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 of the ball valve, plug valve or damper, the drive motor is controlled to enter the stop unit from the approximation unit; When the current speed is 0, the closing process control of the ball valve, plug valve or damper ends.

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

8. The method for controlling the closing process of an electric valve as described in claim 7, characterized in that, When the butterfly valve has a sealing requirement, if the current speed of the drive motor is less than or equal to the set approximation speed of the butterfly valve, the drive motor is controlled to enter the approximation unit from the deceleration unit; if the current torque of the drive motor is greater than or equal to the set torque of the butterfly valve, the drive motor is controlled to enter the torque control unit from the approximation unit; if the torque holding time is greater than or equal to the set holding time of the butterfly valve, the drive motor is controlled to enter the stop unit from the torque control unit.

9. The method for controlling the closing process of an electric valve as described in claim 3, characterized in that, The control decision items include accuracy-first strategy, safety-first strategy, and fast-shutdown strategy.

10. The method for controlling the closing process of an electric valve as described in claim 9, characterized in that, When executing the precision-priority strategy, the PID control algorithm is used to make real-time corrections to the speed, torque, and position parameters of the corresponding control units, or to make real-time corrections to torque and speed, throughout the entire valve closing process; the running time of the acceleration and deceleration units is extended, or the acceleration and deceleration curves are optimized to ensure that the switching positions of each control unit are accurate and the transitions are smooth; and upper limits for speed, torque, and position parameters are set to ensure safety.

11. The method for controlling the closing process of an electric valve as described in claim 9, characterized in that, When implementing the aforementioned safety priority strategy, a PID control algorithm is used throughout the entire valve closing 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 and deceleration curves are optimized to ensure that the switching positions of each control unit are accurate and the transitions are smooth. Monitoring is also performed throughout the entire valve closing 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.

12. The method for controlling the closing process of an electric valve as described in claim 11, characterized in that, When implementing the safety priority strategy, it also includes: obtaining the boundary conditions for water hammer control based on the characteristics of the pipeline network and the water hammer fluctuation pattern, adjusting the start time of the deceleration unit and the approximation unit, increasing the stroke of the deceleration unit and the approximation unit, and reducing the operating speed of the approximation unit, so as to weaken or eliminate water hammer.

13. The method for controlling the closing process of an electric valve as described in claim 9, characterized in that, When executing the fast-closing 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 closing process; the set maximum torque, maximum speed, and shortest acceleration and deceleration time are used to achieve rapid valve closing.

14. The method for controlling the closing process of an electric valve as described in claim 10, 11, 12, or 13, 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.

15. A control device for the closing process of an electric valve, characterized in that, It includes a controller and uses the electric valve closing process control method according to any one of claims 1-14 to control the closing process of the electric valve.

16. A storage medium, characterized in that, The storage medium stores a computer program configured to execute the electric valve closing process control method according to any one of claims 1-14 when running.

17. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the electric valve closing process control method according to any one of claims 1-14 by executing the executable instructions.

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