A fire extinguishing system opening degree feedforward control method and device and storage medium

Abstract

The application discloses a fire extinguishing system opening degree feedforward control method and device and a storage medium, and belongs to the technical field of fire control. In the control method, an initial flow deviation of the fire extinguishing system is obtained, the initial flow deviation being a difference between a flow target set value of the fire extinguishing system and an initial flow measured value; a valve opening degree feedforward control amount △K of a flow regulating valve is obtained based on a relationship among the initial flow deviation, a rated flow value and a proportional adjustment coefficient. The valve opening degree feedforward control amount △K is directly superimposed on a valve opening degree adjustment instruction of the flow regulating valve, so that quick and direct adjustment of the valve opening degree is realized, and the flow response speed of the fire extinguishing system is improved.

Description

Technical Field

[0001] This application belongs to the field of fire control technology, specifically relating to a method, device and storage medium for feedforward control of the opening degree of a fire extinguishing system. Background Technology

[0002] Currently, compressed air foam systems (CAFS) are widely used for transformer fire protection in DC converter stations and UHV AC substations. However, when CAFS is used in DC converter stations and UHV AC substations, the flow regulation method has a low degree of automation and poor flow regulation accuracy. Summary of the Invention

[0003] Purpose of the invention: This application provides a fire extinguishing system opening feedforward control method, aiming to overcome the technical problems of poor adjustment accuracy and low automation of the current fire extinguishing medium output flow rate; another purpose of this application is to provide a fire extinguishing system opening feedforward control device; yet another purpose of this application is to provide a computer-readable storage medium.

[0004] Technical solution: A method for feedforward control of the opening degree of a fire extinguishing system, comprising:

[0005] The initial flow deviation of the fire extinguishing system is obtained, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system.

[0006] Based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient, the valve opening feedforward control quantity ΔK of the flow regulating valve is obtained;

[0007] Based on the valve opening feedforward control variable ΔK and the measured valve opening value K of the flow regulating valve. test To determine whether to execute the valve action.

[0008] In some embodiments, the valve opening feedforward control quantity ΔK based on the flow regulating valve and the measured valve opening value K test Determine whether to perform valve action, including:

[0009] If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: K test If the value is less than △K, then the valve opening action will be executed;

[0010] If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: △K<K test If so, the valve will be closed.

[0011] If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: △K=K test If not, the action will not be performed.

[0012] In some embodiments, obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient includes:

[0013] The formula for obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve is as follows:

[0014]

[0015] Among them, K p Q is the valve opening proportional adjustment coefficient. ref Set a value for the flow target, Q test Q represents the initial measured flow rate. N This is the rated flow rate.

[0016] In some embodiments, the method further includes:

[0017] Obtain the output pressure P of the fire extinguishing system test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to implement feedforward control of the flow control valve opening.

[0018] In some embodiments, the output pressure P of the fire extinguishing system is obtained. test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to perform feedforward control of the flow control valve opening, including:

[0019] If the output pressure P of the fire extinguishing system test With the lower limit of pressure P min Satisfy: P min ≤P test The flow control valve's opening feedforward control function is deactivated, and the normal flow control mode is restored.

[0020] In some embodiments, exiting the opening feedforward control function of the flow regulating valve includes:

[0021] Set the valve opening value K ref Adjust it to be consistent with the valve opening feedforward control value △K.

[0022] In some embodiments, when the valve opening setting value K is set... refAfter adjusting to be consistent with the valve opening feedforward control value ΔK, the method further includes:

[0023] Obtain the pressure control value ΔP of the flow regulating valve.

[0024] In some embodiments, obtaining the pressure control quantity ΔP of the flow regulating valve includes:

[0025] The formula for obtaining the pressure control quantity ΔP of the flow regulating valve is as follows:

[0026]

[0027] Among them, P test P is the output pressure of the fire extinguishing system. min P is the lower pressure limit of the fire suppression system. max This is the upper pressure limit for the fire suppression system.

[0028] In some embodiments, the method further includes:

[0029] Obtain the output pressure P of the fire extinguishing system test And determine whether to activate the flow control valve opening feedforward control function, based on the following conditions:

[0030] The output pressure P of the fire extinguishing system test With the lower limit of pressure P min Satisfy: P test ≤P min And based on the traffic target set value Q ref The initial flow rate measured value Q test and the rated flow rate Q N Satisfy: (Q) ref -Q test )≥0.5Q N If so, the opening feedforward control function of the flow regulating valve will be activated.

[0031] In some embodiments, the fire extinguishing system includes a compressed air foam generating device, an end-release device, and a delivery pipeline network connecting the compressed air foam generating device and the end-release device;

[0032] The compressed air foam generating device includes an air supply unit, a water supply unit, a foam supply unit, and a mixing unit;

[0033] The transmission pipeline network includes a first pipeline network, a second pipeline network, a third pipeline network, and a fourth pipeline network;

[0034] The air supply unit is connected to the mixing unit through a first pipeline network, and an air valve and a first flow meter are connected in series on the first pipeline network, and a bypass regulating valve is connected in parallel on the first pipeline network.

[0035] The water supply unit is connected to the mixing unit through a second pipeline network, and a water pump, a water flow regulating valve and a second flow meter are connected in series on the second pipeline network.

[0036] The foam supply unit is connected to the mixing unit through the third pipeline network, and a foam valve, a foam pump and a third flow meter are connected in series on the third pipeline network;

[0037] The outlet of the mixing unit is connected to the end release device through the fourth pipeline, and a pressure gauge is provided on the fourth pipeline.

[0038] In some embodiments, the end-release device includes one or more of a spray pipe, a fixed fire monitor, or a mobile aerial robot.

[0039] This application also discloses a fire extinguishing system opening degree feedforward control device, including:

[0040] The acquisition module is configured to acquire the initial flow deviation of the fire extinguishing system, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system.

[0041] The processing module is configured to obtain the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient.

[0042] The judgment module is configured to base its judgment on the valve opening feedforward control quantity ΔK of the flow regulating valve and the measured value K of the valve opening. test To determine whether to execute the valve action.

[0043] This application also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the fire extinguishing system opening feedforward control method described in the above embodiments.

[0044] This application also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the fire extinguishing system opening feedforward control method described in the above embodiments.

[0045] Beneficial Effects: The fire extinguishing system opening feedforward control method of this application includes: obtaining the initial flow deviation of the fire extinguishing system, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system; obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient; and obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve and the measured valve opening value K. test This determines whether to execute the valve action. By directly superimposing the valve opening feedforward control quantity ΔK onto the valve opening adjustment command of the flow regulating valve, rapid and direct adjustment of the valve opening is achieved, thereby improving the flow response speed of the fire extinguishing system.

[0046] Therefore, the embodiments of this application can have all the above-mentioned technical features and effects, which will not be repeated here. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a fire extinguishing system opening feedforward control method according to an embodiment of this application;

[0049] Figure 2 This is a schematic diagram illustrating the process of obtaining the valve opening feedforward control quantity ΔK in a fire extinguishing system opening feedforward control method according to an embodiment of this application.

[0050] Figure 3 This is a schematic diagram illustrating the process of obtaining the pressure control quantity ΔP in a fire extinguishing system opening feedforward control method according to an embodiment of this application.

[0051] Figure 4 This is a schematic diagram of the structure of a fire extinguishing system according to an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the structure of a fire extinguishing system opening feedforward control device according to an embodiment of this application;

[0053] Reference numerals: 1. Compressed air foam generating device; 2. End release device; 3. Delivery pipeline network; 4. Pressure gauge; 11. Air supply unit; 12. Water supply unit; 13. Foam supply unit; 14. Mixing unit; 31. First pipeline network; 32. Second pipeline network; 33. Third pipeline network; 34. Fourth pipeline network; 111. Air valve; 112. First flow meter; 113. Bypass regulating valve; 121. Water pump; 122. Water flow regulating valve; 123. Second flow meter; 131. Foam valve; 132. Foam pump; 133. Third flow meter; 21. Sprinkler pipe; 22. Fixed fire monitor; 23. Mobile aerial robot. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0055] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0056] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0057] Please see below. Figures 1 to 5 The method for feedforward control of the opening of a fire extinguishing system includes: acquiring the initial flow deviation of the fire extinguishing system, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system; obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient; and determining the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the valve opening feedforward control quantity ΔK and the measured valve opening value K. testThis determines whether to execute the valve action. By directly superimposing the valve opening feedforward control quantity ΔK onto the valve opening adjustment command of the flow regulating valve, rapid and direct adjustment of the valve opening is achieved, thereby improving the flow response speed of the fire extinguishing system.

[0058] In some embodiments, the valve opening feedforward control quantity ΔK based on the flow control valve and the measured valve opening value K test Determine whether to execute the valve action, including: if the valve opening feedforward control quantity ΔK is different from the measured valve opening value K. test Satisfy: K test If ΔK < K, then the valve opening or closing command K ord If the value is greater than 0, the valve opening action is executed; if the valve opening feedforward control value ΔK is greater than the measured valve opening value K... test Satisfy: △K<K test Then the valve opening or closing command K ord If the value is less than 0, the valve will be closed; if the valve opening feedforward control value ΔK is less than the measured valve opening value K... test Satisfy: △K=K test If so, the action will not be performed (e.g. Figure 2 (As shown).

[0059] In some embodiments, the reference Figure 2 As shown, based on the relationship between the initial flow deviation, the rated flow value, and the proportional control coefficient, the valve opening feedforward control quantity ΔK of the flow control valve is obtained, including: The formula for obtaining the valve opening feedforward control quantity ΔK of the flow control valve is as follows:

[0060]

[0061] Among them, K p Q is the valve opening proportional adjustment coefficient. ref Set a value for the flow target, Q test Q represents the initial measured flow rate. N This is the rated flow rate.

[0062] In some embodiments, the method further includes: obtaining the output pressure P of the fire extinguishing system. test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to implement feedforward control of the flow control valve opening.

[0063] In some embodiments, the output pressure P of the fire extinguishing system is obtained. test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to implement feedforward control of the flow regulating valve opening, including: if the output pressure P of the fire extinguishing system... testWith the lower limit of pressure P min Satisfy: P min ≤P test The flow control valve's opening feedforward control function is deactivated, and the normal flow control mode is restored.

[0064] In some embodiments, exiting the flow control valve's opening feedforward control function includes: setting the valve opening setpoint K. ref Adjust the value to match the valve opening feedforward control value △K to maintain stable operation of the fire extinguishing system.

[0065] In some embodiments, when the valve opening setting value K is set... ref After adjusting to be consistent with the valve opening feedforward control quantity △K, the method also includes: obtaining the pressure control quantity △P of the flow regulating valve.

[0066] In some embodiments, obtaining the pressure control quantity ΔP of the flow regulating valve includes: the formula for obtaining the pressure control quantity ΔP of the flow regulating valve is as follows:

[0067]

[0068] Among them, P test P is the measured value of the output pressure of the fire extinguishing system. min P is the lower pressure limit of the fire suppression system. max This represents the upper pressure limit of the fire suppression system. The above formula enables switching between dual feedback closed-loop regulation of flow rate and pressure and flow rate closed-loop regulation. When the output pressure of the fire suppression system is within the allowable range (i.e., between the lower and upper pressure limits), it operates in flow rate closed-loop regulation; when the output pressure exceeds the allowable range, the fire suppression system enters dual feedback regulation mode of flow rate and pressure. After the fire suppression system is activated, it enters feedforward rapid control of the flow regulating valve opening, when: P... min ≤P test When the flow control valve opening feedforward rapid control is activated, it switches to normal flow closed-loop regulation. During the control mode switch, the value of ΔK is assigned to K. ref K ref =△K; when P is satisfied min ≤P test ≤P max This is a closed-loop flow regulation mode. Once the output pressure exceeds the allowable range, it will operate in a dual feedback regulation mode for both flow and pressure.

[0069] It is important to understand that the participants Figure 3 As shown, when operating in the dual feedback regulation mode of flow and pressure, the parameters... Figure 3 As shown, the obtained pressure control value ΔP is divided by the standard pressure P. NObtain a coefficient between 0 and 1, and then multiply this coefficient by the pressure proportional adjustment coefficient K. H Obtain P'; then set the obtained traffic target value Q. ref Subtract the initial measured flow rate Q test We obtain ΔQ, and divide ΔQ by the standard flow rate Q. N Obtain a coefficient between 0 and 1, and then multiply this coefficient by the flow rate proportional adjustment coefficient Q. H Obtain Q'; add the obtained P' to Q' and integrate 1 / Tis, then compare the output with the valve opening setpoint K. ref Add them together, and then add the measured value of the valve opening K. test Subtract to obtain the valve opening or closing command K. ord If K ord If the value is greater than 0, the valve opening will be increased further; if the value is less than 0, the valve opening will be decreased.

[0070] When the system starts up, both pressure and flow rates are relatively low. When: P test <P min And (Q) ref -Q test )≥0.5Q N When the flow rate deviation is reached, the valve opening feedforward rapid control function is activated, and the valve opening is controlled by directly calculating ΔK to achieve rapid flow regulation; as the flow output system pressure rises, when P is satisfied... min ≤P test When the flow control valve opening feedforward rapid control is activated, it switches to normal flow closed-loop regulation. During the control mode switch, the value of ΔK is assigned to K. ref K ref =△K; when P is satisfied min ≤P test ≤P max The system operates in a flow closed-loop regulation mode. Once the output pressure exceeds the allowable range, it operates in a dual feedback regulation mode for both flow and pressure.

[0071] In some embodiments, the method further includes: obtaining the output pressure P of the fire extinguishing system. test It also determines whether to activate the flow control valve's opening feedforward control function, based on the following conditions: the output pressure P of the fire extinguishing system. test With the lower limit of pressure P min Satisfy: P min ≤P test And based on the traffic target set value Q ref Initial flow rate measured value Q test and rated flow rate Q N Satisfy: (Q) ref -Q test )≥0.5QN If so, the flow control valve's opening feedforward control function will be activated.

[0072] When the output pressure of the fire extinguishing system enters the normal operating pressure range, it switches to flow closed-loop regulation and performs feedback regulation based on the flow deviation, thereby improving the regulation accuracy of the flow during steady-state operation. At the same time, it assists with pressure feedback, and can automatically adjust the output flow when the working pressure exceeds the normal operating range, thereby achieving output pressure regulation and improving the automation level of the fire extinguishing system control.

[0073] In some embodiments, the reference Figure 4 As shown, the fire extinguishing system includes a compressed air foam generating device 1, a terminal release device 2, and a delivery pipeline network 3 connecting the compressed air foam generating device and the terminal release device; the compressed air foam generating device includes an air supply unit 11, a water supply unit 12, a foam supply unit 13, and a mixing unit 14; the delivery pipeline network includes a first pipeline network 31, a second pipeline network 32, a third pipeline network 33, and a fourth pipeline network 34; the air supply unit 11 is connected to the mixing unit 14 through the first pipeline network 31, and an air valve 111 and a first flow meter 1 are connected in series on the first pipeline network 31. 12. A bypass regulating valve 113 is connected in parallel to the first pipeline network 31; the water supply unit 12 is connected to the mixing unit 14 through the second pipeline network 32, and a water pump 121, a water flow regulating valve 122, and a second flow meter 123 are connected in series on the second pipeline network 32; the foam supply unit 13 is connected to the mixing unit 14 through the third pipeline network 33, and a foam valve 131, a foam pump 132, and a third flow meter 133 are connected in series on the third pipeline network 33; the outlet end of the mixing unit 14 is connected to the end release device 2 through the fourth pipeline network 34, and a pressure gauge 4 is provided on the fourth pipeline network 34. In some embodiments, the end release device 2 includes one or more of a spray pipe 21, a fixed fire monitor 22, or a mobile aerial robot 23. The spray pipe 21, the fixed fire monitor 22, or the mobile aerial robot 23 are all connected to the mixing unit 14 through connecting pipelines to provide extinguishing media to various fire protection application scenarios. The initial flow rate Q of the fire extinguishing system is obtained by measuring the compressed air flow rate Q1 using the first flow meter 112, the fire water flow rate Q2 using the second flow meter 123, and the foam liquid flow rate Q3 using the third flow meter 133. test =Q1+Q2; The output pressure P of the fire extinguishing system is obtained by measuring pressure gauge 4. test .

[0074] It should be understood that, in some embodiments, the fire extinguishing system also includes a PLC control cabinet, valves, and other instrumentation components for the detection and control of the fire extinguishing system. The fire extinguishing system regulates the output water flow of the water supply unit 12 by adjusting the opening of the water flow regulating valve 122, regulates the output compressed air flow of the air supply unit 11 by adjusting the bypass regulating valve 113, and regulates the output foam flow of the foam supply unit 13 by adjusting the foam liquid mixing ratio and foam liquid output of the foam valve 131 and the rotational speed of the foam pump 132.

[0075] This application also discloses a fire extinguishing system opening feedforward control device, comprising: an acquisition module configured to acquire the initial flow deviation of the fire extinguishing system, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system; a processing module configured to obtain the valve opening feedforward control quantity ΔK of the flow regulating valve based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient; and a judgment module configured to determine the valve opening feedforward control quantity ΔK of the flow regulating valve and the measured valve opening value K. test To determine whether to execute the valve action.

[0076] Accordingly, the fire extinguishing system opening feedforward control device provided in this application embodiment includes the fire extinguishing system opening feedforward control method of the above embodiment. Therefore, the device can have all the technical features and beneficial effects of the above method, which will not be repeated here.

[0077] This application also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the fire extinguishing system opening feedforward control method of the above embodiments.

[0078] This application also discloses a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the fire extinguishing system opening feedforward control method described above. The storage medium may include various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] The embodiments of this application have been described in detail above, and specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for feedforward control of the opening degree of a fire extinguishing system, characterized in that, include: The initial flow deviation of the fire extinguishing system is obtained, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system. Based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient, the valve opening feedforward control quantity ΔK of the flow control valve of the fire extinguishing system is obtained; the formula for obtaining the valve opening feedforward control quantity ΔK of the flow control valve is as follows: ； Among them, K p Q is the valve opening proportional adjustment coefficient. ref Set a value for the flow target, Q test Q represents the initial measured flow rate. N The rated flow rate; based on the valve opening feedforward control quantity ΔK of the flow regulating valve and the measured valve opening value K. test To determine whether to execute the valve action.

2. The fire extinguishing system opening degree feedforward control method according to claim 1, characterized in that, The valve opening feedforward control quantity ΔK based on the flow regulating valve and the measured valve opening value K test Determine whether to perform valve action, including: If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: K test If the value is less than △K, then the valve opening action will be executed; If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: △K<K test If so, the valve will be closed. If the valve opening feedforward control quantity ΔK is different from the measured valve opening value K... test Satisfy: △K=K test If not, the action will not be performed.

3. The fire extinguishing system opening degree feedforward control method according to claim 1, characterized in that, The method further includes: Obtain the output pressure P of the fire extinguishing system test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to implement feedforward control of the flow control valve opening.

4. The fire extinguishing system opening degree feedforward control method according to claim 3, characterized in that, The output pressure P of the fire extinguishing system is obtained. test And based on the output pressure P of the fire extinguishing system test With the lower limit of pressure P min The relationship determines whether to perform feedforward control of the flow control valve opening, including: If the output pressure P of the fire extinguishing system test With the lower limit of pressure P min Satisfy: P min ≤P test The flow control valve's opening feedforward control function is deactivated, and the normal flow control mode is restored.

5. The fire extinguishing system opening degree feedforward control method according to claim 4, characterized in that, The step of exiting the flow regulating valve's opening feedforward control function includes: Set the valve opening value K ref Adjust it to be consistent with the valve opening feedforward control value △K.

6. The fire extinguishing system opening degree feedforward control method according to claim 5, characterized in that, Set the valve opening value K ref After adjusting to be consistent with the valve opening feedforward control value ΔK, the method further includes: Obtain the pressure control value ΔP of the flow regulating valve.

7. The fire extinguishing system opening degree feedforward control method according to claim 6, characterized in that, The step of obtaining the pressure control quantity ΔP of the flow regulating valve includes: The formula for obtaining the pressure control quantity ΔP of the flow regulating valve is as follows: ； Among them, P test P is the output pressure of the fire extinguishing system. min P is the lower pressure limit of the fire suppression system. max This is the upper pressure limit for the fire suppression system.

8. The fire extinguishing system opening degree feedforward control method according to claim 3, characterized in that, The method further includes: Obtain the output pressure P of the fire extinguishing system test And determine whether to activate the flow control valve opening feedforward control function, based on the following conditions: The output pressure P of the fire extinguishing system test With the lower limit of pressure P min Satisfy: P test ≤P min And based on the traffic target set value Q ref The initial flow rate measured value Q test and the rated flow rate Q N satisfy: If so, the opening feedforward control function of the flow regulating valve will be activated.

9. The fire extinguishing system opening degree feedforward control method according to claim 1, characterized in that, The fire extinguishing system includes a compressed air foam generating device, an end-release device, and a delivery pipeline network connecting the compressed air foam generating device and the end-release device. The compressed air foam generating device includes an air supply unit, a water supply unit, a foam supply unit, and a mixing unit; The transmission pipeline network includes a first pipeline network, a second pipeline network, a third pipeline network, and a fourth pipeline network; The air supply unit is connected to the mixing unit through a first pipeline network, and an air valve and a first flow meter are connected in series on the first pipeline network, and a bypass regulating valve is connected in parallel on the first pipeline network. The water supply unit is connected to the mixing unit through a second pipeline network, and a water pump, a water flow regulating valve and a second flow meter are connected in series on the second pipeline network. The foam supply unit is connected to the mixing unit through the third pipeline network, and a foam valve, a foam pump and a third flow meter are connected in series on the third pipeline network; The outlet of the mixing unit is connected to the end release device through the fourth pipeline, and a pressure gauge is provided on the fourth pipeline.

10. The fire extinguishing system opening degree feedforward control method according to claim 9, characterized in that, The end-release device includes one or more of a spray pipe, a fixed fire monitor, or a mobile aerial robot.

11. A fire extinguishing system opening degree feedforward control device, characterized in that, include: The acquisition module is configured to acquire the initial flow deviation of the fire extinguishing system, wherein the initial flow deviation is the difference between the target flow setting value and the measured initial flow value of the fire extinguishing system. The processing module is configured to obtain the valve opening feedforward control quantity ΔK of the flow regulating valve of the fire extinguishing system based on the relationship between the initial flow deviation, the rated flow value, and the proportional adjustment coefficient; the formula for obtaining the valve opening feedforward control quantity ΔK of the flow regulating valve is as follows: ； Among them, K p Q is the valve opening proportional adjustment coefficient. ref Set a value for the flow target, Q test Q represents the initial measured flow rate. N This is the rated flow rate. The judgment module is configured to base its judgment on the valve opening feedforward control quantity ΔK of the flow regulating valve and the measured value K of the valve opening. test To determine whether to execute the valve action.

12. A computer device, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the fire extinguishing system opening feedforward control method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the fire extinguishing system opening feedforward control method as described in any one of claims 1 to 10.

Images