A method and system for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions

Abstract

The present invention relates to a self-controlled valve control method and system with internal leakage self-checking and self-compensation valve closing function, belonging to the field of valve internal leakage detection. The method includes controlling the stroke of the self-controlled valve through a remote signal, and when the stroke of the self-controlled valve is 0%, triggering the self-controlled valve internal leakage detection instruction; the medium flow sensor receives the self-controlled valve internal leakage detection instruction and performs the self-controlled valve internal leakage detection, and outputs the self-controlled valve internal leakage detection information based on the medium flow, and the self-controlled valve internal leakage detection information includes the self-controlled valve no internal leakage information and the self-controlled valve internal leakage information; when the self-controlled valve internal leakage information is output, the self-controlled valve self-compensation instruction is triggered to perform the self-compensation of the self-controlled valve and continue to perform the self-controlled valve internal leakage detection until the self-controlled valve no internal leakage information is output, and the self-controlled valve internal leakage amount is fed back to the self-controlled valve control terminal at the same time; when the self-controlled valve no internal leakage information is output, the current self-controlled valve position is set as the new self-controlled valve closed position. The present invention realizes the automatic detection of the leakage amount of the self-controlled valve internal leakage and the automatic compensation of the valve closing.

Description

Technical Field

[0001] The present invention belongs to the technical field of valve internal leakage detection, and in particular relates to a method and system for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions. Background Art

[0002] Automatic control valve is an important industrial valve, widely used in many industries such as petroleum, power plants, papermaking, microelectronics, ships, chemicals, etc. These valves adjust the flow of fluids through automated control systems to achieve precise control and management. Automatic control valves accept remote signal control to open and close the valves. Therefore, once there is a problem with valve commissioning, or the seal is worn, or the stroke of the automatic control valve drifts, the valve will leak internally; if the valve is not closed tightly, the medium can still leak from the front of the automatic control valve to the back of the valve. The current automatic control valve cannot automatically detect and compensate for internal leakage, which can easily lead to serious consequences such as economic losses, affecting production safety, and equipment damage. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a method and system for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A method for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions, the implementation of the automatic control valve control method comprising the following steps:

[0006] The stroke of the automatic control valve is controlled by a remote signal, the value range of the stroke of the automatic control valve is [0%, 100%], and when the stroke of the automatic control valve is 0%, the internal leakage detection instruction of the automatic control valve is triggered;

[0007] The medium flow sensor receives the automatic control valve internal leakage detection instruction and performs the automatic control valve internal leakage detection, and outputs the automatic control valve internal leakage detection information based on the medium flow rate, wherein the medium flow rate is the volume of the medium passing through the pipeline in front of the automatic control valve within one second, and the automatic control valve internal leakage detection information includes the automatic control valve no internal leakage information and the automatic control valve internal leakage information;

[0008] When the internal leakage information of the automatic control valve is output, the automatic control valve self-compensation instruction is triggered to perform the automatic control valve self-compensation and continue the internal leakage detection of the automatic control valve until the information that there is no internal leakage of the automatic control valve is output, and the internal leakage amount of the automatic control valve is fed back to the automatic control valve control terminal;

[0009] When the information that the automatic control valve has no internal leakage is output, the current automatic control valve position is set as a new automatic control valve closing position, that is, the position corresponding to the automatic control valve stroke being 0%.

[0010] Preferably, the automatic valve internal leakage detection is specifically as follows: when the automatic valve internal leakage detection instruction is received, the medium flow is obtained through the medium flow sensor, and when the medium flow is 0, the automatic valve has no internal leakage information, and when the medium flow is greater than 0, the automatic valve has internal leakage information.

[0011] Preferably, the self-compensation of the automatic control valve specifically includes:

[0012] Monitoring and outputting the internal leakage duration of the automatic control valve internal leakage information, and obtaining the internal leakage amount of the automatic control valve based on the product of the internal leakage duration and the medium flow rate;

[0013] The automatic control valve is self-compensated by the internal leakage of the automatic control valve;

[0014] The maximum bearing torque of the automatic control valve and the current torque of the automatic control valve during the self-compensation process of the automatic control valve are obtained. When the current torque of the automatic control valve is greater than or equal to the maximum bearing torque of the automatic control valve, the automatic control valve over-torque alarm information is output. At this time, the automatic control valve runs half of the self-compensation stroke in the positive direction of the automatic control valve stroke and continues the self-compensation of the automatic control valve.

[0015] Preferably, the self-compensation of the automatic control valve by the internal leakage of the automatic control valve includes:

[0016] The self-compensation stroke is obtained through the automatic control valve parameters and the internal leakage of the automatic control valve, wherein the automatic control valve parameters include the maximum flow of the automatic control valve, the minimum flow of the automatic control valve, the caliber of the automatic control valve, the diameter of the pipeline in front of the automatic control valve, the pressure of the pipeline in front of the automatic control valve, and the friction coefficient of the automatic control valve;

[0017] Performing self-compensation of the automatic control valve according to the self-compensation stroke in the negative direction of the automatic control valve stroke;

[0018] The self-compensation deviation control in the process of self-compensation of the automatic control valve is performed by improving the PID controller.

[0019] Preferably, the calculation formula of the self-compensation stroke is: , where s is the self-compensation stroke, V is the internal leakage of the automatic control valve, Q max is the maximum flow rate of the automatic control valve, Q min is the minimum flow rate of the automatic control valve, f is the friction coefficient of the automatic control valve, d is the caliber of the automatic control valve, D is the diameter of the pipeline in front of the automatic control valve, and P is the pressure of the pipeline in front of the automatic control valve.

[0020] Preferably, the improved PID controller includes a positive improved PID controller and a negative improved PID controller, the positive improved PID controller is a traditional PID controller with positive PWM pulses, and the negative improved PID controller is a traditional PID controller with negative PWM pulses.

[0021] Preferably, the self-compensation deviation control in the process of self-compensation of the automatic control valve by improving the PID controller includes:

[0022] During the self-compensation process of the automatic control valve, the current stroke of the automatic control valve and the feedback stroke of the automatic control valve are continuously obtained, and a self-compensation deviation is obtained based on the difference between the current stroke of the automatic control valve and the feedback stroke of the automatic control valve;

[0023] Define that the interval corresponding to the absolute value of the self-compensating deviation being less than 0.5% of the self-compensating stroke is a normal deviation interval, the interval corresponding to the self-compensating deviation being greater than or equal to 0.5% of the self-compensating stroke and less than 5% of the self-compensating stroke is a positive fine-tuning interval, the interval corresponding to the self-compensating deviation being less than or equal to -0.5% of the self-compensating stroke and greater than -5% of the self-compensating stroke is a negative fine-tuning interval, the interval corresponding to the self-compensating deviation being greater than or equal to 5% of the self-compensating stroke is a positive rapid control interval, and the interval corresponding to the self-compensating deviation being less than or equal to -5% of the self-compensating stroke is a negative rapid control interval;

[0024] When in the normal deviation range, the self-compensation deviation control is not performed;

[0025] When in the positive fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the positive direction of the automatic control valve stroke. When in the negative fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the negative direction of the automatic control valve stroke. The control relationship of the traditional PID controller is: , where u(t) is the output value of the traditional PID controller at time t, k p is the proportional coefficient, e(t) is the self-compensation deviation at time t, k i is the integration coefficient, is the integral of the self-compensation deviation from the initial moment to moment t, k d is the differential coefficient, is the derivative of the self-compensation deviation at time t;

[0026] When in the positive fine-tuning interval, the positive improved PID controller is used to perform the self-compensating deviation control in the positive direction of the automatic control valve stroke. When in the negative fine-tuning interval, the negative improved PID controller is used to perform the self-compensating deviation control in the negative direction of the automatic control valve stroke.

[0027] An automatic control valve control system with internal leakage self-detection and self-compensation valve closing functions, used to execute the automatic control valve control method described above, comprising an internal leakage detection module, a self-compensation module, and a closing position update module;

[0028] The internal leakage detection module is used to control the stroke of the automatic control valve through a remote signal. The value range of the automatic control valve stroke is [0%, 100%]. When the stroke of the automatic control valve is 0%, the automatic control valve internal leakage detection instruction is triggered; the medium flow sensor receives the automatic control valve internal leakage detection instruction and performs the automatic control valve internal leakage detection, and outputs the automatic control valve internal leakage detection information based on the medium flow rate. The medium flow rate is the volume of the medium passing through the pipeline in front of the automatic control valve within one second. The automatic control valve internal leakage detection information includes the automatic control valve no internal leakage information and the automatic control valve internal leakage information;

[0029] The self-compensation module is used to trigger the self-compensation instruction of the self-control valve to perform self-compensation of the self-control valve and continue to perform the self-compensation detection of the self-control valve when outputting the internal leakage information of the self-control valve, until outputting the information that the self-control valve has no internal leakage, and at the same time feeding back the internal leakage amount of the self-control valve to the self-control valve control terminal;

[0030] The closing position updating module is used to set the current automatic valve position as a new automatic valve closing position when outputting the information that the automatic valve has no internal leakage, that is, the position corresponding to the automatic valve stroke being 0%.

[0031] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the automatic control valve control method described above is implemented when the processor executes the program.

[0032] A storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute the automatic control valve control method described above when executed by a computer processor.

[0033] The beneficial effects of the present invention are:

[0034] (1) Automatic valve internal leakage detection and self-compensation are performed by monitoring the stroke of the automatic control valve and the medium flow rate, thereby avoiding serious consequences such as economic losses, impact on production safety, and equipment damage caused by the internal leakage of the automatic control valve;

[0035] (2) By outputting the over-torque alarm information of the automatic control valve, the excessive torque that may occur during the self-compensation process can be avoided, thereby avoiding damage to the automatic valve;

[0036] (3) By defining different deviation intervals according to the self-compensation deviation, the deviation can be controlled in different situations. For areas with large deviations, the traditional PID controller is used to quickly reduce the size of the self-compensation deviation. In the control process, there is no need to consider the accuracy of the automatic control valve stroke and overshoot problems. For areas with small deviations, the improved PID controller is used to achieve the effect of rapid speed reduction or speed increase by applying negative or positive PWM pulses, thereby achieving precise control of the automatic control valve with good stability.

[0037] (4) By setting a new automatic control valve closing position, ensure that there will be no internal leakage when the automatic control valve closes next time. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0039] Figure 1 The present invention is a flowchart of the steps of a method for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions. DETAILED DESCRIPTION

[0040] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0041] The working principle and use process of the present invention:

[0042] See also Figure 1 , a method for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing functions, comprising:

[0043] S1: Control the stroke of the automatic control valve through a remote signal. The value range of the automatic control valve stroke is [0%, 100%]. When the automatic control valve stroke is 0%, the automatic control valve internal leakage detection instruction is triggered;

[0044] S2: The medium flow sensor receives the automatic valve internal leakage detection instruction and performs the automatic valve internal leakage detection, and outputs the automatic valve internal leakage detection information based on the medium flow rate, wherein the medium flow rate is the volume of the medium passing through the pipeline in front of the automatic valve within one second, and the automatic valve internal leakage detection information includes the automatic valve no internal leakage information and the automatic valve internal leakage information;

[0045] S3: When the internal leakage information of the automatic control valve is output, the automatic control valve self-compensation instruction is triggered to perform the automatic control valve self-compensation and continue the internal leakage detection of the automatic control valve until the information that there is no internal leakage of the automatic control valve is output, and the internal leakage amount of the automatic control valve is fed back to the automatic control valve control terminal;

[0046] S4: When the information that the automatic control valve has no internal leakage is output, the current automatic control valve position is set as a new automatic control valve closing position, that is, the position corresponding to the automatic control valve stroke being 0%.

[0047] In this embodiment, the automatic valve internal leakage detection is specifically as follows: when the automatic valve internal leakage detection instruction is received, the medium flow is obtained through the medium flow sensor, and when the medium flow is 0, the automatic valve has no internal leakage information, and when the medium flow is greater than 0, the automatic valve has internal leakage information.

[0048] In this embodiment, triggering the automatic control valve self-compensation instruction to perform the automatic control valve self-compensation and continuously performing the automatic control valve internal leakage detection can be specifically implemented through the following steps:

[0049] S301: monitoring and outputting the internal leakage duration of the automatic control valve internal leakage information, and obtaining the internal leakage amount of the automatic control valve based on the product of the internal leakage duration and the medium flow rate;

[0050] S302: performing self-compensation of the automatic control valve according to the internal leakage of the automatic control valve;

[0051] S303: Obtain the maximum bearing torque of the automatic control valve and the current torque of the automatic control valve during the self-compensation process of the automatic control valve. When the current torque of the automatic control valve is greater than or equal to the maximum bearing torque of the automatic control valve, output the automatic control valve over-torque alarm information. At this time, the automatic control valve runs half of the self-compensation stroke in the positive direction of the automatic control valve stroke and continues the self-compensation of the automatic control valve. By outputting the automatic control valve over-torque alarm information, the excessive torque that may occur during the self-compensation process is avoided, thereby avoiding damage to the automatic valve.

[0052] In this embodiment, the self-compensation of the automatic control valve is performed by the internal leakage of the automatic control valve, which can be specifically implemented by the following steps:

[0053] S302-1: Obtain the self-compensation stroke through the automatic valve parameters and the internal leakage of the automatic valve. The automatic valve parameters include the maximum flow of the automatic valve, the minimum flow of the automatic valve, the caliber of the automatic valve, the diameter of the pipeline in front of the automatic valve, the pressure of the pipeline in front of the automatic valve, and the friction coefficient of the automatic valve. The maximum flow of the automatic valve corresponds to the flow of the automatic valve when the stroke of the automatic valve is 100%, and the minimum flow of the automatic valve corresponds to the flow of the automatic valve when the stroke of the automatic valve is 1%. The calculation formula of the self-compensation stroke is: , where s is the self-compensation stroke, V is the internal leakage of the automatic control valve, Q max is the maximum flow rate of the automatic control valve, Q min is the minimum flow of the automatic control valve, f is the friction coefficient of the automatic control valve, d is the caliber of the automatic control valve, D is the diameter of the pipeline in front of the automatic control valve, and P is the pressure of the pipeline in front of the automatic control valve;

[0054] S302-2: performing self-compensation of the automatic control valve in the negative direction of the automatic control valve stroke according to the self-compensation stroke, that is, reducing the automatic control valve stroke on the basis that the automatic control valve stroke is 0%, and the reduction amount is the self-compensation stroke;

[0055] S302-3: Perform self-compensation deviation control during the self-compensation process of the automatic control valve by improving the PID controller.

[0056] During the self-compensation process of the automatic control valve, the current stroke of the automatic control valve and the feedback stroke of the automatic control valve are continuously obtained, wherein the current stroke of the automatic control valve is the stroke currently displayed by the terminal, and the feedback stroke of the automatic control valve is the actual stroke of the automatic control valve, and the self-compensation deviation is obtained based on the difference between the current stroke of the automatic control valve and the feedback stroke of the automatic control valve;

[0057] The interval corresponding to the absolute value of the self-compensating deviation being less than 0.5% of the self-compensating stroke is defined as a normal deviation interval, the interval corresponding to the self-compensating deviation being greater than or equal to 0.5% of the self-compensating stroke and less than 5% of the self-compensating stroke is defined as a positive fine-tuning interval, the interval corresponding to the self-compensating deviation being less than or equal to -0.5% of the self-compensating stroke and greater than -5% of the self-compensating stroke is defined as a negative fine-tuning interval, the interval corresponding to the self-compensating deviation being greater than or equal to 5% of the self-compensating stroke is defined as a positive rapid control interval, and the interval corresponding to the self-compensating deviation being less than or equal to -5% of the self-compensating stroke is defined as a negative rapid control interval. By defining different deviation intervals according to the self-compensating deviation, the deviation can be controlled in different situations. For the area with a large deviation, a traditional PID controller is used to quickly reduce the size of the self-compensating deviation, and there is no need to consider the problem of accurate stroke and overshoot of the automatic control valve during the control process. For the area with a small deviation, an improved PID controller is used to achieve the effect of rapid speed reduction or speed increase by applying PWM pulses in the negative or positive direction, thereby achieving precise control of the automatic control valve with good stability.

[0058] When in the normal deviation range, the self-compensation deviation control is not performed;

[0059] When in the positive fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the positive direction of the automatic control valve stroke. When in the negative fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the negative direction of the automatic control valve stroke. The control relationship of the traditional PID controller is: , where u(t) is the output value of the traditional PID controller at time t, k p is the proportional coefficient, e(t) is the self-compensation deviation at time t, k i is the integration coefficient, is the integral of the self-compensation deviation from the initial moment to moment t, k d is the differential coefficient, is the derivative of the self-compensation deviation at time t;

[0060] The improved PID controller includes a positive improved PID controller and a negative improved PID controller. The positive improved PID controller is a traditional PID controller with positive PWM pulses, and the negative improved PID controller is a traditional PID controller with negative PWM pulses. When in the positive fine-tuning interval, the positive improved PID controller is used to perform the self-compensating deviation control in the positive direction of the automatic control valve stroke. When in the negative fine-tuning interval, the negative improved PID controller is used to perform the self-compensating deviation control in the negative direction of the automatic control valve stroke.

[0061] An automatic valve control system with internal leakage self-detection and self-compensation valve closing function, comprising an internal leakage detection module, a self-compensation module, and a closing position update module;

[0062] The internal leakage detection module is used to control the stroke of the automatic control valve through a remote signal. The value range of the automatic control valve stroke is [0%, 100%]. When the stroke of the automatic control valve is 0%, the automatic control valve internal leakage detection instruction is triggered; the medium flow sensor receives the automatic control valve internal leakage detection instruction and performs the automatic control valve internal leakage detection, and outputs the automatic control valve internal leakage detection information based on the medium flow rate. The medium flow rate is the volume of the medium passing through the pipeline in front of the automatic control valve within one second. The automatic control valve internal leakage detection information includes the automatic control valve no internal leakage information and the automatic control valve internal leakage information;

[0063] The self-compensation module is used to trigger the self-compensation instruction of the self-control valve to perform self-compensation of the self-control valve and continue to perform the self-compensation detection of the self-control valve when outputting the internal leakage information of the self-control valve, until outputting the information that the self-control valve has no internal leakage, and at the same time feeding back the internal leakage amount of the self-control valve to the self-control valve control terminal;

[0064] The closing position updating module is used to set the current automatic valve position as a new automatic valve closing position when outputting the information that the automatic valve has no internal leakage, that is, the position corresponding to the automatic valve stroke being 0%.

[0065] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0066] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0067] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0068] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for controlling an automatic control valve with internal leakage self-detection and self-compensation valve closing function, characterized in that: The implementation of the automatic control valve control method comprises the following steps: The stroke of the automatic control valve is controlled by a remote signal, the value range of the stroke of the automatic control valve is [0%, 100%], and when the stroke of the automatic control valve is 0%, the internal leakage detection instruction of the automatic control valve is triggered; The medium flow sensor receives the automatic control valve internal leakage detection instruction and performs the automatic control valve internal leakage detection, and outputs the automatic control valve internal leakage detection information based on the medium flow rate, wherein the medium flow rate is the volume of the medium passing through the pipeline in front of the automatic control valve within one second, and the automatic control valve internal leakage detection information includes the automatic control valve no internal leakage information and the automatic control valve internal leakage information; When the internal leakage information of the automatic control valve is output, the automatic control valve self-compensation instruction is triggered to perform the automatic control valve self-compensation and continue the internal leakage detection of the automatic control valve until the information that there is no internal leakage of the automatic control valve is output, and the internal leakage amount of the automatic control valve is fed back to the automatic control valve control terminal; When the information that the automatic control valve has no internal leakage is output, the current automatic control valve position is set as the new automatic control valve closed position, that is, the position corresponding to the automatic control valve stroke being 0%; The self-compensation of the automatic control valve specifically includes: Monitoring and outputting the internal leakage duration of the automatic control valve internal leakage information, and obtaining the internal leakage amount of the automatic control valve based on the product of the internal leakage duration and the medium flow rate; The automatic control valve is self-compensated by the internal leakage of the automatic control valve; The maximum bearing torque of the automatic control valve and the current torque of the automatic control valve during the self-compensation process of the automatic control valve are obtained. When the current torque of the automatic control valve is greater than or equal to the maximum bearing torque of the automatic control valve, the automatic control valve over-torque alarm information is output. At this time, the automatic control valve runs half of the self-compensation stroke in the positive direction of the automatic control valve stroke and continues the self-compensation of the automatic control valve.

2. The automatic control valve control method according to claim 1, characterized in that: The automatic valve internal leakage detection is specifically as follows: when the automatic valve internal leakage detection instruction is received, the medium flow rate is obtained through the medium flow sensor, and when the medium flow rate is 0, the automatic valve has no internal leakage information, and when the medium flow rate is greater than 0, the automatic valve has internal leakage information.

3. The automatic control valve control method according to claim 1, characterized in that: The self-compensation of the automatic control valve by the internal leakage of the automatic control valve comprises: The self-compensation stroke is obtained through the automatic control valve parameters and the internal leakage of the automatic control valve, wherein the automatic control valve parameters include the maximum flow of the automatic control valve, the minimum flow of the automatic control valve, the caliber of the automatic control valve, the diameter of the pipeline in front of the automatic control valve, the pressure of the pipeline in front of the automatic control valve, and the friction coefficient of the automatic control valve; Performing self-compensation of the automatic control valve according to the self-compensation stroke in the negative direction of the automatic control valve stroke; The self-compensation deviation control in the process of self-compensation of the automatic control valve is performed by improving the PID controller.

4. The automatic control valve control method according to claim 3, characterized in that: The calculation formula of the self-compensation stroke is: , where s is the self-compensation stroke, V is the internal leakage of the automatic control valve, Q max is the maximum flow rate of the automatic control valve, Q min is the minimum flow rate of the automatic control valve, f is the friction coefficient of the automatic control valve, d is the caliber of the automatic control valve, D is the diameter of the pipeline in front of the automatic control valve, and P is the pressure of the pipeline in front of the automatic control valve.

5. The automatic control valve control method according to claim 3, characterized in that: The improved PID controller includes a positive improved PID controller and a negative improved PID controller. The positive improved PID controller is a traditional PID controller with positive PWM pulses, and the negative improved PID controller is a traditional PID controller with negative PWM pulses.

6. The automatic control valve control method according to claim 5, characterized in that: The self-compensation deviation control in the process of self-compensation of the automatic control valve by improving the PID controller includes: During the self-compensation process of the automatic control valve, the current stroke of the automatic control valve and the feedback stroke of the automatic control valve are continuously obtained, and a self-compensation deviation is obtained based on the difference between the current stroke of the automatic control valve and the feedback stroke of the automatic control valve; Define that the interval corresponding to the absolute value of the self-compensating deviation being less than 0.5% of the self-compensating stroke is a normal deviation interval, the interval corresponding to the self-compensating deviation being greater than or equal to 0.5% of the self-compensating stroke and less than 5% of the self-compensating stroke is a positive fine-tuning interval, the interval corresponding to the self-compensating deviation being less than or equal to -0.5% of the self-compensating stroke and greater than -5% of the self-compensating stroke is a negative fine-tuning interval, the interval corresponding to the self-compensating deviation being greater than or equal to 5% of the self-compensating stroke is a positive rapid control interval, and the interval corresponding to the self-compensating deviation being less than or equal to -5% of the self-compensating stroke is a negative rapid control interval; When in the normal deviation range, the self-compensation deviation control is not performed; When in the positive fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the positive direction of the automatic control valve stroke. When in the negative fast control interval, the traditional PID controller is used to perform the self-compensation deviation control in the negative direction of the automatic control valve stroke. The control relationship of the traditional PID controller is: , where u(t) is the output value of the traditional PID controller at time t, k p is the proportional coefficient, e(t) is the self-compensation deviation at time t, k i is the integration coefficient, is the integral of the self-compensation deviation from the initial moment to moment t, k d is the differential coefficient, is the derivative of the self-compensation deviation at time t; When in the positive fine-tuning interval, the positive improved PID controller is used to perform the self-compensating deviation control in the positive direction of the automatic control valve stroke. When in the negative fine-tuning interval, the negative improved PID controller is used to perform the self-compensating deviation control in the negative direction of the automatic control valve stroke.

7. An automatic valve control system with internal leakage self-detection and self-compensation valve closing function, characterized in that: The system is applied to the automatic control valve control method as claimed in any one of claims 1 to 6, including an internal leakage detection module, a self-compensation module, and a closed position update module; The internal leakage detection module is used to control the stroke of the automatic control valve through a remote signal. The value range of the automatic control valve stroke is [0%, 100%]. When the stroke of the automatic control valve is 0%, the automatic control valve internal leakage detection instruction is triggered; the medium flow sensor receives the automatic control valve internal leakage detection instruction and performs the automatic control valve internal leakage detection, and outputs the automatic control valve internal leakage detection information based on the medium flow rate. The medium flow rate is the volume of the medium passing through the pipeline in front of the automatic control valve within one second. The automatic control valve internal leakage detection information includes the automatic control valve no internal leakage information and the automatic control valve internal leakage information; The self-compensation module is used to trigger the self-compensation instruction of the self-control valve to perform self-compensation of the self-control valve and continue to perform the self-compensation detection of the self-control valve when outputting the internal leakage information of the self-control valve and until the information of no internal leakage of the self-control valve is output, and the amount of internal leakage of the self-control valve is fed back to the self-control valve control terminal at the same time. The self-compensation of the self-control valve specifically includes: monitoring the internal leakage duration of the self-control valve internal leakage information, and obtaining the amount of internal leakage of the self-control valve based on the product of the internal leakage duration and the medium flow rate; performing self-compensation of the self-control valve according to the amount of internal leakage of the self-control valve; obtaining the maximum bearing torque of the self-control valve and the current torque of the self-control valve during the self-compensation process of the self-control valve, and outputting the over-torque alarm information of the self-control valve when the current torque of the self-control valve is greater than or equal to the maximum bearing torque of the self-control valve, at which time the self-control valve runs half of the self-compensation stroke in the positive direction of the self-control valve stroke and continues to perform the self-compensation of the self-control valve; The closing position updating module is used to set the current automatic valve position as a new automatic valve closing position when outputting the information that the automatic valve has no internal leakage, that is, the position corresponding to the automatic valve stroke being 0%.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the automatic control valve control method as described in any one of claims 1-6 is implemented.

9. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the automatic valve control method as described in any one of claims 1-6 when executed by a computer processor.

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