Valve opening control method and system and air conditioning system

Abstract

The invention provides a valve opening control method and system and an air conditioning system.The control method comprises the steps that kinematics data of a valve are collected, and real-time data of the current valve opening are generated; calculating a real-time tracking error according to a difference value between the real-time data and the target value; and adjusting the opening degree of the valve according to the real-time tracking error. Compared with the prior art, due to the fact that kinematics data of the valve are fully considered, error closing tracking control is achieved, accurate control over the opening degree of the valve can be achieved, the flow and pressure of fluid can be adjusted more accurately, the operation efficiency of the system is improved, the safety of the system is enhanced, and excessive abrasion of the valve and other related equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of valve control methods, and in particular to a valve opening control method, system and air conditioning system. Background Art

[0002] Valves are widely used in industrial and civil fields, mainly used to regulate and control the flow of fluids in pipelines. They have the advantages of simple structure, simple operation, and low operating cost, but in precision industries, it is necessary to accurately monitor and control the valve opening.

[0003] Traditional valve control methods mostly rely on manual operation or simple automated control systems, which have problems such as low control accuracy and slow response speed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and provide a valve opening control method, system and air conditioning system to solve the problem that traditional valve control methods in related technologies rely mostly on manual operation or simple automatic control systems and have low control accuracy.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] According to a first aspect of the present invention, there is provided a valve opening control method, comprising:

[0007] Collecting kinematic data of the valve, the kinematic data at least including: valve opening, angular velocity and acceleration;

[0008] Generating real-time data of current valve opening according to the kinematic data;

[0009] Calculate the real-time tracking error based on the difference between the real-time data and the target value;

[0010] The opening of the valve is adjusted according to the real-time tracking error.

[0011] Preferably, the real-time tracking error is calculated according to the difference between the real-time data and the target value, specifically:

[0012] According to the following formula (1), the real-time tracking error is calculated, including:

[0013] c is the real-time tracking error of the system, b is the error control design coefficient, which is a known quantity, and e is the difference between the actual value and the target value of the valve opening. is the difference between the actual value and the target value of the valve angular velocity.

[0014] Preferably, adjusting the opening of the valve according to the real-time tracking error comprises:

[0015] According to the neural network weight update rate formula, the neural network weight is calculated;

[0016] Calculating the valve actuator torque value according to the neural network weights;

[0017] The opening of the valve is adjusted according to the torque value of the valve actuator.

[0018] Preferably, the neural network weight update rate formula is specifically:

[0019] W is the neural network weight, P is the neural network weight design constant matrix, D is the neural network control error design constant matrix, and c is the system real-time tracking error.

[0020] Preferably, the calculating of the valve actuator torque value according to the neural network weights includes:

[0021] According to the following formulas (3) and (4), the real-time tracking error is calculated, including:

[0022] τ=-(WG+Kc)+δ(3);

[0023]

[0024] Where G is the Gaussian basis function diagonal matrix, K is the gain design constant term, δ is the system disturbance compensation term, and τ is the valve actuator torque value; Formula (4) is the valve rotation dynamics equation, J is the moment of inertia, is the valve angular acceleration, and f(θ) is the system uncertainty term.

[0025] Preferably, the control method further includes:

[0026] Record the kinematic data of the valve and the corresponding valve actuator torque value collected each time, and store them in the historical offline data set;

[0027] When a data fault occurs in the system, a valve actuator torque value matching the kinematic data of the current valve is retrieved from the historical offline data set to control the current valve opening.

[0028] Preferably, the control method further includes:

[0029] Real-time monitoring of the working status of valve sensors and actuators;

[0030] When a valve sensor or actuator failure is detected, an alarm signal is issued and the fault information is recorded in the historical offline data set.

[0031] Preferably, the control method further includes:

[0032] The data in the historical offline data set is analyzed to generate a statistical report and trend graph of valve performance.

[0033] Preferably, the analyzing the data in the historical offline data set to generate a statistical report and trend graph of valve performance includes:

[0034] The pressure sensors installed before and after the valve are used to measure the pressure before and after the valve to obtain the pressure difference δp. The flow rate Q is calculated according to the flow resistance characteristic curve formula (5), including:

[0035] δp=CQ 2 (5), C is a constant that represents the relationship between the square of flow rate and pressure loss.

[0036] According to a second aspect of the present invention, there is provided a valve opening control system, comprising:

[0037] A processor, and a memory connected to the processor;

[0038] The memory is used to store computer programs;

[0039] The processor is used to call and execute the computer program in the memory to perform the above method.

[0040] According to a third aspect of the present invention, there is provided an air conditioning system, comprising:

[0041] The valve opening control system mentioned above.

[0042] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0043] By collecting the kinematic data of the valve, the real-time data of the current valve opening is generated; the real-time tracking error is calculated according to the difference between the real-time data and the target value; and the valve opening is adjusted according to the real-time tracking error. Compared with the existing technology, since the kinematic data of the valve is fully considered, the error closure tracking control is realized, the valve opening can be accurately controlled, the flow and pressure of the fluid can be adjusted more accurately, the operating efficiency of the system is improved, the system safety is enhanced, and the excessive wear of the valve and other related equipment is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a valve opening control method according to an exemplary embodiment;

[0045] Figure 2 is a diagram showing a change in valve opening according to an exemplary embodiment;

[0046] Figure 3is an opening tracking error curve shown according to an exemplary embodiment;

[0047] Figure 4 is a flow chart of a valve opening control method according to another exemplary embodiment;

[0048] Figure 5 It is a schematic block diagram of a valve opening control system according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0050] Embodiment 1

[0051] Figure 1 is a flow chart of a valve opening control method according to an exemplary embodiment. Figure 1 , the method comprising:

[0052] Step S11, collecting kinematic data of the valve, wherein the kinematic data at least includes: valve opening, angular velocity and acceleration;

[0053] Step S12: generating real-time data of the current valve opening according to the kinematic data;

[0054] Step S13, calculating the real-time tracking error according to the difference between the real-time data and the target value;

[0055] Step S14: adjusting the opening of the valve according to the real-time tracking error.

[0056] It should be noted that, in specific practice, the technical solution provided in this embodiment is loaded into a controller of a valve opening control system and runs, for example, is loaded into a controller of an air conditioner and runs.

[0057] It can be understood that the technical solution provided in this embodiment generates real-time data of the current valve opening by collecting the kinematic data of the valve; calculates the real-time tracking error according to the difference between the real-time data and the target value; and adjusts the valve opening according to the real-time tracking error. Compared with the prior art, since the kinematic data of the valve is fully considered and the error closure tracking control is realized, the precise control of the valve opening can be achieved, the flow rate and pressure of the fluid can be adjusted more accurately, the operating efficiency of the system can be improved, the system safety can be enhanced, and the excessive wear of the valve and other related equipment can be reduced.

[0058] In specific practice, in step S13, the real-time tracking error is calculated according to the difference between the real-time data and the target value, specifically:

[0059] According to the following formula (1), the real-time tracking error is calculated, including:

[0060] c is the real-time tracking error of the system, b is the error control design coefficient, which is a known quantity, and e is the difference between the actual value and the target value of the valve opening. is the difference between the actual value and the target value of the valve angular velocity.

[0061] In specific practice, in step S14, adjusting the opening of the valve according to the real-time tracking error includes:

[0062] According to the neural network weight update rate formula, the neural network weight is calculated;

[0063] Calculating the valve actuator torque value according to the neural network weights;

[0064] The opening of the valve is adjusted according to the torque value of the valve actuator.

[0065] Specifically, the neural network weight update rate formula is:

[0066] W is the neural network weight, P is the neural network weight design constant matrix, D is the neural network control error design constant matrix, and c is the system real-time tracking error.

[0067] In specific practice, the calculation of the valve actuator torque value according to the neural network weights includes:

[0068] According to the following formulas (3) and (4), the real-time tracking error is calculated, including:

[0069] τ=-(WG+Kc)+δ(3);

[0070]

[0071] Where G is the Gaussian basis function diagonal matrix, K is the gain design constant term, δ is the system disturbance compensation term, and τ is the valve actuator torque value; Formula (4) is the valve rotation dynamics equation, J is the moment of inertia, is the valve angular acceleration, and f(θ) is the system uncertainty term.

[0072] Preferably, the control method further includes:

[0073] Record the kinematic data of the valve and the corresponding valve actuator torque value collected each time, and store them in the historical offline data set;

[0074] When a data fault occurs in the system, a valve actuator torque value matching the kinematic data of the current valve is retrieved from the historical offline data set to control the current valve opening.

[0075] It can be understood that the technical solution provided in this embodiment can ensure the normal operation of the valve and provide more reliable and accurate opening control. The initial valve opening is 0°, the target opening is 30° (0.52 rad), and the control tracking curve is shown in Figure 2 The actual opening curve shown can be tracked and matched with the target curve. The opening tracking error curve is shown in Figure 3 As shown, the control system adjusts the control error to zero so that the valve reaches the set target opening.

[0076] Preferably, the control method further includes:

[0077] Real-time monitoring of the working status of valve sensors and actuators;

[0078] When a valve sensor or actuator failure is detected, an alarm signal is issued and the fault information is recorded in the historical offline data set.

[0079] It can be understood that, in the technical solution provided in this embodiment, the system can take corresponding protection measures according to the fault type, such as using redundant units of offline data sets to work or cutting off valve operations.

[0080] Preferably, the control method further includes:

[0081] The data in the historical offline data set is analyzed to generate a statistical report and trend graph of valve performance.

[0082] It can be understood that the technical solution provided in this embodiment generates statistical reports and trend graphs of valve performance, which can fully grasp the operating status and performance of the valve.

[0083] Preferably, the analyzing the data in the historical offline data set to generate a statistical report and trend graph of valve performance includes:

[0084] The pressure sensors installed before and after the valve are used to measure the pressure before and after the valve to obtain the pressure difference δp. The flow rate Q is calculated according to the flow resistance characteristic curve formula (5), including:

[0085] δp=CQ 2 (5), C is a constant that represents the relationship between the square of flow rate and pressure loss.

[0086] It is understandable that the technical solution provided in this embodiment calculates parameters such as flow rate Q, and can then observe the operating state of the valve, thereby enabling real-time monitoring and precise control of the valve opening, and improving the stability and safety of the valve operation.

[0087] Embodiment 2

[0088] Figure 4 is a flow chart of a valve opening control method according to another exemplary embodiment. Figure 4 , the control method comprises:

[0089] Step S21, collecting kinematic data of the valve, the kinematic data at least including: valve opening, angular velocity and acceleration; generating real-time data of the current valve opening according to the kinematic data; calculating the real-time tracking error according to the difference between the real-time data and the target value;

[0090] Step S22, updating the neural network weights according to the real-time tracking error; calculating the valve actuator torque value according to the updated neural network weights; and adjusting the valve opening according to the valve actuator torque value;

[0091] Step S23, record the kinematic data of the valve collected each time, and the corresponding valve actuator torque value, and store them in the historical offline data set; when a data-type failure occurs in the system, retrieve the valve actuator torque value that matches the kinematic data of the current valve from the historical offline data set to control the current valve opening.

[0092] It should be noted that, in specific practice, the technical solution provided in this embodiment is loaded into a controller of a valve opening control system and runs, for example, is loaded into a controller of an air conditioner and runs.

[0093] It can be understood that the technical solution provided in this embodiment generates real-time data of the current valve opening by collecting the kinematic data of the valve; calculates the real-time tracking error according to the difference between the real-time data and the target value; and adjusts the valve opening according to the real-time tracking error. Compared with the prior art, since the kinematic data of the valve is fully considered and the error closure tracking control is realized, the precise control of the valve opening can be achieved, the flow rate and pressure of the fluid can be adjusted more accurately, the operating efficiency of the system can be improved, the system safety can be enhanced, and the excessive wear of the valve and other related equipment can be reduced.

[0094] Embodiment 3

[0095] A valve opening control system according to an exemplary embodiment includes:

[0096] A processor, and a memory connected to the processor;

[0097] The memory is used to store computer programs;

[0098] The processor is used to call and execute the computer program in the memory to perform the above method.

[0099] Figure 4 A schematic block diagram of a valve opening control system is shown. Figure 4 The valve opening control system includes: a monitoring unit, a control unit and a redundant unit. The kinematic data of the valve is collected in real time by sensors that measure the valve opening, speed and acceleration, and transmitted to the central control unit through the interface communication. The central control unit processes and analyzes the received data to generate real-time data of the current valve opening. The target valve opening value is set in the central control unit, and the target opening value is transmitted to the controller through the communication interface. The controller calculates the control signal according to the difference between the actual and target valves. The control signal is transmitted to the valve stem actuator through the driver, and the actuator drives the valve disc on the valve stem to rotate to adjust the valve opening so that it is close to the target opening value. For example, the control system can maintain good performance under different working conditions by using an adaptive neural network algorithm. The control system forms a real-time tracking error based on the valve opening, speed and valve target opening and speed collected by the sensor in real time, calculates the update rate of the neural network weight through the real-time tracking error and the neural network weight of the previous step of the system, and calculates the real-time torque value required by the actuator based on the real-time updated neural network weight and the tracking error. The actuator receives the system torque control signal to generate the corresponding adjustment action of the valve.

[0100] In addition, the system can also detect and alarm faults for valves. The central control unit and controller monitor the working status of valve sensors and actuators in real time. When a sensor or actuator fault is detected, the central control unit sends an alarm signal and records the fault information. According to the type of fault, the system can take corresponding protection measures, such as using redundant units of offline data sets to work or cutting off valve operations. The central control unit records the historical data of valve parameters, including real-time data and target data. The historical data is analyzed through the data analysis module to generate statistical reports and trend charts of valve performance, which can fully grasp the operating status and performance of the valve.

[0101] It can be understood that the technical solution provided in this embodiment generates real-time data of the current valve opening by collecting the kinematic data of the valve; calculates the real-time tracking error according to the difference between the real-time data and the target value; and adjusts the valve opening according to the real-time tracking error. Compared with the prior art, since the kinematic data of the valve is fully considered and the error closure tracking control is realized, the precise control of the valve opening can be achieved, the flow rate and pressure of the fluid can be adjusted more accurately, the operating efficiency of the system can be improved, the system safety can be enhanced, and the excessive wear of the valve and other related equipment can be reduced.

[0102] Embodiment 4

[0103] According to an exemplary embodiment, an air conditioning system is shown, comprising:

[0104] The valve opening control system mentioned above.

[0105] It can be understood that the technical solution provided in this embodiment generates real-time data of the current valve opening by collecting the kinematic data of the valve; calculates the real-time tracking error according to the difference between the real-time data and the target value; and adjusts the valve opening according to the real-time tracking error. Compared with the prior art, since the kinematic data of the valve is fully considered and the error closure tracking control is realized, the precise control of the valve opening can be achieved, the flow rate and pressure of the fluid can be adjusted more accurately, the operating efficiency of the system can be improved, the system safety can be enhanced, and the excessive wear of the valve and other related equipment can be reduced.

[0106] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0107] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0108] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0109] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0110] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0111] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0112] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A valve opening control method, characterized in that: include: Collecting kinematic data of the valve, the kinematic data at least including: valve opening, angular velocity and acceleration; Generating real-time data of current valve opening according to the kinematic data; Calculate the real-time tracking error based on the difference between the real-time data and the target value; The opening of the valve is adjusted according to the real-time tracking error.

2. The control method according to claim 1, characterized in that: The real-time tracking error is calculated based on the difference between the real-time data and the target value, specifically: According to the following formula (1), the real-time tracking error is calculated, including: c is the real-time tracking error of the system, b is the error control design coefficient, which is a known quantity, e is the difference between the actual value and the target value of the valve opening, and e is the difference between the actual value and the target value of the valve angular velocity.

3. The control method according to claim 2, characterized in that: The step of adjusting the opening of the valve according to the real-time tracking error comprises: According to the neural network weight update rate formula, the neural network weight is calculated; Calculating the valve actuator torque value according to the neural network weights; The opening of the valve is adjusted according to the torque value of the valve actuator.

4. The control method according to claim 3, characterized in that: The neural network weight update rate formula is specifically: W is the neural network weight, P is the neural network weight design constant matrix, D is the neural network control error design constant matrix, and c is the system real-time tracking error.

5. The control method according to claim 4, characterized in that: The step of calculating the valve actuator torque value according to the neural network weights includes: According to the following formulas (3) and (4), the real-time tracking error is calculated, including: τ=-(WG+Kc)+δ(3); Where G is the Gaussian basis function diagonal matrix, K is the gain design constant term, δ is the system disturbance compensation term, and τ is the valve actuator torque value; Formula (4) is the valve rotation dynamics equation, J is the moment of inertia, is the valve angular acceleration, and f(θ) is the system uncertainty term.

6. The control method according to any one of claims 3 to 5, characterized in that: Also includes: Record the kinematic data of the valve and the corresponding valve actuator torque value collected each time, and store them in the historical offline data set; When a data fault occurs in the system, a valve actuator torque value matching the kinematic data of the current valve is retrieved from the historical offline data set to control the current valve opening.

7. The control method according to claim 6, characterized in that: Also includes: Real-time monitoring of the working status of valve sensors and actuators; When a valve sensor or actuator failure is detected, an alarm signal is issued and the fault information is recorded in the historical offline data set.

8. The control method according to claim 7, characterized in that: Also includes: The data in the historical offline data set is analyzed to generate a statistical report and trend graph of valve performance.

9. The control method according to claim 8, characterized in that: The analyzing of the data in the historical offline data set to generate a statistical report and trend graph of valve performance includes: The pressure sensors installed before and after the valve are used to measure the pressure before and after the valve to obtain the pressure difference δp. The flow rate Q is calculated according to the flow resistance characteristic curve formula (5), including: δp=CQ 2 (5), C is a constant that represents the relationship between the square of flow rate and pressure loss.

10. A valve opening control system, characterized in that: include: A processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is used to call and execute the computer program in the memory to perform the method according to any one of claims 1 to 9.

11. An air conditioning system, characterized in that: include: The valve opening control system as claimed in claim 10.

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