Container pressure regulating valve group cooperative control method and system

Abstract

The invention belongs to the technical field of pressure control, and discloses a cooperative control method and system for a container pressure regulating valve group. According to the invention, the problem that the valve group with a plurality of pressure regulating valves accurately and rapidly controls the pressure of the container is converted into a closed-loop controller design and a logic distributor design. In the closed-loop controller design, all actual pressure regulating valves are equivalent to a virtual pressure regulating valve, and control law design is carried out; in the design of the logic distributor, according to the output of a virtual pressure regulating valve, the performance constraint of a controlled object, the real-time working condition of each actual pressure regulating valve, the constraint boundary of the system and other conditions, the output instruction of each pressure regulating valve of the system is calculated, so that the cooperative control of the pressure regulating valve group is realized; and finally, rapid and accurate control of the pressure of the container is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of pressure control, and particularly to a cooperative control method and system for a container pressure regulating valve group. Background Art

[0002] Pressure is one of the important flow field parameters of a container. Generally speaking, the pressure regulation range of a container is relatively wide, the non-linear characteristics of the pressure within the operating conditions are significant, and there are coupling effects with parameters such as the wind speed and temperature inside the container, making the control difficult. To achieve high-precision and rapid pressure regulation, in the design of container pressure control, a regulating valve group composed of pressure regulating valves with different calibers is generally used to cooperatively control the container pressure. Among them, the large-caliber pressure regulating valve is used to achieve rapid pressure regulation, and the small-caliber pressure regulating valve achieves precise pressure control.

[0003] In the process industry, for a system with this structural form, a relatively popular control method is dual control. According to the dynamic characteristics of the operating variables, multiple controllers are designed, and then according to certain logical rules, different controllers are called according to the actual operating conditions. Dual control can take into account the control requirements of system rapidity and high precision, but due to the need to design multiple controllers, the workload of controller design and control parameter tuning is large.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] The present invention aims to solve the problems in the background art, and provides a cooperative control method and system for a container pressure regulating valve group.

[0006] To achieve the above object, the first technical solution adopted by the present invention is: A cooperative control method for a container pressure regulating valve group, comprising: Equivalent a valve group composed of multiple actual pressure regulating valves into a single virtual pressure regulating valve, where the valve group includes a small-caliber actual pressure regulating valve and at least one large-caliber actual pressure regulating valve; Design a control law based on the single virtual pressure regulating valve, and calculate the flow coefficient command value of the virtual pressure regulating valve; According to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time operating conditions of each actual pressure regulating valve, and the system constraint boundary, calculate the flow coefficient command values of each actual pressure regulating valve, convert them into the opening command values of each actual pressure regulating valve, and then adjust accordingly; and calculate the equivalent actual flow coefficient of the virtual pressure regulating valve according to the actual opening feedback values of each actual pressure regulating valve; Feed back the equivalent actual flow coefficient of the virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed-loop control.

[0007] Preferably, the single virtual pressure regulating valve meets the following parameters: The maximum flow coefficient is the sum of the maximum flow coefficients of all actual pressure regulating valves; The adjustment speed is the same as that of the actual pressure regulating valve with the maximum adjustment ability; The valve control curve of the virtual pressure regulating valve is scaled proportionally with the valve control curve of the actual pressure regulating valve with the largest diameter; The opening operation range is 0 - 100%.

[0008] Preferably, the proportionality coefficient of the proportional scaling is the maximum flow coefficient of the virtual pressure regulating valve / the maximum flow coefficient of the actual pressure regulating valve with the largest diameter.

[0009] Preferably, the ratio of the diameter of the actual pressure regulating valve with the largest diameter to the diameter of the actual pressure regulating valve with the smallest diameter is greater than or equal to 1.5.

[0010] Preferably, when calculating the flow command values of each actual pressure regulating valve, converting them into the opening command values of each actual pressure regulating valve, and then adjusting the small - diameter actual pressure regulating valve, the method is as follows: Set a first working range and a second working range for the small - diameter actual pressure regulating valve, and the first working range is included in the second working range; when the container pressure just enters the error band from outside the error band, the small - diameter actual pressure regulating valve adjusts in the first working range to ensure that when the container pressure enters the error band, the small - diameter actual pressure regulating valve has a reasonable adjustable range; when the container pressure remains within the error band, the small - diameter actual pressure regulating valve adjusts in the second working range to reduce the switching frequency of actual pressure regulating valves with different diameters.

[0011] Preferably, according to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real - time working conditions of each actual pressure regulating valve, and the system constraint boundary, the method for calculating the flow coefficient command values of each actual pressure regulating valve is as follows: allocate the flow coefficient command of the virtual pressure regulating valve to the large - diameter actual pressure regulating valve and the small - diameter actual pressure regulating valve; if there are multiple large - diameter actual pressure regulating valves, first equivalent multiple large - diameter actual pressure regulating valves into one large - diameter pressure regulating valve, then allocate the flow coefficient command of the virtual pressure regulating valve to the equivalent large - diameter pressure regulating valve and the small - diameter actual pressure regulating valve, and then allocate the flow coefficient command of the equivalent large - diameter pressure regulating valve to each large - diameter actual pressure regulating valve.

[0012] Preferably, the parameter setting of the equivalent one large - diameter pressure regulating valve is the same as the parameter setting method of the single virtual pressure regulating valve.

[0013] Preferably, when adjusting with the opening command values of each actual pressure regulating valve, at least one of the following is satisfied: a. When the increment of the flow coefficient command value of the virtual pressure regulating valve needs to be slightly adjusted or the pressure is within the error band, operate the small-bore actual pressure regulating valve; when the demand exceeds the adjustment range of the small-bore actual pressure regulating valve or the pressure exceeds the error band, operate the large-bore actual pressure regulating valve; b. Continuously monitor the working range of the small-bore actual pressure regulating valve during operation, and immediately switch to the large-bore actual pressure regulating valve for adjustment when it exceeds the limit; c. When the large-bore actual pressure regulating valve is in the closed state, the reduction adjustment demand is executed by the small-bore actual pressure regulating valve; d. When the pressure is within the error band, maintain the current valve division of labor; when the pressure exceeds the error band, switch to the large-bore actual pressure regulating valve for operation.

[0014] Preferably, any of the following methods is used to allocate the flow coefficient command of the equivalent large-bore pressure regulating valve to each large-bore actual pressure regulating valve: a. Equally allocate the flow coefficient command of the equivalent large-bore pressure regulating valve to all large-bore actual pressure regulating valves; b. If the flow needs to be increased, preferentially adjust the large-bore actual pressure regulating valve with the smallest current command value; if the flow needs to be decreased, preferentially adjust the valve with the largest current command value; if the flow change is less than or equal to the preset threshold, only adjust one large-bore actual pressure regulating valve; if the flow change is greater than the preset threshold, adjust multiple large-bore actual pressure regulating valves simultaneously.

[0015] The second technical solution adopted by the present invention is: The cooperative control system of the container pressure regulating valve group includes: An equivalent module for equivalenting a valve group composed of multiple actual pressure regulating valves into a single virtual pressure regulating valve, where the valve group includes a small-bore actual pressure regulating valve and at least one large-bore actual pressure regulating valve; A first calculation module for designing a control law based on the single virtual pressure regulating valve and calculating the flow coefficient command value of the virtual pressure regulating valve; A second calculation module for calculating the flow coefficient command values of each actual pressure regulating valve according to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundary, converting them into the opening command values of each actual pressure regulating valve, and then adjusting accordingly; and calculating the equivalent actual flow coefficient of the virtual pressure regulating valve based on the actual opening feedback values of each actual pressure regulating valve; A feedback module for feeding back the equivalent actual flow coefficient of the virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed-loop control.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes the coordinated control of the container pressure regulating valve group. While achieving rapid and precise regulation of the container pressure, it reduces the number of controller designs, thereby reducing the workload of controller parameter tuning and improving the commissioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic flow chart of the method for coordinated control of the container pressure regulating valve group provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of the container pressure regulating valve group coordinated control system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] The present invention converts the problem of precise and rapid control of the container pressure by a valve group with multiple pressure regulating valves into the design of a closed-loop controller and a logic distributor. In the design of the closed-loop controller, all actual pressure regulating valves are equivalently regarded as a virtual pressure regulating valve for control law design; in the design of the logic distributor, according to conditions such as the output of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundary, the output commands of each pressure regulating valve in the system are calculated, thereby realizing the coordinated control of the pressure regulating valve group and finally realizing the rapid and precise control of the container pressure.

[0020] REFERENCE Figure 1 , the first embodiment of the present invention provides a method for coordinated control of a container pressure regulating valve group, including: S101, equivalent a valve group composed of multiple actual pressure regulating valves to a single virtual pressure regulating valve, and the valve group includes a small-bore actual pressure regulating valve and at least one large-bore actual pressure regulating valve.

[0021] This step equivalently maps a valve group actually composed of multiple independent pressure regulating valves to a single virtual pressure regulating valve according to a preset rule, that is, converts multiple manipulated variables into a single manipulated variable. This step simplifies and equivalently transforms a complex system with multiple manipulated variables into a single manipulated variable system, abstracts the overall characteristics of the valve group, shields the complexity of the internal multiple valves, and lays a foundation for designing a single control law in the subsequent steps.

[0022] The key to this step lies in the design of the parameters of a single virtual pressure regulating valve, ensuring the rationality of the virtual pressure regulating valve's maximum regulating capacity, regulating speed, and valve control curve. The design of the present invention specifically includes: a. The maximum flow coefficient of the virtual pressure regulating valve is set to the sum of the maximum flow coefficients of all actual pressure regulating valves in the valve group; this design ensures that the virtual valve can represent the maximum total flow capacity of the valve group. b. The regulating speed of the virtual pressure regulating valve is set to be consistent with the actual pressure regulating valve with the highest regulating capacity (usually referred to as response speed or flow regulation rate) in the valve group; this design ensures that the dynamic characteristics of the virtual pressure regulating valve reflect the fastest potential response capacity of the valve group. c. The opening operating range of the virtual valve is set from 0% to 100%, achieving standardized control instructions. d. The valve control curve of the virtual pressure regulating valve is proportionally scaled with the valve control curve of the largest actual pressure regulating valve. This design ensures that when the virtual valve instruction changes, its flow regulation pattern is consistent with the inherent characteristics of the largest valve, with only the amplitude being amplified in proportion to the total capacity. In some preferred embodiments, the scaling factor is the maximum flow coefficient of the virtual pressure regulating valve divided by the maximum flow coefficient of the largest actual pressure regulating valve.

[0023] In pressure regulation systems, the design of a pressure regulating valve assembly generally includes only two combinations: Combination 1: one large-diameter actual pressure regulating valve and one small-diameter actual pressure regulating valve; Combination 2: multiple (including two) large-diameter actual pressure regulating valves and one small-diameter actual pressure regulating valve. Therefore, in summary, the valve assembly includes a small-diameter actual pressure regulating valve and at least one large-diameter actual pressure regulating valve. It should be noted that when there are multiple large-diameter actual pressure regulating valves, the diameters of these regulating valves can be the same or different, as long as the ratio of the diameter of the largest-diameter actual pressure regulating valve to the diameter of the smallest-diameter actual pressure regulating valve is greater than or equal to 1.5.

[0024] S102 : Designing a control law based on a single virtual pressure regulating valve, and calculating a flow coefficient command value of the virtual pressure regulating valve.

[0025] S102 is equivalent to designing a closed-loop controller. This step is based on the single virtual pressure regulating valve model established in S101 to design a closed-loop control algorithm. This step generates an overall control requirement for the entire pressure regulating valve group. Its output is the main input for calculating the flow coefficient instruction value of each actual pressure regulating valve in the next step, and is used to guide how to decompose the overall requirement into each actual pressure regulating valve. It should be noted that the flow coefficient and the opening value of the actual pressure regulating valve correspond to each other. Those skilled in the art can obtain the corresponding opening value of each actual pressure regulating valve through the flow coefficient based on the known corresponding relationship. The dimension of the opening instruction of the virtual regulating valve and each actual pressure regulating valve is a percentage.

[0026] Specifically, this step takes the pressure target value, the current pressure value, and the virtual pressure regulation actual flow coefficient feedback value (if any) fed back subsequently as inputs. According to the input pressure deviation and possible other system states (combining the dynamic model of virtual pressure regulation), it calculates the virtual pressure regulation opening command value (a scalar value within the range of 0 - 100%) required to make the container pressure reach and maintain the target value. The flow coefficient command value can be obtained through the known corresponding relationship.

[0027] S103. According to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundaries, calculate the flow coefficient command values of each actual pressure regulating valve. After converting them into the opening command values of each actual pressure regulating valve, adjust accordingly; and calculate the equivalent virtual pressure regulating valve actual flow coefficient value based on the actual opening feedback values of each actual pressure regulating valve.

[0028] This step is to design a logic distributor, aiming to intelligently decompose and distribute the flow coefficient command value of the virtual pressure regulating valve output by S102 to each actual pressure regulating valve in the valve group; at the same time, aggregate the state feedback of each actual pressure regulating valve into an equivalent virtual pressure regulating valve feedback. Specifically, according to the flow coefficient command value of the virtual pressure regulating valve, combining the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundaries, through an optimization or rule - based logic algorithm, calculate the optimal or feasible flow coefficient command assigned to each actual pressure regulating valve. And receive the actuator feedback of each actual pressure regulating valve, that is, the actual opening of each actual pressure regulating valve. According to the equivalent principle of S101 and the calculation method in S102, convert these actual opening values into an equivalent virtual pressure regulating valve actual flow coefficient feedback value.

[0029] Among them, the controlled object refers to the container pressure, and its performance constraints include requirements such as the accuracy and rapidity of pressure control. The real - time working conditions of each actual pressure regulating valve and the system constraint boundaries, the real - time working conditions such as the current opening, availability, fault status, etc., and the system constraint boundaries such as the opening limit of a single valve, the total flow limit, the valve switching logic, etc.

[0030] Specifically, the logical allocation involves assigning the flow coefficient instruction of the virtual pressure regulating valve to the large-diameter actual pressure regulating valve and the small-diameter actual pressure regulating valve. If there are multiple large-diameter actual pressure regulating valves, the multiple large-diameter actual pressure regulating valves are first treated as one large-diameter pressure regulating valve. The flow coefficient instruction of the virtual pressure regulating valve is then assigned to the equivalent large-diameter pressure regulating valve and the small-diameter actual pressure regulating valve. Finally, the flow coefficient instruction of the equivalent large-diameter pressure regulating valve is assigned to each of the large-diameter actual pressure regulating valves. The parameter setting method for the equivalent large-diameter pressure regulating valve is the same as that for the single virtual pressure regulating valve. All of the above allocation processes are completed within a single control cycle.

[0031] When distributing the flow coefficient command of the virtual pressure regulating valve to the large-diameter actual pressure regulating valve and the small-diameter actual pressure regulating valve, that is, when controlling the actual pressure regulating valves with the opening command values, at least one of the following conditions must be met: a. When the flow coefficient command value increment of the virtual pressure regulating valve needs to be slightly adjusted or the pressure is within the error band, operate the small-diameter actual pressure regulating valve; when the demand exceeds the adjustment range of the small-diameter actual pressure regulating valve or the pressure exceeds the error band, operate the large-diameter actual pressure regulating valve; b. The small-diameter actual pressure regulating valve continuously monitors its working range during operation, and immediately switches to the large-diameter actual pressure regulating valve for adjustment when it exceeds the limit; c. When the large-diameter actual pressure regulating valve is closed, the demand for reduction is executed by the small-diameter actual pressure regulating valve; d. When the pressure is within the error band, maintain the current valve division of labor; when the pressure exceeds the error band, switch to the large-diameter actual pressure regulating valve for operation.

[0032] Regarding the above "b. Continuously monitor the working range of the small-diameter actual pressure regulating valve during operation, and immediately switch to the large-diameter actual pressure regulating valve for regulation when the limit is exceeded", when the container pressure is within the error band, the small-diameter actual pressure regulating valve reaches the upper limit (or lower limit) of the working range, and the control instruction requires the small-diameter actual pressure regulating valve to continue to open (or close the valve), it is necessary to assign the increment of the flow coefficient of the small-diameter actual pressure regulating valve to the large-diameter actual pressure regulating valve.

[0033] In order to further improve the control accuracy when the valve group consists of multiple large-diameter actual pressure regulating valves and one small-diameter actual pressure regulating valve, in some preferred embodiments, the flow coefficient instructions of the equivalent large-diameter pressure regulating valves are distributed to the large-diameter actual pressure regulating valves by any of the following methods: (1) Equivalent simplification: equally distribute the flow coefficient commands of the calculated equivalent large-diameter pressure regulating valves to all large-diameter actual pressure regulating valves; (2) Dynamic distribution: a. Judge the change direction. If the flow needs to be increased, preferentially adjust the large-diameter actual pressure regulating valve with the smallest current command value; if the flow needs to be decreased, preferentially adjust the valve with the largest current command value. b. Judge the magnitude of the change. If the flow change is less than or equal to the preset threshold, only adjust one large-diameter actual pressure regulating valve; if the flow change is greater than the preset threshold, adjust multiple large-diameter actual pressure regulating valves simultaneously. At this time, the change amount of the preferentially adjusted large-diameter actual pressure regulating valve is the preset threshold, and the remaining change amount is shared by other large-diameter actual pressure regulating valves, with a single change not exceeding the preset threshold.

[0034] After obtaining the opening commands of each actual pressure regulating valve and then adjusting the small-diameter actual pressure regulating valves accordingly, the method is as follows: set a first working range and a second working range for the small-diameter actual pressure regulating valves, and the first working range is included in the second working range; when the container pressure just enters the error band from outside the error band, the small-diameter actual pressure regulating valve adjusts within the first working range to ensure that when the container pressure enters the error band, the small-diameter actual pressure regulating valve has a reasonable adjustable range; when the container pressure remains within the error band, the small-diameter actual pressure regulating valve adjusts within the second working range to give full play to the regulating ability of the small-diameter actual pressure regulating valve, so as to reduce the switching frequency of actual pressure regulating valves of different diameters, thereby reducing the interference caused by valve switching to pressure control.

[0035] S104, Feed back the actual flow coefficient of the equivalent virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed-loop control.

[0036] This step is to update the equivalent actual opening value of the virtual pressure regulating valve equally with the actual opening of the virtual pressure regulating valve obtained in S103, and then transfer it to S102 to form a closed loop.

[0037] The pressure control of a certain container realizes the fast and precise control of the container pressure by using the control method of the first embodiment of the present application.

[0038] Specifically, the volume of the container is about 8000 Nm 3 . During the pressurization test, the pressure regulation range of the container is from atmospheric pressure to 4 atmospheres, and the pressure control accuracy requirement is better than 0.2%. The exhaust device of the container is equipped with 2 pressure regulating valves with a nominal diameter of 1000 mm and 1 pressure regulating valve with a nominal diameter of 400 mm, and the comprehensive positioning accuracy of the regulating valves is better than 0.5%.

[0039] Through experiments, by adopting this control method, the coordinated control of the three pressure regulating valves is reasonable, achieving rapid and precise regulation of the container pressure. Within the operating pressure range of the container, the pressure control accuracy reaches 0.05%, which is better than the technical index requirements. Under the instruction of large-range pressure regulation (pressure reduction or pressure increase), through the design and parameter tuning of the closed-loop controller, the two pressure regulating valves can act quickly to achieve rapid pressure regulation.

[0040] Compared with traditional methods such as dual control, the present invention decomposes the container pressure control into two parts: the design of the closed-loop control law and the design of the logic distributor. In the part of the closed-loop control law design, by introducing a virtual regulating valve, a multi-operating variable system is equivalent to a single-operating variable system, and only one closed-loop controller needs to be designed, reducing the number of controller designs and correspondingly reducing the workload of control parameter tuning, and improving the efficiency of on-site commissioning. At the same time, the dynamic characteristics such as the nonlinearity, coupling, and time delay of the system can be comprehensively considered in the control law design to reduce the design difficulty. In the part of the logic distributor, by reasonably scheduling the actual pressure regulating valves with large and small diameters, the requirements for the rapidity and high-precision control of the container pressure can be taken into account. Generally speaking, the present invention decomposes the control problem of the container pressure regulating valve group into a closed-loop controller design problem and a logic distributor design problem, which can take into account the rapid and precise regulation requirements of the container pressure. At the same time, compared with methods such as dual control, the present invention reduces the number of controller designs and the workload of parameter tuning.

[0041] Reference Figure 2 , the second embodiment of the present invention provides a coordinated control system 200 for a container pressure regulating valve group, including an equivalent module 201, a first calculation module 202, a second calculation module 203, and a feedback module 204. The functions of each module are described as follows: The equivalent module 201 is used to equivalent a valve group composed of multiple actual pressure regulating valves into a single virtual pressure regulating valve. The valve group includes a small-diameter actual pressure regulating valve and at least one large-diameter actual pressure regulating valve; The first calculation module 202 is used to design a control law based on the single virtual pressure regulating valve and calculate the flow coefficient command value of the virtual pressure regulating valve; The second calculation module 203 is used to calculate the flow coefficient command values of the actual pressure regulating valves according to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundary. After converting them into the opening command values of the actual pressure regulating valves, they are adjusted accordingly; and the equivalent virtual pressure regulating valve actual flow coefficient is calculated based on the actual opening feedback values of the actual pressure regulating valves; The feedback module 204 is configured to feedback the actual flow coefficient of the equivalent virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed-loop control.

[0042] The above-described embodiments are merely a preferred solution of the present invention, but they are not intended to limit the present invention. Those of ordinary skill in the relevant technical field can still make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. Coordinated control method for container pressure regulating valve group, characterized in that Including: Equivalent a valve group composed of multiple actual pressure regulating valves to a single virtual pressure regulating valve, where the valve group includes a small-bore actual pressure regulating valve and at least one large-bore actual pressure regulating valve; Design a control law based on the single virtual pressure regulating valve and calculate the flow coefficient command value of the virtual pressure regulating valve; According to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundary, calculate the flow coefficient command value of each actual pressure regulating valve. After converting it into the opening command value of each actual pressure regulating valve, adjust accordingly; and calculate the equivalent actual flow coefficient of the virtual pressure regulating valve based on the actual opening feedback value of each actual pressure regulating valve; Feed back the equivalent actual flow coefficient of the virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed-loop control.

2. The collaborative control method of the container pressure regulating valve group according to claim 1, wherein The single virtual pressure regulating valve satisfies the following parameters: The maximum flow coefficient is the sum of the maximum flow coefficients of all actual pressure regulating valves; The adjustment speed is the same as that of the actual pressure regulating valve with the maximum adjustment ability; The valve control curve of the virtual pressure regulating valve is scaled proportionally with the valve control curve of the actual pressure regulating valve with the largest diameter; The opening operation range is 0 - 100%; 3. The collaborative control method of the container pressure regulating valve group according to claim 2, characterized in that, The proportionality coefficient of the proportional scaling is the maximum flow coefficient of the virtual pressure regulating valve / the maximum flow coefficient of the actual pressure regulating valve with the largest diameter.

4. The collaborative control method of the container pressure regulating valve group according to claim 1, wherein The ratio of the diameter of the actual pressure regulating valve with the largest diameter to the diameter of the actual pressure regulating valve with the smallest diameter is greater than or equal to 1.

5.

5. The collaborative control method of the container pressure regulating valve group according to claim 1, characterized in that When calculating the flow command value of each actual pressure regulating valve and converting it into the opening command value of each actual pressure regulating valve, and then adjusting the small-bore actual pressure regulating valve accordingly, the method is as follows: Set a first working interval and a second working interval for the small-bore actual pressure regulating valve, and the first working interval is included in the second working interval; when the container pressure just enters the error band from outside the error band, the small-bore actual pressure regulating valve adjusts in the first working interval to ensure that when the container pressure enters the error band, the small-bore actual pressure regulating valve has a reasonable adjustable range; when the container pressure remains within the error band, the small-bore actual pressure regulating valve adjusts in the second working interval to reduce the switching frequency of actual pressure regulating valves with different diameters.

6. The collaborative control method of the container pressure regulating valve group according to claim 1, wherein According to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real-time working conditions of each actual pressure regulating valve, and the system constraint boundary, the method for calculating the flow coefficient command value of each actual pressure regulating valve is: distribute the flow coefficient command of the virtual pressure regulating valve to the large-bore actual pressure regulating valve and the small-bore actual pressure regulating valve; if there are multiple large-bore actual pressure regulating valves, first equivalent multiple large-bore actual pressure regulating valves to a large-bore pressure regulating valve, then distribute the flow coefficient command of the virtual pressure regulating valve to the equivalent large-bore pressure regulating valve and the small-bore actual pressure regulating valve, and then distribute the flow coefficient command of the equivalent large-bore pressure regulating valve to each large-bore actual pressure regulating valve.

7. The collaborative control method of the container pressure regulating valve group according to claim 6, wherein, The parameter settings of an equivalent large - caliber pressure regulating valve are the same as those of the single virtual pressure regulating valve parameter setting method.

8. The collaborative control method of the container pressure regulating valve group according to claim 1 or 6, characterized in that, When adjusting with the opening command values of each actual pressure regulating valve, at least one of the following conditions should be met: a. When the increment of the flow coefficient command value of the virtual pressure regulating valve needs to be slightly adjusted or the pressure is within the error band, operate the small - caliber actual pressure regulating valve; when the demand exceeds the adjustment range of the small - caliber actual pressure regulating valve or the pressure exceeds the error band, operate the large - caliber actual pressure regulating valve; b. Continuously monitor the working range during the operation of the small - caliber actual pressure regulating valve, and immediately switch to the large - caliber actual pressure regulating valve for adjustment when it exceeds the limit; c. When the large - caliber actual pressure regulating valve is in the closed state, the demand for reduction adjustment is executed by the small - caliber actual pressure regulating valve; d. When the pressure is within the error band, maintain the current valve division of labor; when the pressure exceeds the error band, switch to the large - caliber actual pressure regulating valve for operation.

9. The collaborative control method of the container pressure regulating valve group according to claim 6, characterized in that, Use any of the following methods to distribute the flow coefficient command of the equivalent large - caliber pressure regulating valve to each large - caliber actual pressure regulating valve: a. Evenly distribute the flow coefficient command of the equivalent large - caliber pressure regulating valve to all large - caliber actual pressure regulating valves; b. If the flow needs to be increased, give priority to adjusting the large - caliber actual pressure regulating valve with the smallest current command value; if the flow needs to be decreased, give priority to adjusting the valve with the largest current command value; if the flow change is less than or equal to the preset threshold, only adjust one large - caliber actual pressure regulating valve; if the flow change is greater than the preset threshold, adjust multiple large - caliber actual pressure regulating valves simultaneously.

10. The collaborative control system of the container pressure regulating valve group is characterized in that, It includes: An equivalent module for equivalenting a valve group composed of multiple actual pressure regulating valves into a single virtual pressure regulating valve, where the valve group includes a small - caliber actual pressure regulating valve and at least one large - caliber actual pressure regulating valve; A first calculation module for designing a control law based on the single virtual pressure regulating valve and calculating the flow coefficient command value of the virtual pressure regulating valve; A second calculation module for calculating the flow coefficient command values of each actual pressure regulating valve according to the flow coefficient command value of the virtual pressure regulating valve, the performance constraints of the controlled object, the real - time working conditions of each actual pressure regulating valve, and the system constraint boundary, converting them into the opening command values of each actual pressure regulating valve, and then adjusting accordingly; and calculating the actual flow coefficient of the equivalent virtual pressure regulating valve based on the actual opening feedback values of each actual pressure regulating valve; A feedback module for feeding back the actual flow coefficient of the equivalent virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, to the control law design step to form a closed - loop control.

Images