Container pressure regulating valve group coordinated control method and system

Abstract

The present invention belongs to the field of pressure control technology and discloses a method and system for collaborative control of a container pressure regulating valve group. The present invention converts the problem of accurate and rapid control of container pressure by a valve group having multiple pressure regulating valves 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 the control law design is performed; in the logic distributor design, the output instructions of each pressure regulating valve in the system are calculated based on 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, thereby realizing collaborative control of the pressure regulating valve group and ultimately realizing rapid and accurate control of the container pressure.

Description

Technical Field

[0001] The present invention relates to the field of pressure control technology, and in particular to a coordinated control method and system for a container pressure regulating valve group. Background Art

[0002] Pressure is one of the most important flow field parameters in a vessel. Generally speaking, the pressure regulation range of a vessel is wide, and the nonlinear characteristics of pressure within the operating range are significant. Furthermore, there is a coupling effect between pressure and other parameters within the vessel, such as wind speed and temperature, making control difficult. To achieve high-precision and rapid pressure regulation, pressure regulating valves of different diameters are generally used in vessel pressure control designs to form a regulating valve group for coordinated control of vessel pressure. Large-diameter pressure regulating valves are used for rapid pressure regulation, while small-diameter pressure regulating valves achieve precise pressure control.

[0003] In the process industry, dual control is a popular control method for systems with this structure. Multiple controllers are designed based on the dynamic characteristics of the manipulated variables. These controllers are then activated based on specific logic rules, depending on the actual operating conditions. Dual control achieves both rapid system speed and high-precision control requirements. However, the multiple controllers involved in designing and tuning the controllers are labor-intensive.

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

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

[0006] In order to achieve the above object, the first technical solution adopted by the present invention is:

[0007] A coordinated control method for a container pressure regulating valve group includes:

[0008] Equivalently converting a valve group consisting of multiple actual pressure regulating valves into a single virtual pressure regulating valve, wherein the valve group includes a small-caliber actual pressure regulating valve and at least one large-caliber actual pressure regulating valve;

[0009] 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;

[0010] Based on the flow coefficient instruction 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 flow coefficient instruction value of each actual pressure regulating valve is calculated and converted into the opening instruction value of each actual pressure regulating valve for adjustment; and the equivalent actual flow coefficient of the virtual pressure regulating valve is converted according to the actual opening feedback value of each actual pressure regulating valve;

[0011] The equivalent actual flow coefficient of the virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, are fed back to the control law design step to form a closed-loop control.

[0012] Preferably, the single virtual pressure regulating valve satisfies the following parameters:

[0013] The maximum flow coefficient is the sum of the maximum flow coefficients of all actual pressure regulating valves;

[0014] The regulating speed is consistent with the actual pressure regulating valve with the largest regulating capacity;

[0015] 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;

[0016] The opening operating range is 0~100%.

[0017] Preferably, the proportional 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.

[0018] Preferably, the ratio of the diameter of the actual pressure regulating valve with the largest caliber to the diameter of the actual pressure regulating valve with the smallest caliber is greater than or equal to 1.5.

[0019] Preferably, after 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, the method for regulating the small-caliber actual pressure regulating valve is as follows:

[0020] A first working range and a second working range are set 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 is adjusted 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 is adjusted in the second working range to reduce the frequency of switching between actual pressure regulating valves of different diameters.

[0021] Preferably, the method for calculating the flow coefficient instruction value of each actual pressure regulating valve based on the flow coefficient instruction 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 is: the flow coefficient instruction of the virtual pressure regulating valve is assigned 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 equivalent to one large-diameter pressure regulating valve, and then the flow coefficient instruction of the virtual pressure regulating valve is assigned to the equivalent large-diameter pressure regulating valve and the small-diameter actual pressure regulating valve, and then the flow coefficient instruction of the equivalent large-diameter pressure regulating valve is assigned to the large-diameter actual pressure regulating valves.

[0022] Preferably, the parameter setting method of an equivalent large-caliber pressure regulating valve is the same as the parameter setting method of the single virtual pressure regulating valve.

[0023] Preferably, when adjusting the opening command value of each actual pressure regulating valve, at least any one of the following conditions is satisfied:

[0024] 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;

[0025] 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;

[0026] c. When the large-diameter actual pressure regulating valve is closed, the reduction demand is carried out by the small-diameter actual pressure regulating valve;

[0027] 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 operation.

[0028] Preferably, any of the following methods is used to distribute the flow coefficient instruction of the equivalent large-caliber pressure regulating valve to the actual large-caliber pressure regulating valves:

[0029] a. Equally distribute the flow coefficient instructions of the equivalent large-diameter pressure regulating valves to all large-diameter actual pressure regulating valves;

[0030] b. If the flow rate needs to be increased, the large-diameter actual pressure regulating valve with the smallest current command value is adjusted first. If the flow rate needs to be reduced, the valve with the largest current command value is adjusted first. If the flow rate change is less than or equal to the preset threshold, only one large-diameter actual pressure regulating valve is adjusted. If the flow rate change is greater than the preset threshold, multiple large-diameter actual pressure regulating valves are adjusted simultaneously.

[0031] The second technical solution adopted in the present invention is:

[0032] The coordinated control system of the container pressure regulating valve group includes:

[0033] An equivalent module, used to convert a valve group consisting of multiple actual pressure regulating valves into a single virtual pressure regulating valve, wherein the valve group includes a small-caliber actual pressure regulating valve and at least one large-caliber actual pressure regulating valve;

[0034] A first calculation module is used to design a control law based on a single virtual pressure regulating valve and calculate a flow coefficient command value of the virtual pressure regulating valve;

[0035] The second calculation module is used to calculate the flow coefficient command value of each actual pressure regulating valve based on 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, and convert the flow coefficient command value into the opening command value of each actual pressure regulating valve for adjustment; and convert the equivalent actual flow coefficient of the virtual pressure regulating valve based on the actual opening feedback value of each actual pressure regulating valve;

[0036] The feedback module is used to 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.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention realizes the coordinated control of the container pressure regulating valve group, and while realizing rapid and accurate regulation of the container pressure, reduces the number of controller designs, thereby reducing the workload of controller parameter setting and improving debugging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a coordinated control method for a container pressure regulating valve group provided in an embodiment of the present invention;

[0040] Figure 2 A schematic structural diagram of a coordinated control system for a container pressure regulating valve group provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] This invention transforms the problem of accurately and rapidly controlling container pressure in a valve group with multiple pressure-regulating valves into a closed-loop controller and logic distributor design. In the closed-loop controller design, all actual pressure-regulating valves are treated as a single virtual pressure-regulating valve, and the control law is designed. In the logic distributor design, the output instructions for each pressure-regulating valve in the system are calculated based on the output 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 boundaries. This enables coordinated control of the pressure-regulating valve group, ultimately achieving rapid and precise control of container pressure.

[0043] refer to Figure 1 The first embodiment of the present invention provides a coordinated control method for a container pressure regulating valve group, comprising:

[0044] S101 , a valve group consisting of multiple actual pressure regulating valves is equivalent to a single virtual pressure regulating valve, where the valve group includes a small-diameter actual pressure regulating valve and at least one large-diameter actual pressure regulating valve.

[0045] This step maps the control valve group, which actually consists of multiple independent pressure regulating valves, into a single virtual pressure regulating valve based on pre-set rules. This essentially converts multiple manipulated variables into a single manipulated variable. This step simplifies the complex system of multiple manipulated variables into a single manipulated variable system, abstracting the overall characteristics of the valve group and shielding the complexity of the multiple valves within it. This lays the foundation for designing a single control law in the subsequent steps.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Specifically, this step takes the target pressure value, the current pressure value, and the subsequent feedback value of the actual flow coefficient of the virtual pressure regulation (if any) as input. Based on the input pressure deviation and possible other system states (combined with the dynamic model of the virtual pressure regulation), the virtual pressure regulation opening instruction value (a scalar value in the range of 0~100%) required to make the container pressure reach and maintain the target value is calculated. The flow coefficient instruction value can be obtained through the known corresponding relationship.

[0051] S103, based on the flow coefficient instruction 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 instruction value of each actual pressure regulating valve, convert it into the opening instruction value of each actual pressure regulating valve, and adjust it accordingly; and convert the equivalent virtual pressure regulating valve actual flow coefficient value according to the actual opening feedback value of each actual pressure regulating valve.

[0052] This step involves designing a logic distributor. Its purpose is to intelligently decompose and distribute the virtual pressure control valve flow coefficient command values ​​output by S102 to each actual pressure control valve in the valve group. Simultaneously, the state feedback from each actual pressure control valve is aggregated into equivalent virtual pressure control valve feedback. Specifically, based on the flow coefficient command values ​​of the virtual pressure control valves, combined with the performance constraints of the controlled object, the real-time operating conditions of each actual pressure control valve, and the system constraint boundaries, an optimization or rule-based logic algorithm is used to calculate the optimal or feasible flow coefficient command assigned to each actual pressure control valve. The system then receives actuator feedback from each actual pressure control valve, namely, the actual valve opening. Based on the equivalence principle of S101 and the calculation method in S102, these actual valve opening values ​​are converted into an equivalent virtual pressure control valve actual flow coefficient feedback value.

[0053] The controlled object refers to the vessel pressure, and its performance constraints include requirements for pressure control accuracy and speed. The real-time operating conditions of each actual pressure regulating valve and the system constraint boundaries are also included. Real-time operating conditions include current opening, availability, and fault status. System constraint boundaries include individual valve opening limits, total flow limits, and valve switching logic.

[0054] 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.

[0055] 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:

[0056] 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.

[0057] 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.

[0058] 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:

[0059] (1) Equivalent simplification: the calculated flow coefficient instruction of the equivalent large-diameter pressure regulating valve is evenly distributed to all large-diameter actual pressure regulating valves; (2) Dynamic allocation: a. Determine the direction of change. If the flow needs to be increased, the large-diameter actual pressure regulating valve with the smallest current instruction value is adjusted first; if the flow needs to be reduced, the valve with the largest current instruction value is adjusted first; b. Determine the size of the change. If the flow change is less than or equal to the preset threshold, only one large-diameter actual pressure regulating valve is adjusted; if the flow change is greater than the preset threshold, multiple large-diameter actual pressure regulating valves are adjusted at the same time. At this time, the change of the large-diameter actual pressure regulating valve that is adjusted first is the preset threshold, and the remaining change is shared by other large-diameter actual pressure regulating valves. The single change does not exceed the preset threshold.

[0060] After obtaining the opening instructions of each actual pressure regulating valve, the small-diameter actual pressure regulating valve is adjusted accordingly. The method is as follows: a first working interval and a second working interval are set for the small-diameter 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-diameter actual pressure regulating valve is adjusted in the first working interval to ensure that the small-diameter actual pressure regulating valve has a reasonable adjustable range when the container pressure enters the error band; when the container pressure remains within the error band, the small-diameter actual pressure regulating valve is adjusted in the second working interval to give full play to the adjustment ability of the small-diameter actual pressure regulating valve, so as to reduce the frequency of switching between actual pressure regulating valves of different diameters, thereby reducing the interference caused by valve switching to pressure control.

[0061] S104 , 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.

[0062] This step updates the equivalent actual opening value of the virtual pressure regulating valve based on the actual opening of the virtual pressure regulating valve obtained in S103 and transmits it to S102 to form a closed loop.

[0063] The pressure control of a certain container adopts the control method of the first embodiment of the present application to achieve rapid and accurate control of the container pressure.

[0064] Specifically, the container volume is approximately 8000Nm 3 During the pressurization test, the vessel pressure regulation range is from atmospheric pressure to 4 atmospheres, and the pressure control accuracy requirement is better than 0.2%. The vessel exhaust system is equipped with two pressure regulating valves with a nominal diameter of 1000mm and one pressure regulating valve with a nominal diameter of 400mm. The overall positioning accuracy of the regulating valves is better than 0.5%.

[0065] Through experiments, it was found that the three pressure regulating valves were reasonably coordinated and controlled by this control method, which enabled rapid and precise regulation of the container pressure. Within the operating pressure range of the container, the pressure control accuracy reached 0.05%, which was better than the technical index requirements. Under the wide range of pressure regulation (pressure reduction or pressure increase) instructions, through the design and parameter setting of the closed-loop controller, the two pressure regulating valves were able to act quickly to achieve rapid pressure regulation.

[0066] Compared with traditional dual control methods, the present invention decomposes container pressure control into two parts: closed-loop control law design and logic distributor design. In the closed-loop control law design part, by introducing a virtual control valve, a multi-operating variable system is equivalent to a single-operating variable system. Only one closed-loop controller needs to be designed, which reduces the number of controller designs and the workload of control parameter adjustment, thereby improving the efficiency of on-site debugging. At the same time, the dynamic characteristics of the system, such as nonlinearity, coupling, and time lag, can be uniformly considered in the control law design, reducing the design difficulty. In the logic distributor part, by rationally dispatching large and small diameter actual pressure regulating valves, the rapidity and high-precision control requirements of the container pressure can be taken into account. In general, 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 requirements of rapid and precise regulation of the container pressure. At the same time, compared with dual control methods, the present invention reduces the number of controller designs and the workload of parameter adjustment.

[0067] refer to Figure 2 The second embodiment of the present invention provides a container pressure regulating valve group coordinated control system 200, 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:

[0068] An equivalent module 201 is used to convert a valve group consisting of multiple actual pressure regulating valves into a single virtual pressure regulating valve, wherein the valve group includes a small-caliber actual pressure regulating valve and at least one large-caliber actual pressure regulating valve;

[0069] A first calculation module 202 is configured to design a control law based on a single virtual pressure regulating valve and calculate a flow coefficient command value of the virtual pressure regulating valve;

[0070] The second calculation module 203 is configured to calculate the flow coefficient command value of each actual pressure regulating valve based on 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, and convert the flow coefficient command value into the opening command value of each actual pressure regulating valve for adjustment; and convert the actual opening feedback value of each actual pressure regulating valve into an equivalent actual flow coefficient of the virtual pressure regulating valve;

[0071] The feedback module 204 is used to 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.

[0072] The embodiment described above is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Persons skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent substitution or equivalent transformation falls within the scope of protection of the present invention.

Claims

1. A coordinated control method for a container pressure regulating valve group, characterized in that: include: Equivalently converting a valve group consisting of multiple actual pressure regulating valves into a single virtual pressure regulating valve, wherein the valve group includes a small-caliber actual pressure regulating valve and at least one large-caliber actual pressure regulating valve; 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; Based on the flow coefficient instruction 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 flow coefficient instruction value of each actual pressure regulating valve is calculated and converted into the opening instruction value of each actual pressure regulating valve for adjustment; and the equivalent actual flow coefficient of the virtual pressure regulating valve is converted according to the actual opening feedback value of each actual pressure regulating valve; The equivalent actual flow coefficient of the virtual pressure regulating valve, together with the updated pressure target value and the current pressure value, are fed back to the control law design step to form a closed-loop control.

2. The coordinated control method of a container pressure regulating valve group according to claim 1, characterized in that: 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 regulating speed is consistent with the actual pressure regulating valve with the largest regulating capacity; 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 operating range is 0~100%.

3. The coordinated control method of a container pressure regulating valve group according to claim 2, characterized in that: The proportional coefficient of the proportional scaling is the maximum flow coefficient of the virtual pressure regulating valve divided by the maximum flow coefficient of the actual pressure regulating valve with the largest diameter.

4. The coordinated control method of a container pressure regulating valve group according to claim 1, characterized in that: The ratio of the maximum diameter of the actual pressure regulating valve to the minimum diameter of the actual pressure regulating valve is greater than or equal to 1.

5.

5. The coordinated control method of a container pressure regulating valve group according to claim 1, characterized in that: After 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, the method for adjusting the small-diameter actual pressure regulating valve is as follows: A first working range and a second working range are set 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 is adjusted 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 is adjusted in the second working range to reduce the frequency of switching between actual pressure regulating valves of different diameters.

6. The coordinated control method of a container pressure regulating valve group according to claim 1, characterized in that: According to the flow coefficient instruction 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 instruction value of each actual pressure regulating valve is as follows: the flow coefficient instruction of the virtual pressure regulating valve is assigned 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 equivalent to one large-diameter pressure regulating valve, and then the flow coefficient instruction of the virtual pressure regulating valve is assigned to the equivalent large-diameter pressure regulating valve and the small-diameter actual pressure regulating valve, and then the flow coefficient instruction of the equivalent large-diameter pressure regulating valve is assigned to the large-diameter actual pressure regulating valves.

7. The coordinated control method of a container pressure regulating valve group according to claim 6, characterized in that: The parameter setting method of an equivalent large-caliber pressure regulating valve is the same as the parameter setting method of the single virtual pressure regulating valve.

8. The coordinated control method of a container pressure regulating valve group according to claim 1 or 6, characterized in that: When adjusting the opening command value of each actual pressure regulating valve, 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. 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; c. When the large-diameter actual pressure regulating valve is closed, the reduction demand is carried out 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 operation.

9. The coordinated control method of a container pressure regulating valve group according to claim 6, characterized in that: Use any of the following methods to distribute the flow coefficient instructions of the equivalent large-diameter pressure regulating valve to the actual pressure regulating valves of each large diameter: a. Equally distribute the flow coefficient instructions of the equivalent large-diameter pressure regulating valves to all large-diameter actual pressure regulating valves; b. If the flow rate needs to be increased, the large-diameter actual pressure regulating valve with the smallest current command value is adjusted first. If the flow rate needs to be reduced, the valve with the largest current command value is adjusted first. If the flow rate change is less than or equal to the preset threshold, only one large-diameter actual pressure regulating valve is adjusted. If the flow rate change is greater than the preset threshold, multiple large-diameter actual pressure regulating valves are adjusted simultaneously.

10. The coordinated control system of the container pressure regulating valve group is characterized in that: include: An equivalent module, used to convert a valve group consisting of multiple actual pressure regulating valves into a single virtual pressure regulating valve, wherein 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 is used to design a control law based on a single virtual pressure regulating valve and calculate a flow coefficient command value of the virtual pressure regulating valve; The second calculation module is used to calculate the flow coefficient command value of each actual pressure regulating valve based on 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, and convert the flow coefficient command value into the opening command value of each actual pressure regulating valve for adjustment; and convert the equivalent actual flow coefficient of the virtual pressure regulating valve based on the actual opening feedback value of each actual pressure regulating valve; The feedback module is used to 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.

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