Valve electric reset control method and device

Abstract

The invention provides an electric reset control method and device for a valve, and relates to the technical field of valve control, the method comprises the following steps: step 1, monitoring a power supply state and a reset triggering condition of the valve in real time, and when the reset condition is met, generating a reset instruction; step 2, according to the reset instruction, controlling an electric actuating mechanism to drive a valve to execute a reset action, and acquiring valve position and motor state data in real time; and step 3, based on the valve position and the motor state data, selecting a plurality of key operation state samples, constructing a dynamic performance feature set, and performing partition modal analysis on the dynamic performance feature set to generate self-adaptive correction parameters. The valve resetting reliability and accuracy are improved, the operation safety of an industrial pipeline is guaranteed, and the operation and maintenance cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of valve control technology, and in particular to a valve electric reset control method and device. Background Technology

[0002] In steam shut-off valves of industrial steam pipeline systems, traditional electric valve reset technology mostly relies on a single triggering condition, such as responding only to power failure signals or local manual triggering. It rarely simultaneously accommodates multiple triggering requirements such as remote commands and equipment fault warnings. For example, a chemical plant's steam pipeline system uses a traditional electric reset shut-off valve that only supports automatic reset after power failure. During one system operation, the central control room detected a sudden rise in pipeline steam pressure to 2.3 MPa through a pressure sensor, exceeding the safety threshold of 0.3 MPa. Remote triggering of valve reset was required to cut off the steam supply. However, because traditional technology does not support remote reset commands, manual operation was the only option. By the time personnel arrived on site, the pipeline seals had already experienced slight leakage due to the high pressure. Although no major accident occurred, it increased maintenance costs and system downtime.

[0003] In addition, traditional technologies mostly use controllers with fixed parameters when resetting valves, without dynamically analyzing the valve position and motor status data during the reset process, and without adjusting the control strategy for different operating stages. When the valve load changes due to pipeline pressure and medium viscosity, the reset position is prone to deviation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a valve electric reset control method and device to improve the timeliness and stability of valve reset and reduce the risk of reset interruption and position deviation.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A first aspect includes a valve electric reset control method, the method comprising: Step 1: Monitor the power supply status and reset trigger conditions of the valve in real time. When the reset conditions are met, generate a reset command. Step 2: According to the reset command, control the electric actuator to drive the valve to perform the reset action, and obtain valve position and motor status data in real time; Step 3: Based on valve position and motor status data, select multiple key operating status samples, construct a dynamic performance feature set, and perform partitioned modal analysis on the dynamic performance feature set to generate adaptive correction parameters; Step 4: Based on the adaptive correction parameters, a sliding mode controller based on the reaching law is used to control the motor position. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. Step 5: If a main power failure is detected during the reset process, immediately switch to backup power supply, while maintaining the reset power through mechanical energy storage device, and achieve seamless power switching through power management circuit. Step 6: After the reset action is completed, determine whether the valve has reached the preset reset position based on the feedback information from the position sensor, and send the reset result status to the local monitoring terminal via IoT communication.

[0006] Secondly, a valve electric reset control device includes: The monitoring module is used to monitor the power status and reset trigger conditions of the valve in real time. When the reset conditions are met, a reset command is generated. The control module is used to control the electric actuator to drive the valve to perform a reset action according to the reset command, and to acquire valve position and motor status data in real time. The analysis module is used to select multiple key operating state samples based on valve position and motor status data, construct a dynamic performance feature set, perform partitioned modal analysis on the dynamic performance feature set, and generate adaptive correction parameters. The adaptive module is used to control the motor position based on the adaptive correction parameters and the sliding mode controller based on the reaching law. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. The protection module is used to immediately switch to backup power supply if the main power failure is detected during the reset process. At the same time, it maintains the reset power in conjunction with the mechanical energy storage device, and achieves seamless power supply switching through the power management circuit. The feedback module is used to determine whether the valve has reached the preset reset position based on the feedback information from the position sensor after the reset action is completed, and to send the reset result status to the local monitoring terminal through IoT communication.

[0007] Thirdly, a computing device includes: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method.

[0008] Fourthly, a computer-readable storage medium storing a program that, when executed by a processor, implements the method.

[0009] The above-described solution of the present invention has at least the following beneficial effects: It supports multiple reset trigger conditions, such as power failure signals, remote reset commands, and local manual reset signals, and can flexibly respond to different reset requirements in industrial scenarios. During the reset process, it acquires valve position and motor status data in real time, selects key operating state samples to construct a dynamic performance feature set, performs partitioned modal analysis to generate adaptive correction parameters, and then combines a sliding mode controller based on the reaching law to realize motor position control. At the same time, it identifies rotational inertia and load torque in real time to dynamically adjust speed loop control parameters, allowing control parameters to be flexibly adjusted according to changes in operating conditions, effectively dealing with problems such as load fluctuations and speed changes during valve operation, and improving reset accuracy.

[0010] The main power supply status is monitored in real time by a power monitoring circuit. Once the main power supply voltage drops below a preset threshold, the power management circuit is immediately triggered to switch to the backup power supply. At the same time, the mechanical energy storage device is activated to maintain the power output of the electric actuator. The capacitor buffer unit smooths out voltage fluctuations during power supply switching, achieving seamless connection between the main and backup power supplies. This reduces the stalling of the reset action caused by power interruption or switching fluctuations when switching to a single power supply or a simple backup power supply. After the reset action is completed, the current position data of the valve is obtained through the position sensor. After filtering and calibration, it is compared with the preset reset position reference value to accurately determine whether the reset was successful. At the same time, the judgment result and key operating data during the reset process are encapsulated into a data packet and sent to the local monitoring terminal via IoT communication. The valve reset status can be monitored in real time at the monitoring terminal, improving operation and maintenance efficiency. If the reset fails, the problem can be investigated in time based on the feedback key data, shortening the fault handling time. Attached Figure Description

[0011] Figure 1 This is a schematic flowchart of a valve electric reset control method provided by an embodiment of the present invention.

[0012] Figure 2 This is a schematic diagram of a valve electric reset control device provided in an embodiment of the present invention. Detailed Implementation

[0013] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0014] like Figure 1 As shown, an embodiment of the present invention proposes a valve electric reset control method, the method comprising the following steps: Step 1: Monitor the power supply status and reset trigger conditions of the valve in real time. When the reset conditions are met, generate a reset command. Step 2: According to the reset command, control the electric actuator to drive the valve to perform the reset action, and obtain valve position and motor status data in real time; Step 3: Based on valve position and motor status data, select multiple key operating status samples, construct a dynamic performance feature set, and perform partitioned modal analysis on the dynamic performance feature set to generate adaptive correction parameters; Step 4: Based on the adaptive correction parameters, a sliding mode controller based on the reaching law is used to control the motor position. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. Step 5: If a main power failure is detected during the reset process, immediately switch to backup power supply, while maintaining the reset power through mechanical energy storage device, and achieve seamless power switching through power management circuit. Step 6: After the reset action is completed, determine whether the valve has reached the preset reset position based on the feedback information from the position sensor, and send the reset result status to the local monitoring terminal via IoT communication.

[0015] In this embodiment of the invention, multiple reset triggering conditions are supported, such as power failure signals, remote reset commands, and local manual reset signals. This allows for flexible response to different reset requirements in industrial scenarios. During the reset process, valve position and motor status data are acquired in real time. Key operating state samples are selected to construct a dynamic performance feature set. Partitioned modal analysis is then performed to generate adaptive correction parameters. Combined with a sliding mode controller based on the reaching law, motor position control is achieved. Simultaneously, the moment of inertia and load torque are identified in real time to dynamically adjust the speed loop control parameters, allowing the control parameters to be flexibly adjusted according to changes in operating conditions. This effectively addresses issues such as load fluctuations and speed changes during valve operation, thereby improving reset accuracy.

[0016] The main power supply status is monitored in real time by a power monitoring circuit. Once the main power supply voltage drops below a preset threshold, the power management circuit is immediately triggered to switch to the backup power supply. At the same time, the mechanical energy storage device is activated to maintain the power output of the electric actuator. The capacitor buffer unit smooths out voltage fluctuations during power supply switching, achieving seamless connection between the main and backup power supplies. This reduces the stalling of the reset action caused by power interruption or switching fluctuations when switching to a single power supply or a simple backup power supply. After the reset action is completed, the current position data of the valve is obtained through the position sensor. After filtering and calibration, it is compared with the preset reset position reference value to accurately determine whether the reset was successful. At the same time, the judgment result and key operating data during the reset process are encapsulated into a data packet and sent to the local monitoring terminal via IoT communication. The valve reset status can be monitored in real time at the monitoring terminal, improving operation and maintenance efficiency. If the reset fails, the problem can be investigated in time based on the feedback key data, shortening the fault handling time.

[0017] In a preferred embodiment of the present invention, step 1 above, which involves real-time monitoring of the valve's power supply status and reset trigger conditions, and generating a reset command when the reset conditions are met, may include: In this embodiment of the invention, firstly, real-time monitoring of the power supply status is achieved by continuously collecting voltage and current signals of the main power supply and the backup power supply. The monitoring device acquires the electrical parameters output by the power supply at fixed short time intervals, such as every 10 milliseconds, and compares the real-time values ​​with preset normal threshold ranges, such as the normal voltage range of the main power supply and the allowable current fluctuation range, in order to determine whether the main power supply is in an effective power supply state and whether the backup power supply is ready. At the same time, the changing trend of the power supply status is recorded, such as whether the voltage continues to drop or whether there are abnormal situations such as momentary power outages.

[0018] Secondly, for real-time monitoring of reset trigger conditions, signals from multiple trigger sources need to be handled simultaneously. For power failure signals, the power status monitoring results are directly correlated. When the main power supply voltage is lower than the preset failure threshold, such as 70% of the normal voltage, and remains below this threshold for more than a set duration, such as 50 milliseconds, it is determined to be a trigger signal. For remote reset commands, data is continuously received through the communication link with the central control room, and the incoming command frames are parsed. If the command frame contains a preset reset command code, such as a specific byte sequence, and the verification passes, it is identified as a valid trigger. For local manual reset signals, the status of the manual reset button installed on the valve control box is monitored. When the button is pressed, a closed circuit signal is generated. After the monitoring device detects the change in the continuity of this signal, it is determined to be a trigger condition. In addition, if the system needs to respond to equipment fault warnings, such as pipeline overpressure or media leakage, it continuously receives real-time data from associated sensors, such as pressure sensors and flow sensors. When the data exceeds the safety threshold and is filtered to confirm that it is not a false alarm, it is also used as a trigger condition.

[0019] During the monitoring process, the aforementioned power status information and various trigger signals are aggregated in real time to the judgment stage. This stage uses OR logic evaluation, meaning that as long as any reset trigger condition is met, such as detecting a power failure signal, receiving a valid remote command, pressing a local button, or triggering a fault warning, and the power status display shows that at least one power source (main power or backup power) can support the reset action, it is determined that the reset condition is met. When the reset condition is met, a reset command is immediately generated. The command includes the trigger source identifier and the command generation timestamp, and is output according to the preset electrical signal format. This command is directly transmitted to the control circuit of the valve's electric actuator to initiate the reset action. At the same time, the command information is synchronously recorded to the local storage unit for traceability.

[0020] In a preferred embodiment of the present invention, step 2 above, which involves controlling the electric actuator to drive the valve to perform a reset action according to the reset command, and acquiring valve position and motor status data in real time, may include: In this embodiment of the invention, step 220 involves acquiring the motor control signal corresponding to the reset command, and based on the motor control signal, driving the motor of the electric actuator to rotate, thereby enabling the transmission mechanism to move the valve to the reset position. Specifically, this includes: first, the valve control unit receives the generated reset command, extracting key information related to motor operation from the reset command. This information includes the reset position the valve needs to move to, the initial operating speed of the motor determined by the trigger source (e.g., if the trigger source is a pipeline overpressure fault warning, the initial speed is set to 80% of the motor's rated speed to achieve rapid reset; if the trigger source is a regular local manual command, the initial speed is set to 50% of the motor's rated speed to ensure stable operation), and the motor rotation direction, determined based on the relationship between the current valve position and the reset position. If the current valve position is on the open side of the reset position, the motor... The valve needs to be rotated in the opposite direction to move it to the closed position and back to the reset position. Conversely, it needs to be rotated in the forward direction to generate a motor control signal. Then, the control unit transmits the motor control signal to the motor drive circuit of the electric actuator. The motor drive circuit outputs the corresponding voltage and current according to the control signal. For example, if the control signal requires the motor to rotate in the forward direction at 50% of the rated speed, the drive circuit outputs the corresponding voltage and current values ​​to give the motor the corresponding driving torque and drive the motor to rotate in the set direction and speed. When the motor rotates, it drives the transmission mechanism, such as the gear reduction mechanism and the lead screw transmission mechanism, through the coupling. The gear reduction mechanism converts the high-speed rotation of the motor into low-speed, high-torque rotational motion, and then the lead screw transmission mechanism converts the rotational motion into linear motion, thereby pushing the valve stem to move and driving the valve core to move to the preset reset position.

[0021] Step 221: During the process of the motor rotating and driving the valve to move, the displacement of the valve is detected in real time by a position sensor to obtain the original position data. Specifically, this includes: installing a linear displacement sensor next to the valve stem. This sensor is dustproof, waterproof, and high-temperature resistant to adapt to the high-temperature and high-humidity environment of industrial steam pipeline systems. The sensor's detection probe is fixedly connected to the valve stem to ensure that the probe moves synchronously with the valve stem. Throughout the entire process of the motor driving the valve to move, the position sensor continuously detects the displacement of the valve stem at a frequency of once every 10 milliseconds. The detected displacement physical quantity, such as the number of millimeters the valve stem moves, is converted into a corresponding electrical signal, such as a voltage signal. For every 1 millimeter increase in displacement, the voltage signal increases by 0.1 volts. This electrical signal is the original position data. At the same time, the sensor will record each data acquisition... The time information of the raw position data is transmitted together with the raw position data to the storage of the control unit to form a continuous raw position data sequence, ensuring that the displacement changes during the valve movement process can be completely recorded.

[0022] Step 222 involves digitally filtering the raw position data to obtain real-time valve position information, and calculating the valve's moving speed based on this information. Specifically, the control unit's signal processing unit retrieves continuous raw position data from storage and processes it using a moving average filtering method. Specifically, the most recent 10 consecutive raw position data points are selected as a group, the values ​​corresponding to these 10 data points are added together, and the sum is divided by 10. The calculated average value is the filtered real-time valve position information. Following this method, for each newly acquired raw position data point, the oldest data point is discarded, and a new group is formed. Ten raw position data points are used, and the above summation and division operations are repeated to continuously obtain real-time valve position information. Then, the valve movement speed is calculated, with the time interval between two adjacent real-time valve position data points as the time change. Since the position sensor acquisition frequency is fixed at once every 10 milliseconds, the time change is fixed at 10 milliseconds. The value corresponding to the real-time valve position information of the next time is subtracted from the value corresponding to the real-time valve position information of the previous time to obtain the displacement change. The displacement change is then divided by the time change, and the result is the valve movement speed within that time period. The above displacement change and movement speed calculation process is repeated after each new real-time valve position data is obtained to continuously acquire the valve movement speed.

[0023] Step 223: Based on the movement speed, the motor controller collects the motor's operating parameters to obtain raw motor status data, including current, voltage, speed, and torque. Specifically, this includes: establishing data communication between the motor controller and the control unit, and receiving valve movement speed data transmitted by the control unit in real time. When the valve movement speed is fast, exceeding a preset 5 mm / s, the motor controller sets the motor operating parameter collection frequency to once every 5 milliseconds; when the valve movement speed is slow, below 2 mm / s, the collection frequency is set to once every 20 milliseconds to adapt to the motor monitoring needs under different operating conditions. For motor current, the motor controller collects the current signal through a current sampling resistor connected in series in the motor power supply circuit, converts the current signal into corresponding values, and obtains the raw current data. For motor voltage, the voltage signal is collected through a voltage sampling circuit connected in parallel at the motor power supply input terminal, and converted into values. The system obtains raw voltage data. For motor speed, the motor controller receives signals from a speed sensor, such as a Hall sensor, mounted on the motor shaft. It calculates the motor speed based on the number of pulses output by the sensor per unit time, thus obtaining raw speed data. For motor torque, the motor controller, based on the collected raw current and speed data, and combined with the motor's rated parameters, such as rated power and rated speed, multiplies the current value by a specific coefficient. This coefficient is preset according to the motor design parameters, such as a torque base of 0.5 N·m for every 1 ampere of current. It then corrects the torque value by combining it with the speed data. For every 100 rpm increase in speed, the torque value is finely adjusted by 0.02 times to obtain the raw torque data. Finally, the motor controller integrates the collected raw current, voltage, speed, and torque data, along with the corresponding acquisition time information, into raw motor status data and transmits it to the storage of the control unit.

[0024] Step 224: Preprocess the raw motor status data to obtain real-time motor status data. Specifically, this includes: the control unit's data analysis unit retrieves the raw motor status data from storage, first performing outlier removal processing, and presetting normal ranges for each motor operating parameter. For example, the normal range for motor current is 0.2 to 1.2 times the rated motor current, the normal range for voltage is 0.9 to 1.1 times the rated voltage, the normal range for speed is 0 to 1.1 times the rated speed, and the normal range for torque is 0 to 1.2 times the rated torque. The parameter values ​​in each raw motor status data point are compared with their corresponding normal ranges. If a parameter value exceeds the normal range... If the data is within the normal range, it is considered abnormal and replaced with the preceding normal parameter value. After removing the abnormal value, data calibration is performed. Based on the calibration parameters of the motor at the factory, such as a voltage calibration coefficient of 1.02, a current calibration coefficient of 0.98, a speed calibration coefficient of 1.01, and a torque calibration coefficient of 1.03, the parameter values ​​after removing the abnormal value are multiplied by the corresponding calibration coefficient to obtain the calibrated parameter values. Finally, the calibrated current, voltage, speed, and torque values ​​are integrated with the corresponding acquisition time information to form real-time motor status data, which is stored in the real-time database of the control unit for use in the control process.

[0025] The motor's running direction and initial speed are precisely determined based on the reset command, ensuring a high degree of compatibility between the electric actuator's drive and the valve's reset requirements. The original position data of the valve displacement is collected in real time and at high frequency by a position sensor, completely recording the displacement changes during the valve's movement. The moving speed is calculated based on the real-time position information, allowing for real-time monitoring of the valve's movement speed. The frequency of motor operating parameter acquisition is dynamically adjusted based on the valve's moving speed, ensuring comprehensive data acquisition while avoiding unnecessary high-frequency acquisition that would waste resources, thus improving the stability and accuracy of valve reset control.

[0026] In a preferred embodiment of the present invention, step 3 above, which involves selecting multiple key operating state samples based on valve position and motor status data to construct a dynamic performance feature set, and performing partitioned modal analysis on the dynamic performance feature set to generate adaptive correction parameters, may include: In this embodiment of the invention, step 330 involves selecting key operating state samples from the valve position and motor status data according to a time sequence, obtaining sample data including the start-up phase, the uniform speed operation phase, and the deceleration and stop phase. Specifically, this includes: first, the control unit retrieves complete time sequence data of the valve reset process from the real-time database. This data includes real-time valve position information ordered chronologically, such as displacement data every 10 milliseconds, and real-time motor status data, such as current, speed, and torque data every 5-20 milliseconds. Next, the operation is divided into three phases based on the characteristics of the valve's moving speed. The start-up phase refers to the process from the initial moment when the motor starts rotating, corresponding to the valve starting to move, until the valve's moving speed reaches a preset uniform speed threshold. The uniform speed threshold is set according to the valve type. For industrial steam shut-off valves, this threshold is usually 80% of the rated moving speed. For example, if the rated speed is 5 mm / s, the uniform speed threshold is 4 mm / s. All data from the time series showing the speed rising from 0 to 4 mm / s are used as the raw data for the start-up phase. The uniform speed operation phase refers to the process where the valve moving speed stabilizes within the uniform speed threshold ±5%, such as 4 mm / s ± 0.2 mm / s. Continuous data between 3.8 and 4.2 mm / s are selected from the time series. When 20 consecutive data points, corresponding to 200 milliseconds, all meet this range, the valve is considered to have entered the uniform speed phase. This phase ends when the speed drops below 3.8 mm / s. This data is the raw data for the uniform speed phase.

[0027] The deceleration and stopping phase refers to the process from when the valve's moving speed drops below 90% of the constant speed threshold, such as 3.6 mm / s, until the valve completely stops moving. All data points from the time series showing the speed decreasing from 3.6 mm / s to 0 are extracted as the raw data for the deceleration and stopping phase. Then, samples are selected from the raw data for each phase. For the start-up phase, one sample is selected for every two raw data points (one sample every 20 milliseconds) to ensure coverage of the complete speed increase from 0 to the threshold, for a total of 30 samples. For the constant speed phase, one sample is selected for every five raw data points (one sample every 50 milliseconds), for a total of 50 samples to reflect the stable operating state. The deceleration and stopping phase is the same as the start-up phase, with 30 samples selected for every 20 milliseconds, covering the complete speed decrease from the threshold to 0. Each sample includes the valve position, moving speed, motor current, voltage, rotational speed, torque data at the corresponding moment, as well as the timestamp at that moment, ultimately forming sample datasets for the three phases.

[0028] Step 331: Extract features from the sample data to obtain dynamic performance features including velocity change rate, acceleration, torque fluctuation, and position deviation. Specifically, this includes: First, extracting the velocity change rate. For the sample data of each stage, take the moving velocity values ​​of two adjacent samples in chronological order. Subtract the velocity value of the previous sample from the velocity value of the later sample to obtain the velocity difference. Then, divide this difference by the time interval between the two samples. The time interval is 20 milliseconds (0.02 seconds) for the start-up and deceleration stages and 50 milliseconds (0.05 seconds) for the constant speed stage. The result is the velocity change rate between the two samples. For example, in the start-up stage, the velocities of adjacent samples are 1.2 mm / s and 1.8 mm / s, with a time interval of 0.02 seconds. The velocity change rate is (1.8 - 1.2) ÷ 0.02 = 30 mm / s. 2 This calculation is repeated for all adjacent samples in each stage to obtain the velocity change rate feature corresponding to each sample. Next, acceleration is extracted; acceleration is the change in velocity change rate. Two adjacent velocity change rate values ​​are taken, and the difference between the previous and subsequent rates of change is obtained. This difference is then divided by the corresponding time interval, which is consistent with the time interval for velocity change rates, to obtain the acceleration. For example, in the start-up stage, adjacent velocity change rates are 30 mm / s. 2 and 35 mm / s 2 The time interval is 0.02 seconds, and the acceleration is (35-30)÷0.02=250 mm / s². 3 The acceleration characteristics are obtained by repeating the calculation on the sample data of each stage.

[0029] Then, torque fluctuations are extracted. First, the average torque value of all samples in each stage is calculated. The actual torque value of each sample is subtracted from this average value to obtain the torque deviation of a single sample. Next, the maximum and minimum torque deviations of all samples in each stage are calculated. The maximum value is subtracted from the minimum value to obtain the torque fluctuation range of that stage. For example, the torque values ​​of 10 samples in the constant speed stage are 3.0, 3.2, 3.1, 3.3, 3.0, 3.2, 3.1, 3.4, 3.2, and 3.1 N·m, with an average value of 3.15 N·m. The deviations of each sample are -0.15, 0.05, -0.05, 0.15, -0.15, 0.05, -0.05, 0.25, 0.05, and -0. 05. The difference between the maximum value of 0.25 and the minimum value of -0.15 is 0.4 N·m, meaning the torque fluctuation in this stage is 0.4 N·m. Finally, the position deviation is extracted. The control unit has a pre-stored ideal position trend for the valve reset process. For each sample, the corresponding ideal position value is found in the ideal position trend based on the timestamp. The actual position value of the sample is subtracted from the ideal position value to obtain the position deviation. For example, if the timestamp of a sample is 1.5 seconds, the ideal position is 10 mm, the actual position is 9.8 mm, and the position deviation is 9.8 - 10 = -0.2 mm. Through the above calculation, the sample data of each stage can be extracted to obtain four dynamic performance characteristics: rate of change of velocity, acceleration, torque fluctuation, and position deviation.

[0030] Step 332 involves integrating the dynamic performance features to construct a dynamic performance feature set. This set is then divided according to operating conditions to obtain multiple corresponding modal regions. Specifically, this includes: firstly, constructing the dynamic performance feature set by integrating all dynamic performance features extracted in step 331 for the three stages according to time series, forming a complete dataset containing timestamps, stage identifiers (start / constant speed / deceleration), rate of change of velocity, acceleration, torque fluctuation, and position deviation. For example, a record in the set might be dated 16:30:25.200, representing the start-up stage, with a rate of change of velocity of 30 mm / s. 2 Acceleration 250 mm / s 3 With a torque fluctuation of 0.3 N·m and a position deviation of -0.1 mm, this set covers the key dynamic characteristics of the entire valve reset process and can fully reflect the operating status at different stages.

[0031] Then, the operating conditions are divided into modal regions. The operating conditions are determined based on the actual operating parameters of the industrial steam pipeline system, including pipeline steam pressure (low pressure 0.5-1.0MPa, medium pressure 1.0-2.0MPa, high pressure 2.0-3.0MPa) and medium temperature (normal temperature 100-200℃, high temperature 200-300℃), which are combined into 6 operating conditions (low pressure normal temperature, low pressure high temperature, medium pressure normal temperature, medium pressure high temperature, high pressure normal temperature, and high pressure high temperature). The control unit obtains real-time pressure and temperature data from the pipeline sensors and adds a corresponding operating condition identifier to each record in the dynamic performance characteristic set. For example, if a record corresponds to a pipeline pressure of 2.3MPa and a temperature of 250℃, it is identified as a high pressure high temperature operating condition.

[0032] Finally, the dynamic performance feature set is divided according to the working condition and stage identifiers. Feature records of the same working condition and the same stage are grouped into a modal region. For example, all feature records of the start-up stage under high pressure and high temperature working condition form the high pressure and high temperature start-up modal region; all feature records of the uniform speed stage under medium pressure and normal temperature working condition form the medium pressure and normal temperature uniform speed modal region. Each modal region contains complete feature data of speed change rate, acceleration, torque fluctuation and position deviation under that specific working condition and stage, ultimately forming 18 modal regions (6 working conditions × 3 stages).

[0033] Step 333 involves performing modal analysis on multiple corresponding modal regions, calculating the deviation between the actual characteristic parameters and the preset ideal parameters in each mode, and generating adaptive correction parameters based on the deviation to adjust the controller's response characteristics. Specifically, this includes: firstly, setting preset ideal parameters for each modal region. These ideal parameters are determined based on the valve's design performance under standard operating conditions (medium pressure, normal temperature), and are corrected for different operating conditions and stages. For example, the ideal rate of change of speed during the startup stage is set to 25 mm / s. 2 (Due to the large load under high-pressure conditions, the ideal value is corrected to 20 mm / s) 2 The ideal torque fluctuation during the constant speed phase is set to 0.2 N·m (corrected to 0.3 N·m under high temperature conditions due to increased medium viscosity); the ideal position deviation during the deceleration phase is set to ±0.1 mm (applicable to all conditions). These ideal parameters are pre-stored in the parameter library of the control unit and correspond one-to-one with the modal regions.

[0034] Next, the deviation between the actual and ideal characteristic parameters is calculated. For all characteristic records in each modal region, the average value of the actual characteristic parameters is calculated. For example, the average actual velocity change rate in the high-pressure, high-temperature-start modal region is 18 mm / s. 2 Subtracting the corresponding preset ideal parameter value from this average value, the ideal velocity change rate in this region is 20 mm / s. 2 The deviation value is obtained as 18-20=-2 mm / s.2 For each modal region, the four characteristics of velocity change rate, acceleration, torque ripple, and position deviation are calculated separately to obtain the deviation value for each characteristic. Then, adaptive correction parameters are generated based on these deviation values. These correction parameters include a velocity loop proportional gain correction coefficient, an integral gain correction coefficient, a torque compensation coefficient, and a position compensation coefficient, each corresponding to the deviation of one of the four characteristics. The calculation rule is as follows: when the deviation is positive (actual parameter greater than ideal parameter), the correction coefficient = 1 - (deviation value ÷ ideal parameter value); when the deviation is negative (actual parameter less than ideal parameter), the correction coefficient = 1 + (absolute value of deviation value ÷ ideal parameter value). For example, the velocity change rate deviation in the high-pressure, high-temperature start-up modal region is -2 mm / s. 2 The ideal parameter is 20 mm / s. 2 The speed loop proportional gain correction coefficient = 1 + (2 ÷ 20) = 1.1; if the torque fluctuation deviation in a certain region is 0.1 N·m (ideal value 0.2 N·m), the torque compensation coefficient = 1 - (0.1 ÷ 0.2) = 0.5; finally, the four correction coefficients of each modal region are integrated to form the adaptive correction parameter group of that region, which is stored in the correction parameter library of the control unit. When the valve is running under a certain working condition, the control unit calls the corresponding correction parameter group according to the current working condition and the stage it is in, so as to adjust the response characteristics of the controller in real time.

[0035] By dividing the process into three stages—start-up, constant speed, and deceleration—based on a time series and selecting samples, the operating characteristics of different stages during valve reset can be accurately captured. The extracted speed change rate, acceleration, torque fluctuation, and position deviation characteristics can comprehensively reflect the dynamic performance of valve operation. By dividing the operating conditions into modal regions, the dynamic performance characteristics are accurately correlated with specific operating conditions. Each region corresponds to the operating characteristics under specific operating conditions. Through modal analysis, the deviation between actual characteristics and ideal parameters is calculated and correction parameters are generated, enabling the controller to dynamically adjust its response characteristics according to the deviation.

[0036] In a preferred embodiment of the present invention, step 4 above, based on adaptive correction parameters, uses a sliding mode controller based on a reaching law to control the motor position. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. This step may include: In this embodiment of the invention, step 440, based on adaptive correction parameters, initializes the sliding surface parameters and reaching law parameters of the sliding mode controller to obtain the parameter-initialized sliding mode controller; specifically, this includes: first, the control unit retrieves the adaptive correction parameter group corresponding to the current operating condition and stage from the correction parameter library. This parameter group includes speed loop proportional gain correction coefficient, integral gain correction coefficient, torque compensation coefficient, and position compensation coefficient; then, it initializes the sliding surface parameters, which include position proportional coefficient and speed proportional coefficient, used to construct the sliding surface. The sliding surface reflects the comprehensive deviation between the motor position and speed and the target value. The initial value of the coefficient is the standard value (determined according to the valve design, such as 0.8) multiplied by the position compensation coefficient (such as 1.1). The calculation method is that the position proportional coefficient is equal to the standard value multiplied by the position compensation coefficient. The initial value of the speed proportional coefficient is the standard value (such as 0.5) multiplied by the speed loop proportional gain correction coefficient (such as 1.2). The calculation method is that the speed proportional coefficient is equal to the standard value multiplied by the speed loop proportional gain correction coefficient. For example, the standard position proportional coefficient 0.8 multiplied by the position compensation coefficient 1.1 yields an initial position proportional coefficient of 0.88; the standard speed proportional coefficient 0.5 multiplied by the proportional gain correction coefficient 1.2 yields an initial speed proportional coefficient of 0.6.

[0037] Then, initialize the approach law parameters, which include the approach rate coefficient and the switching gain, used to control the speed at which the motor approaches the sliding surface. The initial value of the approach rate coefficient is the standard value (e.g., 1.0) multiplied by the torque compensation coefficient (e.g., 0.9). The calculation method is that the approach rate coefficient equals the standard value multiplied by the torque compensation coefficient. The initial value of the switching gain is the standard value (e.g., 2.0) multiplied by the integral gain correction coefficient (e.g., 1.3). The calculation method is that the switching gain equals the standard value multiplied by the integral gain correction coefficient. For example, the standard approach rate coefficient of 1.0 multiplied by the torque compensation coefficient of 0.9 yields the initial approach rate coefficient of 0.9; the standard switching gain of 2.0 multiplied by the integral gain correction coefficient of 1.3 yields the initial switching gain of 2.6. Input the calculated position proportional coefficient, speed proportional coefficient, approach rate coefficient, and switching gain into the sliding mode controller to complete the parameter initialization and obtain the parameter-initialized sliding mode controller. This controller can generate the initial control signal according to the current operating condition characteristics.

[0038] Step 441: Based on the parameter-initialized sliding mode controller, calculate the deviation between the current position and the target position of the motor, and generate a motor position control signal. Specifically, this includes: First, the control unit obtains the current position data of the motor from the real-time database. This data comes from the filtered valve position information, such as the current position being 15 mm. It also retrieves the preset target position, i.e., the reset position, such as the fully closed position being 0 mm. The deviation between the current position and the target position is calculated by subtracting the target position from the current position. For example, 15 mm minus 0 mm gives a position deviation of 15 mm. Simultaneously, the current speed data of the motor is obtained from the moving speed calculated in step 222, such as the current speed being 3 mm / s. The target speed is determined based on the target position, such as the target speed being 0.5 mm / s when approaching the target position. The speed deviation is calculated by subtracting the target speed from the current speed. For example, 3 mm / s minus 0.5 mm / s gives a speed deviation of 2.5 mm / s.

[0039] The sliding mode controller calculates the sliding surface value based on the initialized sliding surface parameters. The sliding surface value is equal to the position proportional coefficient multiplied by the position deviation, acceleration proportional coefficient multiplied by the velocity deviation. For example, 0.88 multiplied by 15 mm plus 0.6 multiplied by 2.5 mm / s yields a sliding surface value of 13.2 plus 1.5 equals 14.7. Next, the controller calculates the control quantity based on the reaching law parameters. The control quantity is equal to the reaching rate coefficient multiplied by the sliding surface value plus the switching gain multiplied by the sign of the sliding surface value (1 for a positive value, -1 for a negative value). For example, 0.9 multiplied by 1... 4.7 plus 2.6 multiplied by 1 equals 13.23 plus 2.6 equals 15.83. This control quantity is the torque command that the motor needs to output. Finally, the torque command is converted into a motor position control signal. According to the torque-current relationship of the motor, such as 1 N·m of torque corresponding to 2 Amperes of current, the torque command 15.83 N·m is converted into a current signal. The calculation method is that the current signal is equal to the torque command multiplied by 2 Amperes / N·m, which gives 31.66 Amperes. This current signal is the motor position control signal, used to drive the motor to move to the target position.

[0040] Step 442: Drive the motor to run according to the motor position control signal, and collect the motor's running status data in real time through the motor controller; specifically, the control unit transmits the generated motor position control signal, such as a current command of 31.66 amps, to the motor driver through a shielded cable. After receiving the signal, the driver adjusts the conduction time of its internal power mode and outputs the three-phase AC voltage and current corresponding to the current command, driving the motor to run in the set direction and torque, thereby moving the valve to the target position; during motor operation, the motor controller collects status data in real time at a frequency of once every 5 milliseconds, and collects the three-phase input current through the current sensor, such as 31.5 amps for phase A and 31.7 amps for phase B. The current data is calculated as follows: Phase C is 31.6 amps, and the average value of the three phases is used as the real-time current data; the three-phase input voltage is collected by a voltage sensor, such as 378 volts for phase A, 382 volts for phase B, and 380 volts for phase C, and the average value of the three phases is used as the real-time voltage data; the motor speed is collected by a Hall effect speed sensor, such as 1200 rpm; the motor rotation angle is indirectly obtained by a position sensor, such as 5 mm valve displacement per revolution, and the current rotation angle corresponds to a valve position of 14 mm; the collected data is initially filtered, such as removing instantaneous pulse interference, and then packaged in the format of timestamp-current-voltage-speed-position, and transmitted to the real-time database of the control unit for storage, providing raw data for the identification of rotational inertia and load torque.

[0041] Step 443 involves processing the motor's operating status data and using an adaptive observation algorithm to identify the valve mechanism's rotational inertia and load torque in real time. Specifically, this includes: First, processing the motor status data. The raw status data collected in step 442 is preprocessed. For current and voltage data, spikes caused by electromagnetic interference are removed. For example, when other electrical equipment is near the steam pipe, electromagnetic interference can cause instantaneous peaks in the current data, which need to be smoothed out. For speed data, the difference between two adjacent speed measurements is calculated to obtain the speed change rate. For torque data, torque fluctuations caused by mechanical transmission clearances are removed. For example, gear clearances in the valve transmission mechanism can cause small fluctuations in torque data, which need to be corrected by averaging to ensure that the processed data accurately reflects the operating status of the motor and valve. Next, the input parameters for the adaptive observation algorithm are determined. The processed motor speed, speed change rate, and torque data are used as inputs to the adaptive observation algorithm. Speed ​​and speed change rate reflect the motor's dynamic motion characteristics, while torque data reflects the motor's load-bearing capacity. Combining these three data allows for accurate detection. The algorithm detects changes in the mechanical characteristics of the valve mechanism, such as an increase in valve load torque due to increased steam pressure. Then, it identifies the moment of inertia. Based on the mechanical relationship of torque = moment of inertia × angular acceleration + load torque, the adaptive observation algorithm first subtracts the initially estimated load torque from the current motor torque to obtain the net torque. Then, it divides the net torque by the motor's angular acceleration (derived from the rate of change of speed, which is the difference in speed per unit time; angular acceleration is proportional to the rate of change of speed) to obtain the current moment of inertia of the valve mechanism. If the calculated result is greater than the initial moment of inertia value, it indicates that the valve's rotational resistance has increased due to increased medium viscosity or mechanical wear. For example, the increased medium viscosity after steam condensation leads to an increase in valve moment of inertia. Finally, it identifies the load torque. After obtaining the moment of inertia, it multiplies it by the angular acceleration to obtain the inertial torque. Then, it subtracts the inertial torque from the current motor torque to obtain the actual load torque of the valve mechanism. For example, when the steam pipeline pressure suddenly increases, the medium thrust on the valve increases, and the load torque will increase accordingly. The algorithm can capture this change in real time through the above calculations, ensuring that the identified load torque can match the actual operating conditions of the steam pipeline in real time.

[0042] Step 444: Based on the moment of inertia and load torque, calculate the adjustment amount of the speed loop control parameters and dynamically update the proportional gain and integral gain of the speed loop. Specifically, this includes: First, determining the role of the speed loop control parameters. The proportional gain in the speed loop control parameters determines the motor's response speed to speed deviations; the larger the proportional gain, the faster the speed deviation adjustment. The integral gain determines the motor's ability to eliminate steady-state speed errors; the larger the integral gain, the smaller the steady-state error. Both need to be dynamically adjusted according to the valve's moment of inertia and load torque to adapt to changes in the steam pipeline load. Next, calculate the proportional gain adjustment amount. Based on the identified moment of inertia, set the moment of inertia-proportional gain association rule. If the moment of inertia increases, such as when the valve's rotational resistance increases due to increased medium viscosity, it indicates that the motor needs greater control force to maintain stable speed. In this case, the adjustment amount is calculated as: proportional gain adjustment amount = (current moment of inertia - initial moment of inertia) × proportional coefficient (the proportional coefficient is preset according to the rated load characteristics of the steam shut-off valve). A positive adjustment amount means an increase in the proportional gain. If the moment of inertia decreases, the calculated... A negative adjustment is applied to reduce the proportional gain. Then, the integral gain adjustment is calculated. Based on the identified load torque, a load torque-integral gain correlation rule is set. If the load torque increases, such as due to increased pipeline pressure leading to increased valve load, the motor is prone to steady-state speed error during operation, meaning the actual speed is consistently lower than the target speed. In this case, the adjustment is calculated as: Integral gain adjustment = (current load torque - initial load torque) × integral coefficient (the integral coefficient is preset according to the valve's speed accuracy requirements). A positive adjustment increases the integral gain, enhancing the ability to eliminate steady-state error. If the load torque decreases, a negative adjustment is calculated to reduce the integral gain, preventing speed overshoot caused by integral saturation. Finally, the control parameters are dynamically updated. The calculated proportional gain adjustment is added to the current proportional gain to obtain the updated proportional gain; the integral gain adjustment is added to the current integral gain to obtain the updated integral gain. This update process must be completed in real time to ensure that the speed loop control parameters can adapt to changes in valve rotational inertia and load torque in a timely manner, avoiding a decrease in control accuracy due to parameter lag.

[0043] Step 445: Based on the updated proportional gain and integral gain of the speed loop, adjust the motor speed to achieve adaptive control that changes with load. Specifically, this includes: First, acquiring the current and target motor speeds. The motor's real-time speed is collected by the speed sensor of the motor controller. The target speed is preset based on the requirements of the steam shut-off valve reset phase. For example, the target speed is higher during the start-up phase to quickly move the valve; the target speed is lower during the deceleration and stop phase to avoid overshoot, and this value is stored in the speed loop controller. Next, calculating the speed deviation by subtracting the target speed from the current motor speed. If the deviation is positive, it indicates that the current speed is higher than the target speed (the speed needs to be reduced); if the deviation is negative, it indicates that the current speed is lower than the target speed (the speed needs to be increased). Then, calculating the speed adjustment signal based on the updated parameters, the speed loop controller substitutes the speed deviation into the control logic: Speed ​​Adjustment Signal = Proportional Gain × Speed ​​Deviation + Integral Gain × Accumulated Speed ​​Deviation. The accumulated speed deviation is calculated by substituting the speed deviation into the control logic over a period of time. The value obtained by successively adding the speed deviations reflects the persistence of the deviation. For example, if the updated proportional gain increases and the integral gain increases, and the current speed deviation is negative (speed is too low), then multiplying the proportional gain by the deviation (negative value) will result in a more negative value, and multiplying the integral gain by the cumulative deviation (negative value) will also result in a more negative value. The sum of the two results in a stronger positive speed regulation signal, driving the motor to increase its speed. Finally, the motor operating speed is adjusted, and the above speed regulation signal is transmitted to the motor controller. The motor controller adjusts the output drive current according to the regulation signal. For example, if the regulation signal requires an increase in speed, the drive current is increased, causing the motor speed to rise and driving the valve to move to the reset position at a faster speed; if the regulation signal requires a decrease in speed, the drive current is decreased, causing the motor speed to decrease, ensuring that the valve movement speed is stable. Through this process, even if the valve load fluctuates due to changes in steam pipeline pressure and medium viscosity, the motor speed can be dynamically adjusted to maintain within the target range, realizing adaptive control of the valve reset process according to load changes.

[0044] Parameter initialization enables the sliding mode controller to adapt to the load characteristics of different reset stages of the steam shut-off valve in advance. Position deviation calculation and control signal generation can capture the difference between the motor position and the target position in real time, ensuring that the control signal is adjusted in a targeted manner and improving the directional accuracy of valve reset. Motor drive and status data acquisition enable the controller to sense changes in steam pipeline load in a timely manner. Moment of inertia and load torque identification allow the controller to grasp the changes in the mechanical characteristics of the valve mechanism in real time, and speed adaptive adjustment. Ultimately, it achieves smooth control of motor speed according to load changes, ensuring that the steam shut-off valve can reset at an appropriate speed under different loads and reducing reset position deviation.

[0045] In a preferred embodiment of the present invention, step 5 above, if a main power supply failure is detected during the reset process, immediately switches to backup power supply, while simultaneously maintaining reset power through a mechanical energy storage device, and achieving seamless power supply switching through a power management circuit, may include: In this embodiment of the invention, step 550 involves continuously collecting voltage and current data of the main power supply through a power monitoring circuit, performing real-time analysis of the voltage and current data, and generating a power failure signal when the main power supply voltage is detected to be lower than a preset threshold. Specifically, this includes: first, determining the function and monitoring requirements of the main power supply. The main power supply provides operating power to the electric actuator of the steam shut-off valve in the industrial steam pipeline, and the stability of its voltage and current directly determines whether the valve reset action can continue. The power monitoring circuit needs to continuously collect these two types of data to prevent reset interruption due to main power supply failure, which could lead to pipeline pressure exceeding limits and media leakage. Issues such as these are addressed below. Next, the data acquisition method and frequency are determined. The power monitoring circuit uses built-in voltage and current sensors, connected in series or parallel to the main power supply output circuit. The voltage sensor is connected in parallel to the main power supply output terminal, and the current sensor is connected in series to the main power supply output circuit, continuously acquiring data at a preset acquisition frequency. The acquisition frequency needs to be adapted to the emergency response requirements of the steam shut-off valve reset, typically set to acquire data every 20 to 50 milliseconds to ensure rapid capture of main power supply voltage fluctuations and avoid missing failure precursors due to excessively long acquisition intervals. Then, a preset threshold for the main power supply voltage is set. This threshold needs to be combined with the electric actuator of the steam shut-off valve. The rated operating voltage of the actuator motor is determined. For example, if the rated operating voltage of the motor is 380V, the preset threshold needs to be set to a voltage value that can maintain the minimum operating requirements of the motor. This voltage must be higher than the motor stall voltage to prevent the motor from stopping due to insufficient voltage. Typically, the preset threshold is calculated using the logic: preset threshold = motor rated operating voltage × 0.85, i.e., 380V × 0.85 = 323V. This ensures that the threshold will not falsely trigger a failure signal due to normal voltage fluctuations, nor will it prevent the motor from failing to drive the valve to reset due to excessively low voltage. Afterwards, the collected data is analyzed in real time. The control unit of the power monitoring circuit compares each collected voltage data with the preset threshold. A threshold is set for comparison, and the current data is analyzed to help identify any anomalies. For example, if the current suddenly drops to zero, it may correspond to a main power supply failure. If the voltage data collected three times in a row is lower than the preset threshold, to avoid misjudgment due to a single fluctuation, and the current data simultaneously shows insufficient power supply to the motor, such as the current being lower than 50% of the rated current, it is determined that the main power supply can no longer meet the reset requirements. Finally, a power failure signal is generated. The control unit outputs a high-level or low-level power failure signal based on the above judgment results. The specific level type is set according to the signal reception requirements of the power management circuit, and the signal is transmitted to the power management circuit in real time.

[0046] Step 551: Based on the power failure signal, trigger the switching mechanism of the power management circuit to initiate the conversion process from main power to backup power. Specifically, this includes: First, determining the components of the power management circuit's switching mechanism, which includes a signal receiving unit, a switching control unit, and a bidirectional switching switch, respectively connected to the main power circuit, the backup power circuit, and the electric actuator power supply circuit. The backup power supply typically uses a large-capacity battery pack adapted to the power requirements of the steam shut-off valve reset, such as a 24V or 48V battery pack. The capacity is calculated based on the longest reset action time, and it is normally in a float charge state to ensure sufficient power. Next, signal reception and command transmission: After receiving the power failure signal, the signal receiving unit of the power management circuit immediately converts the signal into an electrical signal recognizable by the switching control unit and transmits it to the switching control unit. The switching control unit must complete signal parsing within 10 milliseconds to avoid power interruption to the electric actuator due to delay, which would affect the valve reset progress. Then, starting the main power supply. The disconnection process begins with the switching control unit sending a command to the bidirectional switching switch to disconnect the main power circuit. The main power side contacts of the bidirectional switching switch open under electromagnetic drive, cutting off the connection between the main power supply and the electric actuator power supply circuit. During disconnection, the current in the main power circuit must be monitored simultaneously to ensure that the current drops to zero before the contacts are completely disconnected, preventing arc damage to the switch contacts. Arcing can cause switch failure and affect the reliability of subsequent switching. Finally, the backup power connection process is initiated. After the main power circuit contacts are completely disconnected, the switching control unit immediately sends a command to the bidirectional switching switch to connect the backup power circuit. The backup power side contacts of the bidirectional switching switch close, supplying power from the backup power supply to the electric actuator power supply circuit. After connection, the output voltage of the backup power supply must be monitored in real time to ensure that the voltage remains stable within the operating voltage range of the electric actuator. For example, the output voltage of a 24V battery pack needs to be maintained between 22V and 26V. This completes the initiation of the main power to backup power conversion process.

[0047] Step 552: During the power conversion process, the mechanical energy storage device is activated synchronously to release mechanical energy, maintaining the continuous power output of the electric actuator. The voltage fluctuations during the switching process are smoothed through the capacitor buffer unit of the power management circuit, achieving seamless switching between the main and backup power supplies. Specifically, this includes: First, determining the pre-storage state and activation logic of the mechanical energy storage device. The mechanical energy storage device, adapted to the load characteristics of the steam shut-off valve, typically adopts a spring-type or flywheel-type energy storage structure. When the main power supply is normal, it stores energy synchronously with the rotation of the electric actuator's motor. When the motor drives the transmission gear to rotate, the gear, through a linkage mechanism, compresses the energy storage spring, indirectly converting electrical energy into spring energy. The spring stores its elastic potential energy until it is compressed to a preset energy storage stroke, ensuring sufficient stored mechanical energy to maintain the valve's remaining reset action. When the power management circuit initiates the switching process, the switching control unit synchronously sends an activation signal to the mechanical energy storage device without additional waiting time. Then, the mechanical energy storage device releases its mechanical energy to maintain power. Upon receiving the activation signal, its locking mechanism unlocks under electromagnetic drive, and the compressed energy storage spring drives the transmission gear to rotate via a linkage mechanism. This transmission gear is directly connected to the drive shaft of the electric actuator, thereby continuously rotating the drive shaft. During rotation, the elastic potential energy released by the spring is converted into the kinetic energy of the drive shaft, ensuring that even with brief intervals during main / standby power switching... The electric actuator can also continuously receive power, preventing interruption of valve reset action, especially in scenarios with high steam pipeline pressure. Interruption may cause the valve to fail to cut off steam in time, leading to a further increase in pressure. Then, a capacitor buffer unit handles voltage fluctuations. This unit consists of multiple large-capacity electrolytic capacitors connected in parallel and installed at the output of the power management circuit, i.e., in the loop between the backup power supply and the electric actuator. During the gap between the main power supply being disconnected and the backup power supply not yet fully connected, the main power supply output voltage will momentarily drop. At this time, the capacitor buffer unit discharges and releases stored electrical energy to replenish the voltage in the power supply loop, preventing sudden voltage drops from causing fluctuations in motor speed. When the backup power supply is connected, if the backup power supply output... If there is a momentary rise in voltage, such as when the initial discharge voltage of the battery pack is too high, the capacitor buffer unit absorbs the excess energy through charging, reducing the voltage peak. Through the synergistic effect of discharge voltage compensation and charging voltage reduction, the output voltage of the power supply circuit is always maintained within the allowable operating voltage range of the electric actuator, such as controlling the fluctuation range within ±5%. Finally, the seamless switching effect is confirmed. With the combined effect of the mechanical energy storage device maintaining power and the capacitor buffer unit smoothing the voltage, the motor speed of the electric actuator does not fluctuate significantly, and the valve reset action is continuous and uninterrupted until the reset is completed. At the same time, the power management circuit monitors the remaining power of the backup power supply in real time to ensure that it can support the reset until the end. Thus, seamless switching between the main and backup power supplies is achieved.

[0048] By continuously collecting and accurately analyzing main power data, power faults can be quickly and accurately identified, preventing valve reset interruptions due to missed or incorrect diagnoses. The rapid switching mechanism ensures timely connection of the power supply circuit, preventing the electric actuator from stopping due to power failure and ensuring the continuity of valve reset actions. The synergistic effect of the mechanical energy storage device and the capacitor buffer unit ensures that the valve will not stop due to power supply gaps. The capacitor buffer smooths the voltage, avoiding reset position deviations caused by motor speed fluctuations, ultimately achieving seamless switching.

[0049] In a preferred embodiment of the present invention, step 6 above, after the reset action is completed, determines whether the valve has reached the preset reset position based on the feedback information from the position sensor, and sends the reset result status to the local monitoring terminal via IoT communication, may include: In this embodiment of the invention, step 660 involves acquiring the raw data of the valve's current position collected in real time by the position sensor after the reset action is completed, and filtering and calibrating the raw data to obtain the valve's current position information. Specifically, this includes: First, determining the type and acquisition logic of the position sensor to adapt to the high-temperature and vibration environment of industrial steam pipelines. The position sensor used in the valve is a high-temperature resistant photoelectric encoder or a Hall effect position sensor. This sensor is mechanically linked to the valve's drive shaft and can collect raw position data corresponding to the rotation angle of the drive shaft in real time. The data unit is millimeters, directly mapping the actual opening position of the valve. For example, a sensor reading of 0 mm corresponds to the valve being fully closed, and 200 mm corresponds to the valve being fully open. The determination of the completion of the reset action is based on the motor stopping signal. The motor controller outputs a signal with zero speed and torque reduced to the standby value. At this time, the position sensor is immediately triggered to continuously acquire data to avoid position deviation caused by delay, such as residual pressure in the steam pipeline pushing the valve to move slightly. Next, the raw data is acquired and interference factors are identified. The position sensor acquires raw data according to the rule of continuous acquisition 10 times. Due to the continuous vibration during steam pipeline operation... The raw data may contain transient values, such as one or two outliers in a normal dataset that are significantly higher or lower than other data. For example, most data might be 50.2 mm, with a few at 55.8 mm or 45.1 mm. This type of data is interference caused by vibration. Simultaneously, the high-temperature environment of the pipeline, such as steam temperatures of 180-250℃, may cause temperature drift errors in the sensor, resulting in the raw data being generally higher or lower than expected. For instance, a position calibrated at room temperature as 50 mm might become 50.5 mm at high temperatures. Then, the raw data undergoes filtering, starting with... From the 10 collected raw data, one maximum and one minimum value are removed. The remaining 8 data are then summed, and the sum is divided by 8 to calculate the filtered average data. This method eliminates instantaneous interference caused by vibration and ensures data stability. Finally, the filtered data is calibrated. A temperature-correction coefficient correspondence table is stored in the controller in advance. The actual temperature of the pipeline is obtained through the pipeline temperature sensor, the corresponding correction coefficient is found, and the filtered average data is added to the filtered data multiplied by the correction coefficient to obtain the calibrated valve current position information.

[0050] Step 661: Compare the current valve position information with the preset reset position reference value to calculate the actual position deviation. Specifically, this includes: First, determining the preset reset position reference value. This reference value is the safe reset target position of the steam shut-off valve, typically the fully closed position or a specific adjustment opening position. Taking the fully closed position as an example, it needs to be set in conjunction with the valve's mechanical structure and pipeline safety requirements. For instance, when the valve is fully closed, the reading of the position sensor corresponding to the drive shaft is 50 mm. This value is used as the reset position reference value and stored in advance in the controller's parameter library. It also matches the mechanical limit position of the valve sealing surface to ensure that the reference value corresponds to the actual fully closed state with effective sealing, avoiding incomplete sealing due to reference value deviation. Next, clarifying the comparison logic of the position data. Since the units of the current valve position information and the reset position reference value are consistent, directly subtract the preset reset position reference value from the current valve position information to obtain the actual position deviation. If the calculation result is positive... A negative value indicates that the valve's current position exceeds the reset reference value, meaning the valve opening is greater than the fully closed position. This could lead to incomplete sealing and a risk of steam leakage. A negative value indicates that the valve's current position has not reached the reset reference value, meaning the valve opening is less than the fully closed position. This could lead to incomplete steam cut-off and ineffective pressure reduction in the pipeline. A result close to zero indicates that the position meets the reference requirements. For example, assuming the current valve position after filtering and calibration is 50.3 mm, and the preset reset position reference value is 50 mm, subtracting 50 mm from 50.3 mm gives an actual position deviation of 0.3 mm (positive). If the current position is 49.8 mm, subtracting 50 mm gives an actual position deviation of -0.2 mm (negative). The calculation must retain three decimal places to ensure the deviation accuracy reflects the actual sealing and on / off state of the valve, meeting the stringent sealing accuracy requirements of steam pipelines.

[0051] Step 662 compares the actual position deviation with a preset allowable deviation threshold to generate a successful reset result. Specifically, this includes: First, setting a preset allowable deviation threshold, which is determined based on the steam pipeline's pressure rating and medium characteristics, such as steam temperature, humidity, and valve sealing material. For example, the allowable deviation threshold for a medium-pressure steam pipeline (pressure 1.6-4.0 MPa) is 0.5 mm. If the deviation exceeds this value, a gap greater than 0.1 mm will appear on the valve sealing surface, allowing steam to easily leak through the gap, leading to abnormal pipeline pressure or energy waste. The allowable deviation threshold needs to be verified through multiple sealing experiments to ensure that the set value balances reset accuracy and control costs. It is stored in the controller in advance and can be adjusted according to pipeline operating conditions. Next, deviation comparison and result determination are performed. The absolute value of the actual position deviation calculated in step 661 is taken to eliminate the influence of positive and negative directions, focusing only on the magnitude of the deviation, and then compared with the allowable deviation threshold. If the absolute value is smaller... If the absolute value is equal to or greater than the allowable deviation threshold, the reset is considered successful, indicating that the valve position meets safety requirements and can effectively seal or cut off steam. If the absolute value is greater than the allowable deviation threshold, the reset is considered unsuccessful, indicating that the valve position does not meet safety requirements and a secondary reset process needs to be triggered. This includes the controller resending the reset command and the drive motor fine-tuning the valve position to avoid potential safety hazards due to reset failure. Additional information is then added to the judgment result. When generating the judgment result, the direction of the deviation, i.e., the sign of the original deviation, must be recorded simultaneously. For example, a successful reset would result in a deviation of +0.3 mm, or a failed reset in a deviation of -0.6 mm. This additional information helps maintenance personnel analyze the cause of the deviation. A positive deviation may be due to impurities on the valve sealing surface preventing complete closure, while a negative deviation may be due to insufficient motor torque preventing the valve from reaching the fully closed position, providing a basis for maintenance. Simultaneously, if the reset is determined to be unsuccessful, the controller must immediately output an alarm signal, such as illuminating a local alarm light, to alert on-site personnel.

[0052] Step 663: Combine the judgment result with key operational data during the reset process, encapsulate it into a transmission data packet according to a preset communication protocol, and send the transmission data packet to the local monitoring terminal via IoT communication; specifically, this includes: First, determining the key operational data during the reset process. Based on the steam pipeline operation and maintenance requirements, the key operational data includes: the total duration of the reset action (the time from the generation of the reset command to the motor stopping), the maximum current value during motor operation (reflecting the valve load; excessive current may be due to excessive pipeline pressure), and power switching records (if the main power supply fails during the reset process, record the switching time and the duration of backup power supply). The activation status of the mechanical energy storage device (whether it participates in power maintenance) and the difference in data before and after filtering from the position sensor (reflecting the intensity of pipeline vibration) are required. These data need to be extracted from the controller's real-time database to ensure a one-to-one correspondence between the data and the reset process, without omissions or mismatches. Next, data packets are encapsulated according to a preset communication protocol. The preset communication protocol uses the MQTT protocol commonly used in industrial IoT (lightweight, low-power, and adaptable to complex wireless environments in factories). The encapsulation rule is that the data packet header contains the device number + reset timestamp. The device number uniquely identifies the steam shut-off valve, and the timestamp is accurate to the second, such as Valve-001_202410081530. The data packet is structured as follows: The judgment result and key operational data are arranged sequentially in the middle (each data item is separated by a specific delimiter, such as a comma; the order is judgment result, reset time, maximum motor current, power switching record, energy storage device status, and filter difference). The data packet ends with a data checksum (calculated by adding the header and middle data and taking the remainder, e.g., the remainder when the sum of the ASCII codes of the header and middle data is divided by 256; this is used by the monitoring end to verify data integrity). Then, the data packet is sent via IoT communication. The controller integrates an industrial wireless communication mode; after the data packet is encapsulated, the communication mode immediately establishes a wireless connection with the local monitoring end and sends the data packet. After sending the data, wait for a confirmation signal from the monitoring terminal. If no confirmation signal is received within 10 seconds, automatically resend the data packet (up to 3 times) to avoid data loss due to wireless signal interference. The IP address or gateway information of the local monitoring terminal is stored in the controller in advance to ensure accurate communication target. Finally, ensure the real-time performance and security of data transmission. The data packet transmission delay must be controlled within 5 seconds to ensure that maintenance personnel can grasp the reset result in a timely manner and avoid the escalation of the fault due to delay. At the same time, data encryption is used in the communication process to prevent data packets from being tampered with or stolen, protect the operational data security of industrial pipelines, and meet the information security requirements of the factory.

[0053] By quantifying the deviation value and direction, the actual state of valve reset is clearly reflected, helping maintenance personnel to quickly locate the cause of the deviation, improve the efficiency of fault diagnosis, and reduce pipeline downtime for maintenance. By preset allowable deviation thresholds that match pipeline safety, the reset result can be automatically and objectively judged, avoiding omissions caused by subjective human judgment. At the same time, it triggers a secondary reset process to reduce the safety hazards left by reset failure. By remotely sending the judgment result and key operating data, the local monitoring terminal can keep track of the valve reset status in real time without the need for personnel to go to the site, reducing maintenance costs and the probability of system failure.

[0054] like Figure 2 As shown, an embodiment of the present invention also provides a valve electric reset control device, comprising: The monitoring module is used to monitor the power status and reset trigger conditions of the valve in real time. When the reset conditions are met, a reset command is generated. The control module is used to control the electric actuator to drive the valve to perform a reset action according to the reset command, and to acquire valve position and motor status data in real time. The analysis module is used to select multiple key operating state samples based on valve position and motor status data, construct a dynamic performance feature set, perform partitioned modal analysis on the dynamic performance feature set, and generate adaptive correction parameters. The adaptive module is used to control the motor position based on the adaptive correction parameters and the sliding mode controller based on the reaching law. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. The protection module is used to immediately switch to backup power supply if the main power failure is detected during the reset process. At the same time, it maintains the reset power in conjunction with the mechanical energy storage device, and achieves seamless power supply switching through the power management circuit. The feedback module is used to determine whether the valve has reached the preset reset position based on the feedback information from the position sensor after the reset action is completed, and to send the reset result status to the local monitoring terminal through IoT communication.

[0055] It should be noted that this device is a device corresponding to the above method. All implementation methods in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0056] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0057] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0058] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A valve electric reset control method, characterized in that, The method includes: Step 1: Monitor the power supply status and reset trigger conditions of the valve in real time. When the reset conditions are met, generate a reset command. Step 2: According to the reset command, control the electric actuator to drive the valve to perform the reset action, and obtain valve position and motor status data in real time; Step 3: Based on valve position and motor status data, select multiple key operating status samples, construct a dynamic performance feature set, and perform partitioned modal analysis on the dynamic performance feature set to generate adaptive correction parameters; Step 4: Based on the adaptive correction parameters, a sliding mode controller based on the reaching law is used to control the motor position. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. Step 5: If a main power failure is detected during the reset process, immediately switch to backup power supply, while maintaining the reset power through mechanical energy storage device, and achieve seamless power switching through power management circuit. Step 6: After the reset action is completed, determine whether the valve has reached the preset reset position based on the feedback information from the position sensor, and send the reset result status to the local monitoring terminal via IoT communication.

2. The valve electric reset control method according to claim 1, characterized in that, The reset triggering conditions include a power-off signal, a remote reset command, or a local manual reset signal.

3. The valve electric reset control method according to claim 2, characterized in that, According to the reset command, the electric actuator is controlled to drive the valve to perform a reset action, and the valve position and motor status data are acquired in real time, including: Obtain the motor control signal corresponding to the reset command, and based on the motor control signal, drive the motor of the electric actuator to rotate, so that the transmission mechanism can drive the valve to move to the reset position; During the process of the motor rotating and driving the valve to move, the displacement of the valve is detected in real time by the position sensor to obtain the original position data; The original position data is digitally filtered to obtain real-time valve position information, and the valve's moving speed is calculated based on the real-time valve position information. Based on the movement speed, the motor's operating parameters are collected through the motor controller to obtain raw motor status data including current, voltage, speed and torque; The raw motor status data is preprocessed to obtain real-time motor status data.

4. The valve electric reset control method according to claim 3, characterized in that, Based on valve position and motor status data, multiple key operating state samples are selected to construct a dynamic performance feature set. Partition modal analysis is then performed on this dynamic performance feature set to generate adaptive correction parameters, including: From the valve position and motor status data, key operating status samples are selected according to the time series to obtain sample data including the start-up stage, the constant speed operation stage, and the deceleration and stop stage; Feature extraction is performed on the sample data to obtain dynamic performance characteristics including rate of change of velocity, acceleration, torque fluctuation and position deviation; The dynamic performance characteristics are integrated to construct a dynamic performance characteristic set. The dynamic performance characteristic set is then divided according to the operating conditions to obtain multiple corresponding modal regions. Modal analysis is performed on multiple corresponding modal regions to calculate the deviation between the actual characteristic parameters and the preset ideal parameters in each mode, and adaptive correction parameters are generated based on the deviation to adjust the controller response characteristics.

5. The valve electric reset control method according to claim 4, characterized in that, Based on adaptive correction parameters, a sliding mode controller based on a reaching law is used to control the motor position. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment, including: Based on the adaptive correction parameters, the sliding surface parameters and reaching law parameters of the sliding mode controller are initialized, and the sliding mode controller after parameter initialization is obtained; Based on the sliding mode controller after parameter initialization, the deviation between the current position of the motor and the target position is calculated, and a motor position control signal is generated; The motor is driven to run according to the motor position control signal, and the motor running status data is collected in real time through the motor controller; The motor's operating status data is processed, and an adaptive observation algorithm is used to identify the rotational inertia and load torque of the valve mechanism in real time. Based on the moment of inertia and load torque, the adjustment amount of the speed loop control parameters is calculated, and the proportional gain and integral gain of the speed loop are dynamically updated. Based on the updated proportional gain and integral gain of the speed loop, the motor operating speed is adjusted to achieve adaptive control that changes with load.

6. The valve electric reset control method according to claim 5, characterized in that, If a main power failure is detected during the reset process, the system immediately switches to backup power, while simultaneously maintaining reset power through mechanical energy storage. A seamless power switching is achieved via power management circuitry, including: The power monitoring circuit continuously collects the voltage and current data of the main power supply and performs real-time analysis on the voltage and current data. When the main power supply voltage is detected to be lower than the preset threshold, a power failure signal is generated. Based on the power failure signal, the switching mechanism of the power management circuit is triggered, and the process of switching from the main power supply to the backup power supply is initiated. During the power conversion process, the mechanical energy storage device is activated simultaneously to release mechanical energy and maintain the continuous power output of the electric actuator. The voltage fluctuations during the switching process are smoothed by the capacitor buffer unit of the power management circuit, so as to achieve seamless switching between the main and backup power supplies.

7. The valve electric reset control method according to claim 6, characterized in that, After the reset action is completed, the system determines whether the valve has reached the preset reset position based on feedback information from the position sensor, and sends the reset result status to the local monitoring terminal via IoT communication, including: After the reset action is completed, the raw data of the valve's current position collected in real time by the position sensor is acquired, and the raw data is filtered and calibrated to obtain the valve's current position information. The current position information of the valve is compared with the preset reset position reference value, and the actual position deviation is calculated. The actual position deviation is compared with the preset allowable deviation threshold to generate a determination result that the reset was successful. The judgment result is combined with key operational data during the reset process, encapsulated into a transmission data packet according to a preset communication protocol, and then sent to the local monitoring terminal via IoT communication.

8. A valve electric reset control device, which implements the method as described in any one of claims 1 to 7, characterized in that, include: The monitoring module is used to monitor the power status and reset trigger conditions of the valve in real time. When the reset conditions are met, a reset command is generated. The control module is used to control the electric actuator to drive the valve to perform a reset action according to the reset command, and to acquire valve position and motor status data in real time; The analysis module is used to select multiple key operating state samples based on valve position and motor status data, construct a dynamic performance feature set, perform partitioned modal analysis on the dynamic performance feature set, and generate adaptive correction parameters. The adaptive module is used to control the motor position based on the adaptive correction parameters and the sliding mode controller based on the reaching law. During the control process, the rotational inertia and load torque of the valve mechanism are identified in real time, and the speed loop control parameters are dynamically adjusted according to the identification results to achieve adaptive adjustment. The protection module is used to immediately switch to backup power supply if the main power failure is detected during the reset process. At the same time, it maintains the reset power in conjunction with the mechanical energy storage device, and achieves seamless power supply switching through the power management circuit. The feedback module is used to determine whether the valve has reached the preset reset position based on the feedback information from the position sensor after the reset action is completed, and to send the reset result status to the local monitoring terminal through IoT communication.

9. A computing device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that, when executed by a processor, implements the method as described in any one of claims 1 to 7.

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