Constant flow valve control method and system

Abstract

The application provides a constant flow water valve control method and system, which collects and analyzes water flow data of a downstream pipeline connected with the constant flow water valve, determines flow fluctuation characteristics of the downstream pipeline, determines a running conversion time node of the constant flow water valve, accurately determines a node at which the water valve needs to change a running mode in a time layer, collects and analyzes upstream and downstream hydraulic pressure data of the constant flow water valve, determines hydraulic pressure impact characteristics of the constant flow water valve, estimates a valve core action delay of the constant flow water valve, provides a reference basis for subsequent shortening of a response time of the constant flow water valve, and estimates an electromagnetic force required for valve core action compensation of the constant flow water valve at the running conversion time node according to the running conversion time node and the valve core action delay, so as to adjust an electric signal applied by the constant flow water valve, improve a response speed of the water valve, and ensure long-time stable flow control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of water valves, in particular to a constant flow water valve control method and system. BACKGROUND

[0002] The constant flow water valve can accurately control the pipe water flow, ensure the internal pipe to maintain constant water flow, thereby improving the pipe water flow control precision and reliability. The constant flow water valve is usually constructed as an electromagnetic valve, considering the magnetic hysteresis phenomenon and the mechanical inertia of the valve core, the existing pulse width modulation (PWM) method has a regulation delay time interval when controlling the electromagnetic valve, which cannot ensure the constant flow water valve to respond to the water flow drift in the pipe in time to adjust the valve core opening. In addition, the valve core action of the constant flow water valve is also affected by the internal hydraulic pressure of the pipe. The greater the internal hydraulic pressure of the pipe, the greater the hindering force formed during the action of the valve core, resulting in slower response speed of the valve core under the same electromagnetic force driving. The constant flow water valve cannot ensure fast flow regulation and long-term flow stability, reducing the controllability of the constant flow water valve. SUMMARY

[0003] The purpose of the present application is to provide a constant flow water valve control method and system, to collect and analyze the water flow data of the downstream pipe connected to the constant flow water valve, to determine the flow fluctuation characteristics of the downstream pipe, to determine the operation transformation time node of the constant flow water valve, to accurately determine the node at which the water valve needs to change the operation mode in the time layer; to collect and analyze the upstream and downstream hydraulic data of the constant flow water valve, to determine the hydraulic impact characteristics of the constant flow water valve, to estimate the valve core action delay of the constant flow water valve, to provide a reference basis for subsequent shortening of the response time of the constant flow water valve; and to estimate the electromagnetic force required for the valve core action compensation of the constant flow water valve at the operation transformation time node according to the operation transformation time node and the valve core action delay, to adjust the electric signal applied to the constant flow water valve, to accurately control the electric signal applied to the constant flow water valve through the above process based on the flow fluctuation in the pipe and taking into account the valve core action delay of the constant flow water valve caused by the hydraulic impact, to improve the response speed of the water valve and to ensure long-term flow stability control.

[0004] The present application is achieved by the following technical solutions:

[0005] The constant flow water valve control method comprises:

[0006] Collecting the water flow data of the downstream pipe connected to the constant flow water valve, determining the flow fluctuation characteristics of the downstream pipe according to the water flow data; determining the operation transformation time node of the constant flow water valve according to the flow fluctuation characteristics;

[0007] Collecting upstream and downstream hydraulic data of the constant flow valve, determining hydraulic impact characteristics of the constant flow valve according to the upstream and downstream hydraulic data, estimating valve core action delay of the constant flow valve according to the hydraulic impact characteristics;

[0008] According to the running transformation time node and the valve core action delay, estimating the electromagnetic force required for the constant flow valve to perform valve core action compensation at the running transformation time node, and adjusting the electrical signal applied to the constant flow valve according to the electromagnetic force.

[0009] Optionally, collecting water flow data of a downstream pipeline connected to the constant flow valve, determining flow fluctuation characteristics of the downstream pipeline according to the water flow data, and determining the running transformation time node of the constant flow valve according to the flow fluctuation characteristics, including:

[0010] Collecting water flow data of a plurality of position points in the downstream pipeline connected to the constant flow valve at the same time interval, extracting water flow rate of a plurality of cross sections in the downstream pipeline from the water flow data according to the spatial distribution of all position points in the downstream pipeline, and performing time change analysis on the water flow rate of all cross sections to determine the flow fluctuation characteristics of the downstream pipeline; wherein the flow fluctuation characteristics refer to the time change characteristics of the water flow rate drift value of the downstream pipeline;

[0011] Extracting a duration interval in which the water flow rate change value of the downstream pipeline is greater than a preset threshold from the flow fluctuation characteristics, and determining the running transformation time node of the constant flow valve according to the duration interval; wherein the running transformation time node refers to the time node at which the constant flow valve implements a changed opening degree operation mode.

[0012] Optionally, collecting upstream and downstream hydraulic data of the constant flow valve, determining hydraulic impact characteristics of the constant flow valve according to the upstream and downstream hydraulic data, and estimating valve core action delay of the constant flow valve according to the hydraulic impact characteristics, including:

[0013] Collecting hydraulic data of the upstream pipeline and the downstream pipeline connected to the constant flow valve respectively, performing time domain difference analysis on the hydraulic data of the upstream pipeline and the downstream pipeline, and determining hydraulic impact characteristics of the constant flow valve; wherein the hydraulic impact characteristics refer to time domain change characteristics of the hydraulic impact force of the constant flow valve;

[0014] According to the hydraulic impact feature, a time domain variation feature of an impeding force on the spool during the opening degree change operation mode of the constant flow water valve is estimated; according to the time domain variation feature of the impeding force, a spool action delay during the opening degree change operation mode of the constant flow water valve is estimated; wherein the spool action delay refers to an additional time length required for the spool of the constant flow water valve to change the opening degree by one unit amplitude during the opening degree change operation under the current hydraulic impact compared with the case that the spool is not subjected to any hydraulic impact.

[0015] Optionally, according to the operation transformation time node and the spool action delay, an electromagnetic force required for the spool action compensation of the constant flow water valve at the operation transformation time node is estimated; and according to the electromagnetic force, an electric signal applied to the constant flow water valve is adjusted, including:

[0016] According to the operation transformation time node and the spool action delay, an electromagnetic force required for the spool action compensation of the constant flow water valve during the change to the expected opening degree at the operation transformation time node is estimated;

[0017] According to the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve, the strength of the voltage signal applied to the constant flow water valve is adjusted.

[0018] Optionally, according to the operation transformation time node and the spool action delay, an electromagnetic force required for the spool action compensation of the constant flow water valve during the change to the expected opening degree at the operation transformation time node is estimated, including:

[0019] The equivalent mass corresponding to the spool is retrieved, and the equivalent mass is normalized to obtain the normalized equivalent mass;

[0020] The target opening degree and the current actual opening degree of the spool are retrieved;

[0021] According to the target opening degree and the current actual opening degree, an inertia compensation coefficient is obtained in combination with the normalized equivalent mass corresponding to the spool;

[0022] The inertia compensation coefficient is obtained by the following formula:

[0023] ;

[0024] Wherein, M represents the inertia compensation coefficient; X d and X0 represent the target opening degree and the current actual opening degree of the spool; m represents the normalized equivalent mass corresponding to the spool;

[0025] The equivalent damping coefficient corresponding to the viscous damping force during the movement of the spool is retrieved;

[0026] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient;

[0027] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient;

[0028] ;

[0029] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient;

[0030] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient;

[0031] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient;

[0032] ;

[0033] The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient; base The damping compensation coefficient is obtained according to the target opening degree and the current actual opening degree in combination with an equivalent damping coefficient.

[0034] A constant-flow water valve control system comprises:

[0035] A flow fluctuation determination module is configured to collect water flow data of a downstream pipeline connected to the constant-flow water valve, and determine a flow fluctuation feature of the downstream pipeline according to the water flow data.

[0036] A time node determination module is configured to determine a running transformation time node of the constant-flow water valve according to the flow fluctuation feature.

[0037] A hydraulic impact determination module is configured to collect upstream and downstream hydraulic data of the constant-flow water valve, and determine a hydraulic impact feature of the constant-flow water valve according to the upstream and downstream hydraulic data.

[0038] An action delay estimation module is configured to estimate a valve core action delay of the constant-flow water valve according to the hydraulic impact feature.

[0039] An electromagnetic force estimation module is configured to estimate a basic electromagnetic force required for the constant-flow water valve to perform valve core action compensation at the running transformation time node according to the running transformation time node and the valve core action delay.

[0040] An electric signal adjustment module is configured to adjust an electric signal applied to the constant-flow water valve according to the electromagnetic force.

[0041] Optionally, the flow fluctuation determination module is configured to collect water flow data of a downstream pipeline connected to the constant-flow water valve, and determine a flow fluctuation feature of the downstream pipeline according to the water flow data.

[0042] collecting water flow data of each position point in the downstream pipeline connected with the constant flow water valve in the same time interval, extracting water flow rate of several cross sections in the downstream pipeline from the water flow data according to the spatial distribution of all position points in the downstream pipeline; performing time change analysis on water flow rates of all cross sections to determine flow fluctuation characteristics of the downstream pipeline; wherein the flow fluctuation characteristics refer to time change characteristics of water flow rate drift value of the downstream pipeline;

[0043] The time node determination module is configured to determine a running transformation time node of the constant flow water valve according to the flow fluctuation characteristics, including:

[0044] extracting a duration interval in which the water flow rate change value of the downstream pipeline is greater than a preset threshold from the flow fluctuation characteristics, and determining the running transformation time node of the constant flow water valve according to the duration interval; wherein the running transformation time node refers to a time node at which the constant flow water valve implements a running mode of changing opening degree.

[0045] Optionally, the hydraulic impact determination module is configured to collect upstream and downstream hydraulic data of the constant flow water valve, and determine hydraulic impact characteristics of the constant flow water valve according to the upstream and downstream hydraulic data, including:

[0046] collecting hydraulic data of the upstream pipeline and the downstream pipeline connected with the constant flow water valve respectively, and performing time domain difference analysis on the hydraulic data of the upstream pipeline and the downstream pipeline to determine the hydraulic impact characteristics of the constant flow water valve; wherein the hydraulic impact characteristics refer to time domain change characteristics of the hydraulic impact force acting on the constant flow water valve;

[0047] The action delay estimation module is configured to estimate the spool action delay of the constant flow water valve according to the hydraulic impact characteristics, including:

[0048] estimating time domain change characteristics of the hindering force acting on the spool during the opening degree changing running mode of the constant flow water valve according to the hydraulic impact characteristics; and estimating the spool action delay during the opening degree changing running mode of the constant flow water valve according to the time domain change characteristics of the hindering force; wherein the spool action delay refers to an additional time length required for increasing the opening degree by one unit amplitude during the opening degree changing action of the spool of the constant flow water valve under the current hydraulic impact compared with the case where the constant flow water valve is not subjected to any hydraulic impact.

[0049] Optionally, the electromagnetic force estimation module is configured to estimate electromagnetic force required for the spool action compensation of the constant flow water valve at the running transformation time node according to the running transformation time node and the spool action delay, including:

[0050] According to the operation transformation time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to compensate for the valve core action during the process of changing to the expected opening degree at the operation transformation time node;

[0051] The electric signal adjustment module is used to adjust the electric signal applied to the constant flow water valve according to the electromagnetic force, including:

[0052] According to the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve, adjust the voltage signal strength applied to the constant flow water valve.

[0053] Optionally, according to the operation transformation time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to compensate for the valve core action during the process of changing to the expected opening degree at the operation transformation time node, including:

[0054] Retrieve the equivalent mass corresponding to the valve core, and normalize the equivalent mass to obtain the normalized equivalent mass;

[0055] Retrieve the target opening degree and the current actual opening degree of the valve core;

[0056] According to the target opening degree and the current actual opening degree, obtain the inertia compensation coefficient in combination with the normalized equivalent mass corresponding to the valve core;

[0057] Wherein, the inertia compensation coefficient is obtained by the following formula:

[0058] ;

[0059] Wherein, M represents the inertia compensation coefficient; X d And X0 represents the target opening degree and the current actual opening degree of the valve core; m represents the normalized equivalent mass corresponding to the valve core;

[0060] Retrieve the equivalent damping coefficient corresponding to the viscous damping force during the movement of the valve core;

[0061] According to the target opening degree and the current actual opening degree, obtain the damping compensation coefficient in combination with the equivalent damping coefficient;

[0062] Wherein, the damping compensation coefficient is obtained by the following formula:

[0063] ;

[0064] Wherein, R represents the damping compensation coefficient; F represents the equivalent damping coefficient corresponding to the viscous damping force during the movement of the valve core;

[0065] Compensate the electromagnetic force required for the valve core action by using the inertia compensation coefficient and the damping compensation coefficient;

[0066] Wherein, the electromagnetic force required for the compensated spool action is obtained by the following formula:

[0067] ;

[0068] Wherein, S represents the electromagnetic force required for the compensated spool action; S base represents the basic electromagnetic force required for the spool action compensation.

[0069] Compared with the prior art, the present application has the following beneficial effects:

[0070] The constant flow water valve control method and system provided by the present application collect and analyze the water flow data of the downstream pipeline connected with the constant flow water valve, determine the flow fluctuation characteristics of the downstream pipeline, and determine the operation conversion time node of the constant flow water valve, so as to accurately determine the node at which the water valve needs to change the operation mode at the time level; collect and analyze the upstream and downstream hydraulic data of the constant flow water valve, determine the hydraulic impact characteristics of the constant flow water valve, and estimate the spool action delay of the constant flow water valve, so as to provide a reference basis for subsequent shortening of the response time of the constant flow water valve; and further estimate the electromagnetic force required for the spool action compensation of the constant flow water valve at the operation conversion time node according to the operation conversion time node and the spool action delay, so as to adjust the electrical signal applied to the constant flow water valve, and through the above process, the flow fluctuation in the pipeline is taken as the reference and the spool action delay of the constant flow water valve caused by the hydraulic impact is fully considered, so that the electrical signal applied to the constant flow water valve is accurately regulated and controlled, the response speed of the water valve is improved, and the stable flow control is ensured for a long time. BRIEF DESCRIPTION OF DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings. Among them:

[0072] Figure 1 The flowchart of the constant flow water valve control method provided by the present application.

[0073] Figure 2 The structure diagram of the constant flow water valve control system provided by the present application. DETAILED DESCRIPTION

[0074] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the purpose of description, only the parts related to the present application are shown in the drawings, but not all the structures. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0075] The terms "comprising" and "having" and any variations thereof in the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0076] Reference herein to "embodiments" means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiments, nor is it necessary that every embodiment include the particular feature, structure, or characteristic. It will be explicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0077] Please refer to Figure 1 An embodiment of the present application provides a constant flow water valve control method. The constant flow water valve control method comprises:

[0078] Collecting water flow data of a downstream pipeline connected to the constant flow water valve, determining flow fluctuation characteristics of the downstream pipeline according to the water flow data, and determining a running transformation time node of the constant flow water valve according to the flow fluctuation characteristics;

[0079] Collecting upstream and downstream hydraulic data of the constant flow water valve, determining hydraulic impact characteristics of the constant flow water valve according to the upstream and downstream hydraulic data, and estimating valve core action delay of the constant flow water valve according to the hydraulic impact characteristics;

[0080] According to the running transformation time node and the valve core action delay, estimating the electromagnetic force required for the constant flow water valve to perform valve core action compensation at the running transformation time node, and adjusting the electrical signal applied to the constant flow water valve according to the electromagnetic force.

[0081] The constant-flow water valve control method has the beneficial effects that the constant-flow water valve control method collects and analyzes water flow data of a downstream pipeline connected with the constant-flow water valve, determines flow fluctuation characteristics of the downstream pipeline, and determines a running conversion time node of the constant-flow water valve, so as to accurately determine a node at which the water valve needs to change a running mode in a time layer; collects and analyzes upstream and downstream hydraulic data of the constant-flow water valve, determines hydraulic impact characteristics of the constant-flow water valve, and estimates a valve core action delay of the constant-flow water valve, so as to provide a reference basis for subsequent shortening of a response time of the constant-flow water valve; and according to the running conversion time node and the valve core action delay, an electromagnetic force required for valve core action compensation of the constant-flow water valve at the running conversion time node is estimated, so as to adjust an electric signal applied to the constant-flow water valve, and through the above process, the constant-flow water valve is accurately controlled by taking the flow fluctuation in the pipeline as a reference and fully considering the valve core action delay of the constant-flow water valve caused by the hydraulic impact, the electric signal applied to the constant-flow water valve is accurately adjusted, the response speed of the water valve is improved, and stable flow control is ensured for a long time.

[0082] In another embodiment, water flow data of a downstream pipeline connected with the constant-flow water valve is collected, flow fluctuation characteristics of the downstream pipeline are determined according to the water flow data, a running conversion time node of the constant-flow water valve is determined according to the flow fluctuation characteristics, and the running conversion time node includes:

[0083] Water flow data of a plurality of position points in the downstream pipeline connected with the constant-flow water valve at the same time interval is collected, water flow rate data of a plurality of cross sections in the downstream pipeline is extracted from the water flow data according to spatial distribution of all the position points in the downstream pipeline, time change analysis is performed on the water flow rate data of all the cross sections, and flow fluctuation characteristics of the downstream pipeline are determined; wherein the flow fluctuation characteristics refer to time change characteristics of water flow rate drift values of the downstream pipeline.

[0084] A duration interval in which the water flow rate change value of the downstream pipeline is greater than a preset threshold value is extracted from the flow fluctuation characteristics, and the running conversion time node of the constant-flow water valve is determined according to the duration interval; wherein the running conversion time node refers to a time node at which the constant-flow water valve implements a change in the opening degree running mode.

[0085] The beneficial effects of the above embodiments: the constant flow water valve is essentially configured as a solenoid valve, which is installed at any position of the pipeline for adjusting the water flow. Generally, when the valve core of the constant flow water valve changes the opening degree (such as reducing the opening degree or increasing), the water flow adjusted by the constant flow water valve will be reduced or increased accordingly. When the opening degree of the valve core of the constant flow water valve remains unchanged, the water flow adjusted by the constant flow water valve will also remain unchanged. In actual application, due to the influence of factors such as aging of internal parts of the constant flow water valve and pipeline leakage, the water flow in the downstream pipeline connected to the constant flow water valve (i.e. the pipeline connected to the outlet of the constant flow water valve) cannot remain constant and may fluctuate and decrease. In order to make up for the gap caused by the fluctuation and decrease of the water flow and ensure that the water flow in the downstream pipeline remains constant, the opening degree of the valve core needs to be adjusted adaptively according to the fluctuation and change of the water flow in the downstream pipeline. Specifically, the flow sensors arranged in advance at a plurality of position points in the downstream pipeline are used to collect the water flow data of each position point in the same time interval. In this way, the water flow data of each position point can represent the continuous change of the water flow of all position points in the entire time interval. According to the spatial distribution of all position points in the downstream pipeline, the water flow data is analyzed with respect to the cross section of the downstream pipeline to obtain the water flow rate (such as the average water flow rate) of a plurality of cross sections in the downstream pipeline. Then, the water flow rate of all cross sections is analyzed in terms of time to determine the change characteristics of the water flow drift value of the downstream pipeline with time, so as to fully represent the fluctuation of the water flow of the downstream pipeline. Furthermore, the difference between all the water flow rate values contained in the change characteristics of the water flow drift value of the downstream pipeline with time and the expected water flow rate values in the downstream pipeline is calculated to obtain a plurality of water flow rate change values. Then, the water flow rate change values of all the water flow rates are compared with the preset threshold value to obtain the time interval during which the water flow rate change value of the downstream pipeline is greater than the preset threshold value. At least one time point in the above time interval is determined as the time node at which the opening degree of the constant flow water valve is changed, that is, the opening degree of the constant flow water valve needs to be adjusted at the above time node to change the water flow in the downstream pipeline to the expected water flow, which provides a time reference for subsequent adjustment of the opening degree of the constant flow water valve.

[0086] In another embodiment, the upstream and downstream hydraulic data of the constant flow water valve are collected, and the hydraulic impact characteristics of the constant flow water valve are determined according to the upstream and downstream hydraulic data; wherein the hydraulic impact characteristics refer to the time domain change characteristics of the hydraulic impact force acting on the constant flow water valve.

[0087] The upstream and downstream hydraulic data of the constant flow water valve are collected, and the hydraulic impact characteristics of the constant flow water valve are determined by time domain difference analysis of the upstream and downstream hydraulic data; wherein the hydraulic impact characteristics refer to the time domain change characteristics of the hydraulic impact force acting on the constant flow water valve.

[0088] According to the hydraulic impact characteristics, the time domain variation characteristics of the resistance force suffered by the valve core of the constant flow water valve during the opening degree changing operation mode are estimated; according to the time domain variation characteristics of the resistance force, the valve core action delay of the constant flow water valve during the opening degree changing operation mode is estimated; wherein the valve core action delay refers to the additional time length required for the constant flow water valve to change one unit amplitude of the opening degree during the opening degree changing operation of the valve core under the current hydraulic impact compared with the case that the valve core is not affected by any hydraulic impact.

[0089] The beneficial effects of the above embodiments are that the constant flow water valve is installed in the pipeline, and there is a large difference in the internal hydraulic pressure of the upstream pipeline and the downstream pipeline connected with the water inlet end and the water outlet end of the constant flow water valve respectively, so that the water inlet end and the water outlet end of the constant flow water valve form a hydraulic pressure difference, and the above hydraulic impact force is generated on the constant flow water valve. The valve core in the constant flow water valve is affected by the above hydraulic impact force during the opening degree adjustment process, so that the valve core action is affected by the resistance force, which causes the valve core to become slow under the influence of the above resistance force compared with the case that the valve core is not affected by the hydraulic impact force, so that it cannot complete one unit amplitude of the opening degree change in the original unit time, that is, the total time required for the valve core to change one unit amplitude of the opening degree under the influence of the above resistance force is longer than the case that the valve core is not affected by the hydraulic impact force. Through the above analysis, it can be seen that the size of the hydraulic impact force suffered by the constant flow water valve directly determines the valve core action delay of the constant flow water valve, the larger the hydraulic impact force, the greater the valve core action delay, and the smaller the hydraulic impact force, the smaller the valve core action delay. And the size of the valve core action delay also affects whether the constant flow water valve can complete the opening degree changing adjustment at the above time node.

[0090] In order to ensure that the constant flow water valve can still complete the opening degree changing adjustment at the above time node under the influence of the hydraulic impact force, first, the hydraulic data of the upstream pipeline and the downstream pipeline connected with the constant flow water valve are collected and analyzed respectively to obtain the time domain variation characteristics of the hydraulic impact force suffered by the constant flow water valve, and the shape and size parameters of the valve core in the constant flow water valve are combined to estimate the time domain variation characteristics of the resistance force suffered by the valve core under the hydraulic impact force, so as to estimate the additional time length required for the valve core to change one unit amplitude of the opening degree during the opening degree changing operation of the valve core under the current hydraulic impact compared with the case that the valve core is not affected by any hydraulic impact. This provides a basis for subsequent increase of the electromagnetic force on the valve core, and ensures that the valve core can speed up the action after the electromagnetic force is increased to compensate for the above valve core action delay.

[0091] In another embodiment, according to the running transformation time node and the valve core action delay, the electromagnetic force required for the constant flow water valve to perform valve core action compensation at the running transformation time node is estimated; according to the electromagnetic force, the electric signal applied to the constant flow water valve is adjusted, including:

[0092] According to the running transformation time node and the valve core action delay, an electromagnetic force required for the constant flow water valve to compensate for the valve core action during the process of changing to the expected opening degree at the running transformation time node is estimated;

[0093] According to the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve, the strength of the voltage signal applied to the constant flow water valve is adjusted.

[0094] The beneficial effects of the above embodiments are known through the above analysis. In order to ensure that the constant flow water valve can complete the opening degree change adjustment at the above running transformation time node during the process of the water flow in the downstream pipeline decreasing, the electromagnetic force applied to the valve core needs to be changed to accelerate the action speed of the valve core and compensate for the above valve core action delay. Specifically, the time difference between the above running transformation time node and the current time node is obtained, and according to the above time difference and the valve core action delay, the electromagnetic force required for the constant flow water valve to compensate for the valve core action during the process of changing to the expected opening degree at the running transformation time node is estimated, so as to ensure that the above electromagnetic force can promote the valve core to accelerate the speed to complete the opening degree change adjustment. According to the above electromagnetic force and the electromagnetic coil parameters of the constant flow water valve (such as electromagnetic coil inductance, electromagnetic coil turns, electromagnetic action area, and air magnetic permeability), the strength of the voltage signal applied to the constant flow water valve is adjusted, so as to adjust the current size applied to the electromagnetic coil of the constant flow water valve, so that the valve core can obtain a suitable size of electromagnetic force, improve the water valve response speed, and ensure long-time stable flow control.

[0095] In another embodiment, according to the running transformation time node and the valve core action delay, the electromagnetic force required for the constant flow water valve to compensate for the valve core action during the process of changing to the expected opening degree at the running transformation time node is estimated, including:

[0096] The equivalent mass corresponding to the valve core is retrieved, and the equivalent mass is normalized to obtain the normalized equivalent mass;

[0097] The target opening degree and the current actual opening degree of the valve core are retrieved;

[0098] According to the target opening degree and the current actual opening degree, the inertia compensation coefficient is obtained in combination with the normalized equivalent mass corresponding to the valve core;

[0099] The inertia compensation coefficient is obtained by the following formula:

[0100] ;

[0101] Wherein, M represents the inertia compensation coefficient; X d and X0 represent the target opening degree and the current actual opening degree of the valve core; m represents the normalized equivalent mass corresponding to the valve core.

[0102] an equivalent damping coefficient corresponding to the viscous damping force suffered by the spool during movement;

[0103] an equivalent damping coefficient corresponding to the viscous damping force suffered by the spool during movement;

[0104] wherein the damping compensation coefficient is obtained by the following formula:

[0105] ;

[0106] wherein R represents the damping compensation coefficient; F represents an equivalent damping coefficient corresponding to the viscous damping force suffered by the spool during movement;

[0107] an equivalent damping coefficient corresponding to the viscous damping force suffered by the spool during movement;

[0108] wherein the damping compensation coefficient is obtained by the following formula:

[0109] ;

[0110] wherein S represents the electromagnetic force required for the compensated spool action; S base represents the basic electromagnetic force required for the spool action compensation; wherein the basic electromagnetic force refers to the minimum electromagnetic force required for the spool to overcome the initial static resistance (such as static friction, the component of the spool's own gravity in the direction of movement, the initial pre-tightening force of the sealing surface, etc.) and start action from the static state; only when the actual electromagnetic force applied to the spool of the electromagnetic valve is greater than or equal to the above minimum electromagnetic force, the spool will act, otherwise, the spool will not act, the above basic electromagnetic force can be understood as the working parameter of the spool action of the electromagnetic valve, which can be obtained by consulting the parameter table of the electromagnetic valve.

[0111] The beneficial effects of the above embodiments are that by introducing the inertia compensation coefficient based on the normalized equivalent mass and the damping compensation coefficient based on the equivalent damping coefficient, the basic electromagnetic force required for the spool action is comprehensively compensated, the inertia characteristics and the viscous damping characteristics of the spool can be accurately adapted, the spool of the constant flow water valve can accurately and timely change to the desired opening degree at the running transformation time node, and the accuracy and timeliness of the spool action are effectively improved, thereby ensuring the precision and stability of the constant flow water valve flow control. Through the normalization processing of the equivalent mass of the spool, the inertia compensation coefficient can adapt to spools of different specifications and materials, improving the universality and adaptability of the compensation logic; the inertia compensation coefficient and the damping compensation coefficient are calculated based on the difference between the target opening degree and the current actual opening degree, realizing the dynamic matching of the compensation degree and the spool action demand, and can respond to the opening degree change amplitude in real time, avoiding the problems of overcompensation or undercompensation caused by fixed compensation values; the compensation of the inertia characteristics and the viscous damping characteristics is separately calculated and then comprehensively acts on the basic electromagnetic force, which not only accurately offsets the inertia hindrance in the spool movement, but also effectively balances the action lag caused by the fluid viscous force, optimizes the dynamic response characteristics of the spool from multiple dimensions, and significantly improves the movement stability and control precision of the spool in the opening degree transformation process.

[0112] Through the synergistic effect of the inertia compensation coefficient and the damping compensation coefficient, not only the influence of single inertia or damping factor on the spool action is solved, but also the nonlinear interference caused by the coupling of the two is unexpectedly eliminated. When the spool is in rapid opening degree transformation, the inertia force and the viscous damping force will form a dynamic relationship of mutual restraint. When the existing technology is processed alone, the superposition effect of action overshoot or lag is easy to appear. However, through the comprehensive compensation of the double coefficients, the interference of the two forces is offset in the dynamic change, realizing the "no overshoot, no lag" transition of the spool action. This effect cannot be obtained by compensating the inertia or damping alone, and breaks through the technical limitations of traditional single-factor compensation.

[0113] Referring to Figure 2 An embodiment of the present application provides a constant flow water valve control system. The constant flow water valve control system comprises:

[0114] A flow fluctuation determination module is configured to collect water flow data of a downstream pipeline connected to the constant flow water valve, and determine a flow fluctuation characteristic of the downstream pipeline according to the water flow data;

[0115] A time node determination module is configured to determine a running transformation time node of the constant flow water valve according to the flow fluctuation characteristic;

[0116] A hydraulic impact determination module is configured to collect upstream and downstream hydraulic data of the constant flow water valve, and determine a hydraulic impact characteristic of the constant flow water valve according to the upstream and downstream hydraulic data;

[0117] an action delay estimation module configured to estimate a spool action delay of the constant flow water valve according to the hydraulic impact feature;

[0118] an electromagnetic force estimation module configured to estimate an electromagnetic force required for the constant flow water valve to perform spool action compensation at the operation transition time node according to the operation transition time node and the spool action delay;

[0119] an electric signal adjustment module configured to adjust an electric signal applied to the constant flow water valve according to the electromagnetic force.

[0120] The constant flow water valve control system of the above embodiment collects and analyzes water flow data of a downstream pipeline connected to the constant flow water valve, determines a flow fluctuation feature of the downstream pipeline, and determines an operation transition time node of the constant flow water valve, so as to accurately determine the time node at which the water valve needs to change the operation mode; collects and analyzes upstream and downstream hydraulic data of the constant flow water valve, determines a hydraulic impact feature to which the constant flow water valve is subjected, and estimates the spool action delay of the constant flow water valve, so as to provide a reference basis for subsequent shortening of the response time of the constant flow water valve; further estimates an electromagnetic force required for the constant flow water valve to perform spool action compensation at the operation transition time node according to the operation transition time node and the spool action delay, so as to adjust the electric signal applied to the constant flow water valve; through the above process, the electric signal applied to the constant flow water valve is accurately regulated based on the flow fluctuation in the pipeline and taking into full account the spool action delay of the constant flow water valve caused by the hydraulic impact, so as to improve the response speed of the water valve and ensure stable flow control for a long time.

[0121] In another embodiment, the flow fluctuation determination module is configured to collect water flow data of a downstream pipeline connected to the constant flow water valve, and determine a flow fluctuation feature of the downstream pipeline according to the water flow data, including:

[0122] collect water flow data of a plurality of position points in the downstream pipeline connected to the constant flow water valve at the same time interval, extract water flow rates of a plurality of cross sections in the downstream pipeline from the water flow data according to the spatial distribution of all the position points in the downstream pipeline, analyze the time variation of the water flow rates of all the cross sections, and determine the flow fluctuation feature of the downstream pipeline; wherein the flow fluctuation feature refers to the time variation feature of the water flow rate drift value of the downstream pipeline;

[0123] The time node determination module is configured to determine an operation transition time node of the constant flow water valve according to the flow fluctuation feature, including:

[0124] extract a duration interval in which the water flow rate variation value of the downstream pipeline is greater than a preset threshold value from the flow fluctuation feature, and determine the operation transition time node of the constant flow water valve according to the duration interval; wherein the operation transition time node refers to a time node at which the constant flow water valve implements a change in the opening degree operation mode.

[0125] The beneficial effects of the above embodiments: the constant flow water valve is essentially configured as a solenoid valve, which is installed at any position of the pipeline for adjusting the water flow. Generally, when the valve core of the constant flow water valve changes the opening degree (such as reducing the opening degree or increasing), the water flow adjusted by the constant flow water valve will be reduced or increased accordingly. When the opening degree of the valve core of the constant flow water valve remains unchanged, the water flow adjusted by the constant flow water valve will also remain unchanged. In actual application, due to the influence of factors such as aging of internal parts of the constant flow water valve and pipeline leakage, the water flow in the downstream pipeline connected to the constant flow water valve (i.e. the pipeline connected to the outlet of the constant flow water valve) cannot remain constant and may fluctuate and decrease. In order to make up for the gap caused by the fluctuation and decrease of the water flow and ensure that the water flow in the downstream pipeline remains constant, the opening degree of the valve core needs to be adjusted adaptively according to the fluctuation and change of the water flow in the downstream pipeline. Specifically, a plurality of flow sensors are arranged in advance at a plurality of position points in the downstream pipeline to collect water flow data of each position point in the same time interval. In this way, the water flow data of each position point can represent the continuous change of the water flow of all position points in the entire time interval. According to the spatial distribution of all position points in the downstream pipeline, the water flow data is analyzed with respect to the cross section of the downstream pipeline to obtain the water flow rate (such as the average water flow rate) of a plurality of cross sections in the downstream pipeline. Then, the water flow rate of all cross sections is analyzed in terms of time to determine the change characteristics of the water flow drift value of the downstream pipeline with time, thereby fully representing the fluctuation of the water flow of the downstream pipeline. Furthermore, the difference between all water flow rate values contained in the change characteristics of the water flow drift value of the downstream pipeline with time and the expected water flow rate values in the downstream pipeline is calculated to obtain a plurality of water flow rate change values. Then, the water flow rate change values of all water flows are compared with a preset threshold to obtain the duration interval in which the water flow rate change value of the downstream pipeline is greater than the preset threshold. At least one time point in the above duration interval is determined as a time node for implementing the opening degree change operation mode of the constant flow water valve, that is, the opening degree of the constant flow water valve needs to be adjusted at the above time node to change the water flow in the downstream pipeline to the expected water flow, thereby providing a time reference for subsequent adjustment of the opening degree of the constant flow water valve.

[0126] In another embodiment, the hydraulic impact determination module is used to collect upstream and downstream hydraulic data of the constant flow water valve, and determine the hydraulic impact characteristics of the constant flow water valve according to the upstream and downstream hydraulic data, including:

[0127] The upstream and downstream hydraulic data of the constant flow water valve is collected, and the hydraulic data of the upstream and downstream pipelines is analyzed in time domain to determine the hydraulic impact characteristics of the constant flow water valve; wherein the hydraulic impact characteristics refer to the time domain change characteristics of the hydraulic impact force of the constant flow water valve;

[0128] The action delay estimation module is used to estimate the spool action delay of the constant flow water valve according to the hydraulic impact characteristic, comprising:

[0129] According to the hydraulic impact characteristic, the time domain variation characteristic of the resistance force acting on the spool during the constant flow water valve implementing the opening degree change operation mode is estimated; according to the time domain variation characteristic of the resistance force, the spool action delay during the constant flow water valve implementing the opening degree change operation mode is estimated; wherein the spool action delay refers to the additional time length required for the constant flow water valve to change one unit amplitude of the opening degree during the spool implementing the opening degree change operation under the current hydraulic impact compared with not being affected by any hydraulic impact.

[0130] The beneficial effects of the above embodiments are that the constant flow water valve is installed in the pipeline, and there is a large difference in the internal hydraulic pressure of the upstream pipeline and the downstream pipeline connected with the water inlet end and the water outlet end of the constant flow water valve respectively, so that the water inlet end and the water outlet end of the constant flow water valve form a hydraulic pressure difference, and the above hydraulic impact force acts on the constant flow water valve. The spool inside the constant flow water valve is affected by the above hydraulic impact force during the opening degree adjustment process, so that the spool action is affected by the resistance force, causing the spool to act slowly under the influence of the above resistance force compared with not being affected by the hydraulic impact force, so that it cannot complete one unit amplitude of opening degree change in the original unit time, that is, the total time required for the spool to change one unit amplitude of opening degree under the influence of the above resistance force is longer than that when not being affected by the hydraulic impact force. Through the above analysis, it can be seen that the size of the hydraulic impact force acting on the constant flow water valve directly determines the spool action delay of the constant flow water valve. The larger the hydraulic impact force, the greater the spool action delay. The smaller the hydraulic impact force, the smaller the spool action delay. And the size of the spool action delay also affects whether the constant flow water valve can complete the opening degree change adjustment at the above time node.

[0131] In order to ensure that the constant flow water valve can still complete the opening degree change adjustment at the above time node under the influence of the hydraulic impact force, the hydraulic data of the upstream pipeline and the downstream pipeline connected with the constant flow water valve are collected and analyzed respectively to obtain the time domain variation characteristic of the hydraulic impact force acting on the constant flow water valve, and the shape and size parameters of the spool inside the constant flow water valve are combined to estimate the time domain variation characteristic of the resistance force acting on the spool under the hydraulic impact force. In this way, the additional time length required for the spool to change one unit amplitude of opening degree during the opening degree change operation under the current hydraulic impact compared with not being affected by any hydraulic impact is estimated, which provides a basis for subsequent increase of the electromagnetic force of the spool, and ensures that the spool can speed up the action after the electromagnetic force is increased to compensate for the above spool action delay.

[0132] In another embodiment, the electromagnetic force estimation module is configured to estimate the electromagnetic force required for the constant flow water valve to compensate for the spool action delay at the operation transition time node based on the operation transition time node and the spool action delay, including:

[0133] estimate the electromagnetic force required for the constant flow water valve to compensate for the spool action delay at the operation transition time node based on the operation transition time node and the spool action delay;

[0134] The electric signal adjustment module is configured to adjust the electric signal applied to the constant flow water valve based on the electromagnetic force, including:

[0135] adjust the voltage signal strength applied to the constant flow water valve based on the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve.

[0136] The above-mentioned embodiments have the beneficial effects that, as can be known from the above analysis, in order to ensure that the constant flow water valve can complete the opening degree change adjustment at the above-mentioned operation transition time node during the period of the decrease of the water flow in the downstream pipeline, the electromagnetic force applied to the spool needs to be changed considering the influence of the spool action delay of the constant flow water valve, so as to accelerate the action speed of the spool and make up for the above-mentioned spool action delay. Specifically, the time difference between the above-mentioned operation transition time node and the current time node is obtained first, and then the electromagnetic force required for the constant flow water valve to compensate for the spool action delay at the operation transition time node during the process of changing to the expected opening degree on time is estimated based on the above-mentioned time difference and the spool action delay, so as to ensure that the above-mentioned electromagnetic force can promote the spool to accelerate the speed to complete the opening degree change adjustment. Furthermore, the voltage signal strength applied to the constant flow water valve is adjusted based on the above-mentioned electromagnetic force and the electromagnetic coil parameters (such as electromagnetic coil inductance, electromagnetic coil turns, electromagnetic action area, and air permeability, etc.) of the constant flow water valve, so as to adjust the current size applied to the electromagnetic coil of the constant flow water valve, so that the spool can obtain a suitable size of electromagnetic force action, improve the water valve response speed, and ensure the long-time stable control of the flow.

[0137] Overall, the constant flow water valve control method and system collect and analyze the water flow data of the downstream pipeline connected with the constant flow water valve, determine the flow fluctuation characteristics of the downstream pipeline, determine the operation conversion time node of the constant flow water valve, accurately determine the node at which the water valve needs to change the operation mode in the time dimension; collect and analyze the upstream and downstream hydraulic data of the constant flow water valve, determine the hydraulic impact characteristics of the constant flow water valve, estimate the valve core action delay of the constant flow water valve, and provide a reference basis for subsequent shortening of the response time of the constant flow water valve; and according to the operation conversion time node and the valve core action delay, estimate the electromagnetic force required for the valve core action compensation of the constant flow water valve at the operation conversion time node, adjust the electric signal applied to the constant flow water valve, and through the above process, take the pipeline internal flow fluctuation as the basis and fully consider the valve core action delay of the constant flow water valve caused by the hydraulic impact, accurately control the electric signal applied to the constant flow water valve, improve the response speed of the water valve, and ensure the long-time stable control of the flow.

[0138] In another embodiment, according to the operation conversion time node and the valve core action delay, the electromagnetic force required for the valve core action compensation of the constant flow water valve during the change to the desired opening degree at the operation conversion time node is estimated, comprising:

[0139] Retrieve the equivalent mass corresponding to the valve core, and normalize the equivalent mass to obtain the normalized equivalent mass of the valve core;

[0140] Retrieve the target opening degree and the current actual opening degree of the valve core;

[0141] According to the target opening degree and the current actual opening degree, the inertia compensation coefficient is obtained in combination with the normalized equivalent mass corresponding to the valve core;

[0142] Wherein, the inertia compensation coefficient is obtained by the following formula:

[0143] ;

[0144] Wherein, M represents the inertia compensation coefficient; X d and X0 represent the target opening degree and the current actual opening degree of the valve core; m represents the normalized equivalent mass corresponding to the valve core;

[0145] Retrieve the equivalent damping coefficient corresponding to the viscous damping force during the movement of the valve core;

[0146] According to the target opening degree and the current actual opening degree, the damping compensation coefficient is obtained in combination with the equivalent damping coefficient;

[0147] Wherein, the damping compensation coefficient is obtained by the following formula:

[0148] ;

[0149] Where R represents the damping compensation coefficient; F represents the equivalent damping coefficient corresponding to the viscous damping force experienced by the valve core during its movement.

[0150] The electromagnetic force required for valve core movement is compensated using the aforementioned inertia compensation coefficient and damping compensation coefficient.

[0151] The electromagnetic force required for the compensated valve core to actuate is obtained using the following formula:

[0152] ;

[0153] Where S represents the electromagnetic force required for the compensated valve core to actuate; S base This represents the basic electromagnetic force required to compensate for valve core movement.

[0154] The beneficial effects of the above embodiments are that, by introducing an inertial compensation coefficient based on normalized equivalent mass and a damping compensation coefficient based on equivalent damping coefficient, the basic electromagnetic force required for valve core movement is comprehensively compensated. This allows for precise adaptation to the inertial and viscous damping characteristics of the valve core, enabling the valve core of the constant flow valve to accurately and promptly change to the desired opening degree at the operational change time point. This effectively improves the accuracy and timeliness of valve core movement, thereby ensuring the accuracy and stability of the constant flow valve's flow control. By normalizing the equivalent mass of the valve core, the inertia compensation coefficient can be adapted to valve cores of different specifications and materials, improving the universality and adaptability of the compensation logic. Based on the difference between the target opening and the current actual opening, the inertia compensation coefficient and the damping compensation coefficient are calculated, realizing the dynamic matching between the compensation force and the valve core's action requirements. This allows for real-time response to changes in opening, avoiding over-compensation or under-compensation problems caused by fixed compensation values. By separately calculating the compensation of inertial characteristics and viscous damping characteristics and then combining them to act on the basic electromagnetic force, the inertial resistance in the valve core's movement is accurately offset, and the action lag caused by fluid viscosity is effectively balanced. This optimizes the dynamic response characteristics of the valve core from multiple dimensions, significantly improving the smoothness of the valve core's movement and control accuracy during opening changes.

[0155] By combining the inertia compensation coefficient and the damping compensation coefficient, not only is the influence of a single inertia or damping factor on the valve core's movement resolved, but the nonlinear interference caused by their coupling is also unexpectedly eliminated. When the valve core undergoes rapid opening changes, the inertial force and the viscous damping force form a dynamic relationship of mutual restraint. Existing technologies, when handled individually, are prone to the superposition effect of overshoot or lag. However, this solution, through comprehensive compensation of dual coefficients, allows the interference of the two forces to cancel each other out during dynamic changes, achieving a "no overshoot, no lag" transition of the valve core's movement. This effect cannot be obtained by compensating for inertia or damping alone, breaking through the technical limitations of traditional single-factor compensation.

[0156] The above is only one specific embodiment of the present application, and any improvement made on the basis of the concept of the present application is considered to be within the protection scope of the present application.

Claims

1. A constant flow water valve control method, characterized in that, include: Collect water flow rate data of the downstream pipe connected to the constant flow valve, and determine the flow fluctuation characteristics of the downstream pipe based on the water flow rate data; Based on the flow fluctuation characteristics, determine the operating change time point of the constant flow valve; Collect upstream and downstream hydraulic data of the constant flow water valve, determine the hydraulic shock characteristics of the constant flow water valve based on the upstream and downstream hydraulic data, and estimate the valve core action delay of the constant flow water valve based on the hydraulic shock characteristics. Based on the operation change time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to perform valve core action compensation at the operation change time node; The electrical signal applied to the constant flow water valve is adjusted according to the electromagnetic force.

2. The constant flow water valve control method as described in claim 1, characterized in that: Collect water flow rate data of the downstream pipe connected to the constant flow valve, and determine the flow fluctuation characteristics of the downstream pipe based on the water flow rate data; Based on the flow fluctuation characteristics, the operating change time points of the constant flow valve are determined, including: Water flow rate data are collected from several locations within the downstream pipe connected to the constant flow valve, each within the same time interval. Based on the spatial distribution of all locations within the downstream pipe, the water flow rate velocities of several cross sections within the downstream pipe are extracted from the water flow rate data. Time variation analysis is performed on the water flow rate velocities of all cross sections to determine the flow fluctuation characteristics of the downstream pipe. The flow fluctuation characteristics refer to the time variation characteristics of the water flow rate velocities drifting in the downstream pipe. Extract the duration interval of the water flow rate change value in the downstream pipeline that is greater than a preset threshold from the flow fluctuation characteristics, and determine the operation change time node of the constant flow valve based on the duration interval; wherein, the operation change time node refers to the time node when the constant flow valve implements a change of opening operation mode.

3. The constant flow water valve control method as described in claim 2, characterized in that: Collect upstream and downstream hydraulic data of the constant flow water valve, and determine the hydraulic impact characteristics of the constant flow water valve based on the upstream and downstream hydraulic data; Based on the hydraulic shock characteristics, the valve core actuation delay of the constant flow water valve is estimated, including: Hydraulic data of the upstream and downstream pipes connected to the constant flow valve are collected, and time-domain difference analysis is performed on the hydraulic data of the upstream and downstream pipes to determine the hydraulic impact characteristics of the constant flow valve; wherein, the hydraulic impact characteristics refer to the time-domain variation characteristics of the hydraulic impact force on the constant flow valve. Based on the hydraulic shock characteristics, estimate the time-domain variation characteristics of the resistance force experienced by the valve core during the constant flow water valve's opening change operation mode; based on the time-domain variation characteristics of the resistance force, estimate the valve core action delay during the constant flow water valve's opening change operation mode; wherein, the valve core action delay refers to the additional time required for the constant flow water valve to change its opening by one unit amplitude during the valve core's opening change operation under the current hydraulic shock compared to when it is not subjected to any hydraulic shock.

4. The constant flow water valve control method as described in claim 3, characterized in that: Based on the operation change time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to perform valve core action compensation at the operation change time node; Adjusting the electrical signal applied to the constant flow water valve based on the electromagnetic force includes: Based on the operation change time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to perform valve core action compensation during the process of timely changing to the desired opening at the operation change time node; The voltage signal strength applied to the constant flow water valve is adjusted according to the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve.

5. The constant flow water valve control method as described in claim 4, characterized in that: Based on the operational changeover time node and the valve core actuation delay, estimate the electromagnetic force required for the constant flow water valve to compensate for valve core actuation during the timely changeover to the desired opening degree at the operational changeover time node, including: The equivalent mass corresponding to the valve core is retrieved, and the equivalent mass is normalized to obtain the normalized equivalent mass. Retrieve the target opening degree and the current actual opening degree of the valve core; The inertia compensation coefficient is obtained by combining the target opening degree and the current actual opening degree with the equivalent mass of the valve core after normalization. The inertial compensation coefficient is obtained by the following formula: ； Where M represents the inertia compensation coefficient; X d X0 represents the target opening degree and the current actual opening degree of the valve core; m represents the equivalent mass of the valve core after normalization. Obtain the equivalent damping coefficient corresponding to the viscous damping force experienced by the valve core during its movement; The damping compensation coefficient is obtained by combining the target opening degree and the current actual opening degree with the equivalent damping coefficient. The damping compensation coefficient is obtained by the following formula: ； Where R represents the damping compensation coefficient; F represents the equivalent damping coefficient corresponding to the viscous damping force experienced by the valve core during its movement. The electromagnetic force required for valve core movement is compensated using the aforementioned inertia compensation coefficient and damping compensation coefficient. The electromagnetic force required for the compensated valve core to actuate is obtained using the following formula: ； Where S represents the electromagnetic force required for the compensated valve core to actuate; S base This represents the basic electromagnetic force required to compensate for valve core movement.

6. A constant flow water valve control system, characterized in that, include: The flow fluctuation determination module is used to collect water flow data of the downstream pipe connected to the constant flow valve, and determine the flow fluctuation characteristics of the downstream pipe based on the water flow data. The time node determination module is used to determine the operation change time node of the constant flow water valve based on the flow fluctuation characteristics. The hydraulic shock determination module is used to collect upstream and downstream hydraulic data of the constant flow water valve and determine the hydraulic shock characteristics of the constant flow water valve based on the upstream and downstream hydraulic data. An action delay estimation module is used to estimate the valve core action delay of the constant flow water valve based on the hydraulic shock characteristics. An electromagnetic force estimation module is used to estimate the electromagnetic force required for the constant flow valve to perform valve core action compensation at the operation change time node based on the operation change time node and the valve core action delay. An electrical signal adjustment module is used to adjust the electrical signal applied to the constant flow water valve according to the electromagnetic force.

7. The constant flow water valve control system as described in claim 6, characterized in that: The flow fluctuation determination module is used to collect water flow data from the downstream pipe connected to the constant flow valve, and determine the flow fluctuation characteristics of the downstream pipe based on the water flow data, including: Water flow rate data are collected from several locations within the downstream pipe connected to the constant flow valve, each within the same time interval. Based on the spatial distribution of all locations within the downstream pipe, the water flow rate velocities of several cross sections within the downstream pipe are extracted from the water flow rate data. Time variation analysis is performed on the water flow rate velocities of all cross sections to determine the flow fluctuation characteristics of the downstream pipe. The flow fluctuation characteristics refer to the time variation characteristics of the water flow rate velocities drifting in the downstream pipe. The time node determination module is used to determine the operating change time node of the constant flow water valve based on the flow fluctuation characteristics, including: Extract the duration interval of the water flow rate change value in the downstream pipeline that is greater than a preset threshold from the flow fluctuation characteristics, and determine the operation change time node of the constant flow valve based on the duration interval; wherein, the operation change time node refers to the time node when the constant flow valve implements a change of opening operation mode.

8. The constant flow water valve control system as described in claim 7, characterized in that: The hydraulic shock determination module is used to collect upstream and downstream hydraulic data of the constant flow water valve, and determine the hydraulic shock characteristics of the constant flow water valve based on the upstream and downstream hydraulic data, including: Hydraulic data of the upstream and downstream pipes connected to the constant flow valve are collected, and time-domain difference analysis is performed on the hydraulic data of the upstream and downstream pipes to determine the hydraulic impact characteristics of the constant flow valve; wherein, the hydraulic impact characteristics refer to the time-domain variation characteristics of the hydraulic impact force on the constant flow valve. The action delay estimation module is used to estimate the valve core action delay of the constant flow water valve based on the hydraulic shock characteristics, including: Based on the hydraulic shock characteristics, estimate the time-domain variation characteristics of the resistance force experienced by the valve core during the constant flow water valve's opening change operation mode; based on the time-domain variation characteristics of the resistance force, estimate the valve core action delay during the constant flow water valve's opening change operation mode; wherein, the valve core action delay refers to the additional time required for the constant flow water valve to change its opening by one unit amplitude during the valve core's opening change operation under the current hydraulic shock compared to when it is not subjected to any hydraulic shock.

9. The constant flow water valve control system as described in claim 8, characterized in that: The electromagnetic force estimation module is used to estimate the electromagnetic force required for the constant flow water valve to perform valve core actuation compensation at the operation change time node based on the operation change time node and the valve core actuation delay, including: Based on the operation change time node and the valve core action delay, estimate the electromagnetic force required for the constant flow water valve to perform valve core action compensation during the process of timely changing to the desired opening at the operation change time node; The electrical signal adjustment module is used to adjust the electrical signal applied to the constant flow water valve according to the electromagnetic force, including: The voltage signal strength applied to the constant flow water valve is adjusted according to the electromagnetic force and the electromagnetic coil parameters of the constant flow water valve.

10. The constant flow water valve control system as described in claim 9, characterized in that: Based on the operational changeover time node and the valve core actuation delay, estimate the electromagnetic force required for the constant flow water valve to compensate for valve core actuation during the timely changeover to the desired opening degree at the operational changeover time node, including: The equivalent mass corresponding to the valve core is retrieved, and the equivalent mass is normalized to obtain the normalized equivalent mass. Retrieve the target opening degree and the current actual opening degree of the valve core; The inertia compensation coefficient is obtained by combining the target opening degree and the current actual opening degree with the equivalent mass of the valve core after normalization. The inertial compensation coefficient is obtained by the following formula: ； Where M represents the inertia compensation coefficient; X d X0 represents the target opening degree and the current actual opening degree of the valve core; m represents the equivalent mass of the valve core after normalization. Obtain the equivalent damping coefficient corresponding to the viscous damping force experienced by the valve core during its movement; The damping compensation coefficient is obtained by combining the target opening degree and the current actual opening degree with the equivalent damping coefficient. The damping compensation coefficient is obtained by the following formula: ； Where R represents the damping compensation coefficient; F represents the equivalent damping coefficient corresponding to the viscous damping force experienced by the valve core during its movement. The electromagnetic force required for valve core movement is compensated using the aforementioned inertia compensation coefficient and damping compensation coefficient. The electromagnetic force required for the compensated valve core to actuate is obtained using the following formula: ； Where S represents the electromagnetic force required for the compensated valve core to actuate; S base This represents the basic electromagnetic force required to compensate for valve core movement.

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