DEH system redundant valve servo card undisturbed regulation and control method and system

Abstract

The invention discloses a DEH system redundant valve servo card undisturbed regulation and control method and system, the system comprises a redundant servo module configured with a DEH system valve, and the redundant servo module comprises a master module and a slave module which perform independent operation and perform data communication; the master module and the slave module respectively collect opening information of a linear variable differential transmitter given by a DEH system, and obtain an operation state instruction of the master module; the master module output selects a data communication channel according to the operation state of the master module, and the slave module performs inverse operation on the master module output to obtain a slave module output; and performing high selection on the output quantity of the master module and the output quantity of the slave module and then outputting a synchronous control signal. Through independent operation of the master module and the slave module and reverse operation of the slave module, hot switching of the modules is undisturbed; meanwhile, a locking mechanism is introduced, so that undisturbed control is achieved in the locking and unlocking processes, and field regulation and control are simplified.

Description

Technical Field

[0001] This invention relates to the field of electromechanical equipment control technology, specifically to a method and system for non-disruptive control of redundant valve servo cards in a DEH system. Background Technology

[0002] DEH, or Digital Electric Hydraulic Control System for Steam Turbines, is a crucial component of DCS (Distributed Control System). The servo module, along with field turbine control mechanisms (servo valves, hydraulic actuator slide valves, hydraulic actuator pistons, hydraulic actuator stroke feedback LVDT, etc.), forms a servo-driven system that controls the hydraulic actuator's stroke via control current. This control of the hydraulic actuator alters the steam flow into the turbine, thereby regulating its output power. A high-quality servo module can stably control valve opening, respond quickly to valve commands, and better regulate turbine power, maintaining stable power generation.

[0003] For large steam turbines with high requirements for control stability and precision, redundant operation greatly increases the safety of the operating system. Currently, most domestic and international systems use distributed control systems (DCS). DCS systems have redundant configurations for power supplies and distributed control units, with dual-path backups for each other. However, steam turbine control valves lack redundancy; each valve is controlled by only one valve positioner module, posing a safety hazard. If the valve positioner module fails, the corresponding steam turbine control valve may become uncontrollable. Furthermore, when a valve positioner module fails, it cannot be replaced online without shutting down the system; replacement must be done after the system is shut down. Summary of the Invention

[0004] The purpose of this invention is to provide a non-disruptive control method for redundant valve servo cards in a DEH system, which can achieve non-disruptive hot switching. At the same time, it adopts a non-linear locking and unlocking algorithm with prediction, so that card replacement can also be achieved without disruption.

[0005] To achieve the above objectives, the present invention is specifically implemented through the following technical solutions:

[0006] A method for disturbance-free control of redundant valve servo cards in a DEH system includes the following steps:

[0007] S1. Configure a redundant servo module for the valves of the DEH system. The redundant servo module includes a master module and a slave module that independently perform calculations and communicate data.

[0008] S2. The master module and slave module each collect the opening information of the linear variable differential transmitter given by the DEH system and obtain the operating status command of the master module.

[0009] S3. The main module output selects the data communication channel based on the main module's operating status. The slave module performs an inverse operation on the main module's output to obtain the slave module's output, specifically:

[0010] (1) During normal operation, the output of the main module is adjusted by a dynamic proportional-integral algorithm, and the output of the slave module is directly connected to and synchronously output with the output of the main module;

[0011] (2) When in the locked state, the output of the master module is locked, and the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually decreases to zero.

[0012] (3) When in the unlocked state, the output of the main module is unlocked. The output of the slave module is gradually increased by combining the digital low-pass filter with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the main module.

[0013] S4. After selecting the output of the master module and the output of the slave module, output a synchronous control signal.

[0014] Preferably, the transmission signals for data communication between the master module and the slave module include at least: an AI input signal for LVDT feedback, an AO output signal for servo valve drive, and a DI output signal for emergency stop.

[0015] Preferably, the data communication process between the master module and the slave module includes:

[0016] The master module and slave module each acquire the opening information of the linear variable differential transmitter given by the DEH system and perform high selection operation. After high selection, the master module and slave module simultaneously perform dynamic proportional-integral algorithm for adjustment.

[0017] The master module transmits its AO output to the slave module via an asynchronous serial communication protocol. After receiving the master module's AO output value, the slave module performs a PI inverse operation and simultaneously modifies the slave module's AO output to the master module's AO output. Once the AO output is ready, the master module and slave module's AO outputs are output via a synchronization signal.

[0018] Preferably, the locking state is as follows: when it is necessary to switch between master and slave module control, the master module is set to the locked state, and the output of the slave module is used as the AO output signal; after the valve servo card is replaced, the master module is switched to the unlocked state, and the output of the master module and the output of the slave module are dynamically supplemented and output.

[0019] Preferably, in step S3, the difference equation of the high-pass filter is:

[0020] ;

[0021] The difference equation for the low-pass filter is:

[0022] ;

[0023] in, For discrete domain output from the module (time domain), R and C are the resistance and capacitance values ​​in the mathematical model, respectively; n is the sampling point; and T is the sampling time.

[0024] make The difference equation for the high-pass filter is:

[0025] ;

[0026] The difference equation for the low-pass system function is:

[0027] ;

[0028] The δ value is calculated by discretizing the RC circuit parameters and dynamically optimized according to the characteristics of the controlled object, where δ∈[0.99,1.0].

[0029] Preferably, in step S3, when the master module is locked, the output of the slave module is attenuated by using a digital high-pass filter in combination with the differential factor FRE module, so that the output of the slave module gradually attenuates to zero.

[0030] Preferably, the expression for the FRE module is: ;

[0031] in, This is a predictor factor, which is related to the AO output accuracy of the master and slave modules, and its value ranges from [0.99, 1.0].

[0032] Preferably, in step S3, during the locked state, the output from the module gradually decays to zero, and the dynamic process satisfies the formula:

[0033] ;

[0034] In the unlocked state, the output value of the module gradually approaches the output value of the main module, and the dynamic process satisfies the formula:

[0035] ;

[0036] In the formula, n represents the number of sampling points. is the predictor, is a constant, x(n) is the output of the master module, y(n) is the output of the slave module, u is the unit step function, and N is a fixed point in the process.

[0037] Preferably, the method further includes: when an abnormality is detected in the redundant servo module signal, triggering a safety door closing function or an alarm according to a preset abnormality type.

[0038] On the other hand, the present invention provides a DEH system redundant valve servo card disturbance-free control system, which includes:

[0039] The redundant servo module includes a master module and a slave module mounted on a redundant base, and the master module and the slave module communicate data through the redundant base; the master module and the slave module include at least one AI interface, one AO ​​interface and one DI interface.

[0040] The data processing module processes the data communication between the master module and the slave module. Based on the operating status and output of the master module, the output of the slave module is adjusted as follows: (1) In normal operation, the output of the master module adopts dynamic PI adjustment mode, and the output of the slave module is directly connected and synchronized with the output of the master module; (2) In the locked state of the master module, the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually attenuates to zero; (3) In the unlocked state of the master module, the output signal of the slave module is gradually compensated and increased by a digital low-pass filter combined with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the master module.

[0041] An anomaly detection module is used to detect signal anomalies in redundant servo modules, including anomalies in control signal acquisition, communication errors, and output circuit anomalies.

[0042] Compared to existing technologies, the redundant operation significantly increases the safety of the operating system and enables seamless switching and online module replacement. Power plants can replace and maintain modules without shutting down. The modules intelligently detect anomalies, triggering alarms for minor anomalies and implementing safe shutdown for severe anomalies, ensuring safe shutdown of the turbine in the event of serious malfunctions and preventing power plant accidents.

[0043] The redundant servo modules in this invention are connected via a dedicated redundant base for data communication and synchronization. The master and slave modules operate independently, with the slave module performing reverse operations, enabling seamless hot-switching of modules. A locking mechanism is also introduced to ensure seamless module replacement while the module is locked. By designing a seamless locking and unlocking mechanism, seamless control is achieved during locking and unlocking. This locking mechanism introduces a single parameter, which is adjusted according to different controlled objects to achieve seamless control. Attached Figure Description

[0044] Figure 1 This is a control structure diagram of the valve servo card disturbance-free control method of the present invention;

[0045] Figure 2 This is a schematic diagram of the relevant interfaces and interaction signals of the redundant servo module in this invention;

[0046] Figure 3 This is a sampling sequence diagram of the locking and unlocking process with compensated nonlinearity δ=0.9995 in an embodiment of the present invention;

[0047] Figure 4 This is a sampling sequence diagram of the locking and unlocking process with compensation nonlinearity δ=0.9999 in an embodiment of the present invention. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0049] like Figures 1 to 4 As shown, the present invention provides a method for disturbance-free control of redundant valve servo cards in a DEH system, comprising the following steps:

[0050] S1. Configure a redundant servo module for the valves of the DEH system. The redundant servo module includes a master module and a slave module that independently perform calculations and communicate data.

[0051] S2. The master module and slave module each collect the opening information of the linear variable differential transmitter given by the DEH system and obtain the operating status command of the master module.

[0052] S3. The main module output selects the data communication channel based on the main module's operating status. The slave module performs an inverse operation on the main module's output to obtain the slave module's output, specifically:

[0053] (1) During normal operation, the output of the main module is adjusted by a dynamic proportional-integral algorithm, and the output of the slave module is directly connected to and synchronously output with the output of the main module;

[0054] (2) When in the locked state, the output of the master module is locked, and the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually decreases to zero.

[0055] (3) When in the unlocked state, the output of the main module is unlocked. The output of the slave module is gradually increased by combining the digital low-pass filter with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the main module.

[0056] S4. After selecting the output of the master module and the output of the slave module, output a synchronous control signal.

[0057] In this scheme, the redundant servo module adopts a master-slave dual-module approach, also referred to as module A and module B. The two modules operate in a master-slave mode, with only one module acting as the master and the other as the slave at any given time. Master-slave switching only occurs when the master module malfunctions. Redundant data between the master and slave modules is exchanged via a dedicated redundant base station. The control structure diagram of the redundant servo module is shown below. Figure 1 As shown in the diagram, the relevant interfaces and interaction signals of the redundant servo module are illustrated below. Figure 2 As shown.

[0058] Figure 1 In this architecture, Cm(s) is the master module, and Cs(s) is the slave module. Under normal circumstances, the master module's output is sent to the slave module via the redundant base's communication bus. The slave module performs a reverse operation (REV, C language) to compensate for the slave module's PI operation. Both the master and slave modules use independent data acquisition and processing; the master module takes over the output. The master module selects different channels based on its operating state (normal operation, locked, unlocked). During normal operation, it selects the DP pass-through mode; in the locked state, it selects the HP+FRE high-pass mode; and in the unlocked state, it selects the LP+FRE low-pass mode. This allows for seamless card replacement during hot-swapping of the redundant servo module servo card. The low-pass mode does not have a differential factor, so a differential factor FRE module needs to be added. The high-pass mode itself has differential capabilities, so a differential factor FRE is not necessary, but adding it improves the performance.

[0059] In some embodiments, preferably, the transmission signals for data communication between the master module and the slave module include at least: an AI input signal for LVDT feedback, an AO output signal for servo valve drive, and a DI output signal for emergency stop. Specifically, each module of the redundant base interface has one AI (LVDT feedback), one AO ​​(servo valve drive), and one DI (emergency stop).

[0060] Specifically, the data communication process between the master module and the slave module includes:

[0061] The master module and slave module each acquire the opening information of the linear variable differential transmitter (LVDT) given by the DEH system and perform high selection operation. After high selection, the master module and slave module simultaneously perform dynamic proportional-integral algorithm (PI operation) for adjustment.

[0062] The master module transmits its AO output to the slave module via an asynchronous serial communication protocol. After receiving the master module's AO output value, the slave module performs a PI inverse operation and simultaneously modifies the slave module's AO output to the master module's AO output. Once the AO output is ready, the master module and slave module's AO outputs are output via a synchronization signal.

[0063] In this scheme, to improve the reliability of valve feedback, the master and slave modules each collect LVDT opening information and transmit it to the other module via a transmission method, achieving the goal of two-channel LVDT feedback for each module. High-order selection is performed internally within each module. After high-order selection, the master and slave modules simultaneously perform PI calculations. Upon completion, the master module transmits the AO output data to the slave module via an asynchronous serial communication protocol (UART). The slave module receives the data, performs an inverse PI calculation, and simultaneously modifies its output to match the master module's output. When the AO output is ready, the master module synchronizes its AO value output with the slave module via a sync signal.

[0064] In this embodiment, the locking state is as follows: when it is necessary to switch between master and slave module control, the master module is set to the locked state, and the output of the slave module is used as the AO output signal; after the valve servo card is replaced, the master module is switched to the unlocked state, and the output of the master module and the output of the slave module are dynamically supplemented and output.

[0065] In this scheme, the master module uses different system transfer functions for locking and unlocking, essentially trading time for smooth switching. For the slave module, the main goal is to filter out the problem of the master module's excessively fast step response, so only a first-order system function is needed. The purpose of using a first-order system function is to gradually attenuate the slave module's output signal during locking, eventually reducing the slave module's output to zero. During unlocking, the slave module's output is gradually increased, eventually making the outputs of the master and slave modules equal. The master module uses PI mode for dynamic adjustment. To reduce disturbances, it needs to predict input changes. Since the low-pass system function lacks this function, a Free Transfer Function (FRE) is added. In the following embodiments, a simple RC circuit is used as a prototype to briefly describe the function design of the low-pass, high-pass, and FRE modules:

[0066] For a high-pass filter, the continuous-time signal complex frequency domain (s-domain) transfer function of the high-pass system function is:

[0067] ;

[0068] in, For output from the module, The output value of the main module is R and C, which are the resistance and capacitance values ​​in the mathematical model. For this system, they will eventually be represented as a coefficient, and s is the complex frequency domain variable of the transfer function.

[0069] make Then the transfer function is:

[0070] ;

[0071] Thus, the difference equation of the high-pass filter in step S3 of the embodiment is obtained as follows:

[0072] ;

[0073] in, For discrete domain output from the module, is the output value of the discrete domain main module, z is the discrete-time domain variable of the transfer function, n is the sampling point, and T is the sampling time.

[0074] For a low-pass filter, the input-output relationship of the low-pass system function is as follows:

[0075] ;

[0076] in, For output from the module, The output value of the main module is R and C, which are the resistance and capacitance values ​​in the mathematical model. For this system, they will eventually be represented as a coefficient, and s is the complex frequency domain variable of the transfer function.

[0077] make Where T is the period, the transfer function is:

[0078] ;

[0079] in, For discrete domain output from the module, The output value of the discrete domain main module is given by R and C, which are the resistance and capacitance values ​​in the mathematical model (as per the formula above). For this system, these values ​​will eventually be represented by a coefficient. z is the discrete-time domain variable of the transfer function, and T is the time taken.

[0080] Therefore, in step S3 of the embodiment, the difference equation of the low-pass filter is:

[0081] ;

[0082] in, For discrete domain output from the module (time domain), R and C are the resistance and capacitance values ​​in the mathematical model, respectively; n is the sampling point; and T is the sampling time.

[0083] make The difference equation for the high-pass filter is:

[0084] ;

[0085] The difference equation for the low-pass system function is:

[0086] ;

[0087] Among them, the three variables R, C, and T are converted into one variable δ. The value of δ is calculated by discretizing the RC circuit parameters and dynamically optimized according to the characteristics of the controlled object. δ∈[0.99, 1.0]; y(n) is the discrete domain output of the slave module (time domain), x(n) is the discrete domain output value of the master module (time domain), and n is the sampling point; reliable master-slave switching is achieved by modifying the value of δ.

[0088] This invention constructs and discretizes the transfer function of a servo valve and hydraulic actuator system, thus simulating a closed-loop system of the servo valve and hydraulic actuator in hardware. During the locking and unlocking process of the main module, digital high-pass and digital low-pass filters are employed, and the locking and unlocking processes are adjusted using a single parameter, simplifying on-site debugging.

[0089] In some embodiments, in step S3, when the master module is locked, the output of the slave module is attenuated by using a digital high-pass filter in combination with the differential factor FRE module, so that the output of the slave module gradually attenuates to zero.

[0090] In this scheme, furthermore, in order to make the output of the module follow the input, in this embodiment, the expression of the FRE module is: ;

[0091] in, y(n) is the predictor factor, which is related to the AO output accuracy of the master and slave modules, and its value range is [0.99, 1.0]; y(n) is the output of the discrete domain slave module (time domain), x(n) is the output value of the discrete domain master module (time domain), and n is the sampling point.

[0092] The closer the δ value is to 1, the better the stability of locking and unlocking, and the higher the immunity to disturbances, but the longer the time required. The δ value can be adjusted according to the characteristics of the controlled object to achieve the best results in terms of time and stability. This is the prediction factor, which is related to the accuracy of the AO output of the master and slave modules. Generally, 1.0 is sufficient.

[0093] The coefficient of the FRE module is 1 or configurable; both high-pass and low-pass filters require this coefficient. Since the output of the master module changes with the slave module, the new output value of the master module needs to be updated based on PI calculations. If the slave module performs dynamic compensation at this time, it will effectively stabilize the gate opening.

[0094] Locking adds the following algorithm to the nonlinear method:

[0095] ;

[0096] In the above formula, n represents the number of sampling points. The predictor is a set constant, where x is the output value of the master card, y is the output value of the slave card, u is the unit step function, and N is a fixed point in the process. u and N are used to limit the causal relationship of the system.

[0097] Therefore, in step S3 of the embodiment, during the locked state, the output from the module gradually decays to zero, and the dynamic process satisfies the formula:

[0098] ;

[0099] In the unlocked state, a predictive follower also needs to be added to gradually approximate the main module's output value from the module output. The dynamic process satisfies the formula:

[0100] ;

[0101] In the formula, n represents the number of sampling points. is the predictor, is a constant, x(n) is the output of the master module, y(n) is the output of the slave module, u is the unit step function, and N is a fixed point in the process.

[0102] Preferably, the method further includes: when an abnormal signal is detected in the redundant servo module, triggering a safety shut-off function or alarm according to a preset abnormality type. Specifically, in this embodiment, the redundant servo module has the following types of abnormalities:

[0103] The following errors are detected: LVDT acquisition error (E0), AO output loop self-test error (E1), HDLC communication error (E2), PI adjustment timeout (E3), AD acquisition timeout (E4), synchronous serial port master-to-slave link error (E5), synchronous serial port slave-to-master error (E6), and an emergency stop DI. Resources for redundant communication between the master and slave modules include: interrupt lines, synchronous serial ports, master / slave I / O hardwires, and HDLC listening.

[0104] On the other hand, the present invention provides a DEH system redundant valve servo card disturbance-free control system, which includes:

[0105] The redundant servo module includes a master module and a slave module mounted on a redundant base, and the master module and the slave module communicate data through the redundant base; the master module and the slave module include at least one AI interface, one AO ​​interface and one DI interface.

[0106] The data processing module processes the data communication between the master module and the slave module. Based on the operating status and output of the master module, the output of the slave module is adjusted as follows: (1) In normal operation, the output of the master module adopts dynamic PI adjustment mode, and the output of the slave module is directly connected and synchronized with the output of the master module; (2) In the locked state of the master module, the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually attenuates to zero; (3) In the unlocked state of the master module, the output signal of the slave module is gradually compensated and increased by a digital low-pass filter combined with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the master module.

[0107] An anomaly detection module is used to detect signal anomalies in redundant servo modules, including anomalies in control signal acquisition, communication errors, and output circuit anomalies.

[0108] In this embodiment, the data collected by the redundant servo module is statistically analyzed for the following indicators:

[0109] The maximum value of the module output is The minimum value is ;

[0110] The difference between the maximum and minimum values ​​(peak-to-peak value) is ;

[0111] The mean squared error is This serves as the standard for data.

[0112] Full-scale accuracy is The unit is one-thousandth;

[0113] Since the measurement focuses on stability and the degree of disturbance, the average value during normal operation is taken as Y. The valve opening is standardized from 0 to 100%, so the full-scale accuracy is taken as one-thousandth. Based on the experimental data, Y is taken as 60.1926.

[0114] In the embodiment, the sequence used in the locking and unlocking process with compensated nonlinearity δ=0.9995 is as follows: Figure 3 As shown. Where MAX = 60.3597, MIN = 60.0281, PP = 0.3315, STD = 0.0409, FS = 1.6708 (δ = 0.9995)

[0115] The sequence used in the locking and unlocking process with compensated nonlinearity δ=0.9999 is as follows: Figure 4 As shown. Where MAX=60.2062, MIN=60.1757, PP=0.0305, STD=0.0030, FS=0.1692 (δ=0.9999).

[0116] Based on the existing operating conditions, experiments were conducted and data was statistically analyzed, divided into two parts: disturbance stability and lock-up (unlock) stability. To compare performance under different conditions, all indicators were normalized for normal operating conditions.

[0117] Specifically, The peak-to-peak value is a normalized value for normal operation. Standard deviation is a normalization for normal operation. Full-scale accuracy is based on normalization during normal operation. This serves as the final performance indicator to consider.

[0118] The indicator data of a single card under different operating states (normal operation, no hot-swapping, hot-swapping with follow, unlocked card replacement, and locked card replacement) are compared, as shown in Table 1 below:

[0119] Table 1

[0120]

[0121] As can be seen from Table 1 above, under normal operating conditions... =1, used as the standard. When less than... <1 indicates superior performance. A score greater than 1 indicates worse performance. The performance of both hot-swapping and card-locking during card replacement is better than during normal operation. This is because normal operation takes longer in these two experimental periods, resulting in slight performance differences. Furthermore, single-card operation is inherently more stable than dual-card operation; therefore, card-locking during card replacement performs better than hot-swapping.

[0122] The performance metrics for dual-card operation with predictive factors are shown in Table 2 below:

[0123] Table 2

[0124]

[0125] As can be seen from Table 2 above, The value of ξ will affect the final result. With compensated nonlinear locking, ξ is 11501, closest to 1, indicating that the overall output of the redundant servo module is more stable at this time. However, as... The increase in size can lead to problems with excessively long locking and unlocking times. On-site debugging requires consideration of the on-site equipment to find a suitable solution. While maintaining the required accuracy, the shorter the locking time, the better.

[0126] Through various experiments, the present invention has verified that the redundant valve servo card of the DEH system of the present invention has achieved the performance of disturbance-free control and disturbance-free switching, and can achieve disturbance-free hot switching; at the same time, the addition of a nonlinear locking and unlocking algorithm with prediction makes it possible to replace servo card components without disturbance, further significantly improving the safety and reliability of the DEH in the field.

[0127] The specific embodiments described in this invention are merely illustrative of the invention and are not intended to limit it. Those skilled in the art can make modifications to these embodiments without contributing any inventive step after reading this specification, but such modifications are protected by patent law as long as they fall within the scope of the claims of this invention.

Claims

1. A method for non-disruptive control of redundant valve servo cards in a DEH system, characterized in that, Includes the following steps: S1. Configure a redundant servo module for the valves of the DEH system. The redundant servo module includes a master module and a slave module that independently perform calculations and communicate data. S2. The master module and slave module each collect the opening information of the linear variable differential transmitter given by the DEH system and obtain the operating status command of the master module. S3. The main module output selects the data communication channel based on the main module's operating status. The slave module performs an inverse operation on the main module's output to obtain the slave module's output, specifically: (1) During normal operation, the output of the main module is adjusted by a dynamic proportional-integral algorithm, and the output of the slave module is directly connected to and synchronously output with the output of the main module; (2) When in the locked state, the output of the master module is locked, and the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually decreases to zero. (3) When in the unlocked state, the output of the main module is unlocked. The output of the slave module is gradually increased by combining the digital low-pass filter with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the main module. S4. After selecting the output of the master module and the output of the slave module, output a synchronous control signal.

2. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1, characterized in that, The data transmission signals between the master module and the slave module include at least: AI input signal for LVDT feedback, AO output signal for servo valve drive, and DI output signal for emergency stop.

3. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 2, characterized in that, The data communication process between the master module and the slave module includes: The master module and slave module each acquire the opening information of the linear variable differential transmitter given by the DEH system and perform high selection operation. After high selection, the master module and slave module simultaneously perform dynamic proportional-integral algorithm for adjustment. The master module transmits its AO output to the slave module via an asynchronous serial communication protocol. After receiving the master module's AO output value, the slave module performs an inverse PI calculation and simultaneously modifies the slave module's AO output to the master module's AO output. Once the AO output is ready, the master module and slave module's AO outputs are output via a synchronization signal.

4. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1, characterized in that, The locking state is defined as follows: when it is necessary to switch between master and slave module control, the master module is set to the locked state, and the output of the slave module is used as the AO output signal; after the valve servo card is replaced, the master module is switched to the unlocked state, and the output of the master module and the output of the slave module are dynamically supplemented and output.

5. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1, characterized in that, In step S3, the difference equation of the high-pass filter is: ； The difference equation for the low-pass filter is: ； in, For discrete domain output from the module (time domain), R and C are the resistance and capacitance values ​​in the mathematical model, respectively; n is the sampling point; and T is the sampling time. make The difference equation for the high-pass filter is: ； The difference equation for the low-pass system function is: ； The δ value is calculated by discretizing the RC circuit parameters and dynamically optimized according to the characteristics of the controlled object, where δ∈[0.99, 1.0].

6. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1, characterized in that, In step S3, when the master module is locked, the output of the slave module is attenuated by using a digital high-pass filter in combination with the differential factor FRE module, so that the output of the slave module gradually attenuates to zero.

7. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1 or 6, characterized in that, The expression for the FRE module is: ; in, This is a predictor factor, which is related to the AO output accuracy of the master and slave modules, and its value ranges from [0.99, 1.0].

8. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 7, characterized in that, In step S3, during the locked state, the output from the module gradually decays to zero, and the dynamic process satisfies the formula: ； In the unlocked state, the output value of the module gradually approaches the output value of the main module, and the dynamic process satisfies the formula: ； In the formula, n represents the number of sampling points. is the predictor, is a constant, x(n) is the output of the master module, y(n) is the output of the slave module, u is the unit step function, and N is a fixed point in the process.

9. The method for non-disruptive control of redundant valve servo cards in a DEH system according to claim 1, characterized in that, The method further includes: when an abnormal signal is detected in the redundant servo module, triggering a safety door closing function or alarm according to a preset abnormality type.

10. A DEH system redundant valve servo card disturbance-free control system, characterized in that, It includes: The redundant servo module includes a master module and a slave module mounted on a redundant base, and the master module and the slave module communicate with each other through the redundant base. The master module and slave module each include at least one AI interface, one AO ​​interface, and one DI interface; The data processing module processes the data communication between the master module and the slave module. Based on the operating status and output of the master module, the output of the slave module is adjusted as follows: (1) In normal operation, the output of the master module adopts dynamic PI adjustment mode, and the output of the slave module is directly connected and synchronized with the output of the master module; (2) In the locked state of the master module, the output of the slave module is attenuated by a digital high-pass filter, so that the output of the slave module gradually attenuates to zero; (3) In the unlocked state of the master module, the output signal of the slave module is gradually compensated and increased by a digital low-pass filter combined with the differential factor FRE module, so that the output of the slave module is equal to and synchronized with the output of the master module. An anomaly detection module is used to detect signal anomalies in redundant servo modules, including anomalies in control signal acquisition, communication errors, and output circuit anomalies.

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