Liquid flow adjusting method, device, equipment and medium

Abstract

The embodiment of the invention discloses a liquid flow adjusting method and device, equipment and a medium, and relates to the technical field of the nuclear industry. The method comprises the following steps: acquiring a target liquid flow value corresponding to a current liquid flow value and N groups of preset proportion-integration-differentiation (PID) parameters; n is a positive integer greater than or equal to 2; under the condition that the target liquid flow difference value is smaller than or equal to a preset difference threshold value, a target control signal is determined according to the target liquid flow value and N sets of preset PID parameters; the target liquid flow difference value is the difference value between the target liquid flow value and the current liquid flow value; and adjusting the current liquid flow value according to the target control signal. In this way, the accuracy of liquid flow adjustment can be improved.

Description

Technical Field

[0001] This application relates to the field of nuclear industry technology, and in particular to a liquid flow regulation method, apparatus, equipment and medium. Background Technology

[0002] In the field of nuclear technology, especially in the operation and control of nuclear reactors, the safe operation of nuclear power plants is ensured by regulating the flow rates of various liquids (such as boric acid).

[0003] For example, in the operation of a nuclear power plant, the boric acid supply system is an important component of the plant's chemical and volumetric control system. It uses boric acid transfer pumps to inject the required flow rate of boric acid solution for volumetric or reactive control into the primary loop via the chemical and volumetric control system, maintaining the boric acid concentration in the primary loop at the level necessary for normal plant operation. If the boric acid flow rate deviates significantly from the set value, it will cause a difference between the boric acid concentration in the primary loop and the required value, affecting the normal operation of the primary loop.

[0004] Therefore, improving the accuracy of flow regulation for liquids such as boric acid is a problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In view of this, one of the objectives of this application is to provide a liquid flow regulation method, apparatus, equipment and medium that can improve the accuracy of liquid flow regulation.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows: In a first aspect, embodiments of this application provide a liquid flow rate regulation method, the method comprising: Obtain the target liquid flow rate corresponding to the current liquid flow rate, and N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2; If the target liquid flow rate difference is less than or equal to a preset difference threshold, the target control signal is determined based on the target liquid flow rate value and N sets of preset PID parameters; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value. Adjust the current liquid flow rate value according to the target control signal.

[0007] In one possible implementation, the target control signal is determined based on the target liquid flow rate value and N sets of preset PID parameters, including: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; The preset liquid flow rate value that is the same as the target liquid flow rate value is determined as the first liquid flow rate value; The first control signal corresponding to the first PID parameter is determined as the target control signal; the first PID parameter is the preset PID parameter corresponding to the first liquid flow rate value.

[0008] In one possible implementation, the target control signal is determined based on the target liquid flow rate value and N sets of preset PID parameters, including: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; In the absence of a preset liquid flow value that is identical to the target liquid flow value, a second PID parameter and a third PID parameter are determined; the second PID parameter and the third PID parameter are adjacent, and the target liquid flow value is located between the second liquid flow value corresponding to the second PID parameter and the third liquid flow value corresponding to the third PID parameter. The target control signal is obtained by performing weighted linear interpolation on the second control signal corresponding to the second PID parameter and the third control signal corresponding to the third PID parameter.

[0009] In one possible implementation, N sets of preset PID parameters are obtained, including: Select N operating points within the preset flow range; For each operating point, PID parameters are tuned to obtain the preset PID parameters corresponding to the operating point, thus obtaining N sets of preset PID parameters.

[0010] In one possible implementation, N sets of preset PID parameters are obtained, including: Select N operating points within the preset flow range; For each operating point, PID parameters are tuned to obtain the preset PID parameters corresponding to the operating point, thus obtaining N sets of preset PID parameters.

[0011] In one possible implementation, the method further includes: When the target liquid flow rate difference is greater than a preset difference threshold, a first mapping relationship is obtained. The first mapping relationship is used to characterize the correspondence between the valve opening and the liquid flow rate value of the liquid flow regulating valve under different flow rates. Based on the first mapping relationship, determine the target valve opening corresponding to the target liquid flow rate; Based on the target valve opening, adjust the current liquid flow rate to obtain the adjusted current liquid flow rate. The adjusted current liquid flow rate value is used as the current liquid flow rate value, and the process jumps to the step of "determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to the preset difference threshold".

[0012] In one possible implementation, the method further includes: Update the preset difference threshold based on the dead zone and minimum adjustment amount of the liquid flow regulating valve.

[0013] Secondly, embodiments of this application provide a liquid flow regulating device, which includes: The first acquisition module is used to acquire the target liquid flow rate corresponding to the current liquid flow rate value, and N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2; The first determining module is used to determine the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to a preset difference threshold; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value. The first adjustment module is used to adjust the current liquid flow rate value according to the target control signal.

[0014] Thirdly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the liquid flow regulation method provided in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the liquid flow regulation method provided in the first aspect.

[0016] Fifthly, embodiments of this application provide a computer program product, which includes a computer program that, when executed by one or more processors, implements the liquid flow regulation method provided in the first aspect.

[0017] According to the liquid flow regulation method, apparatus, device, and medium provided in the embodiments of this application, the target liquid flow value corresponding to the current liquid flow value and N sets of preset proportional-integral-derivative PID parameters are first obtained; N is a positive integer greater than or equal to 2. Then, when the target liquid flow difference is less than or equal to a preset difference threshold, a target control signal is determined based on the target liquid flow value and the N sets of preset PID parameters; the target liquid flow difference is the difference between the target liquid flow value and the current liquid flow value. The current liquid flow value is then adjusted according to the target control signal. In other words, in the embodiments of this application, when the target liquid flow difference is less than or equal to the preset difference threshold, i.e., when the target liquid flow difference is small, the target control signal is determined by considering both the target liquid flow value and the N sets of preset PID parameters. Compared with related technologies, which only determine the control signal corresponding to a fixed set of PID parameters as the target control signal, the accuracy of liquid flow regulation can be improved. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. It should be understood that the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] The attached diagram is described below: Figure 1 This is a structural diagram of a boric acid flow regulation system in related technologies; Figure 2 A schematic flowchart illustrating a liquid flow rate regulation method provided in this application embodiment; Figure 3 This is a structural diagram of a pre-control-variable parameter PID control boric acid flow regulation system provided in an embodiment of this application; Figure 4 The response curves of important parameters when a step disturbance is introduced into the boric acid flow setpoint in related technologies; Figure 5 The response curves of important parameters of the boric acid flow rate setpoint when a step disturbance is introduced into the pre-control-variable parameter PID control boric acid flow rate regulation system provided in the embodiments of this application; Figure 6 A functional module diagram of a liquid flow regulating device provided in this application embodiment; Figure 7 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures: 600. Liquid flow regulating device 610. First Acquisition Module; 620. First Determined Module; 630. First adjustment module; 701. Processor; 702. Memory; 703. Communication interface; 710. Bus. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] To better understand the liquid flow rate regulation method provided in the embodiments of this application, the following uses boric acid as an example to illustrate the relevant technologies that may be involved in the embodiments of this application.

[0024] Currently, the boric acid supply system in nuclear power plants uses a proportional-integral-differential controller (PID). However, the valves, being pulse-type electric regulating valves, have a dead zone, and their control accuracy is affected by the operating cycle of the distributed control system (DCS), valve travel time, switch response time, and the valve's inherent flow characteristics. As the valve approaches the set flow rate, significant fluctuations occur, making traditional PID control challenging. While traditional PID control offers advantages such as simplicity, robustness, and ease of operation, meeting the requirements of nuclear reactors, it neglects the knowledge of the reactor's internal system characteristics. The boric acid flow regulating valve exhibits significant nonlinear characteristics, with substantial differences in flow capacity across different opening ranges. At low flow rates, a unit change in valve opening results in a small change in flow rate, while at high flow rates, the change is substantial. This leads to different problems for a single PID parameter when handling different flow ranges: flow overshoot at low flow rates and inaccurate flow regulation at high flow rates. To improve the accuracy and speed of boric acid flow regulation systems, reduce reliance on human intervention, and enhance the automation level of nuclear power plants, it is necessary to conduct research on advanced control algorithms.

[0025] The boric acid flow control system in related technologies adopts, for example Figure 1 The diagram shows a dual PID controller. It employs two sets of PID parameters, one for high flow rates and one for low flow rates. The controlled variable is boric acid flow rate, and the setpoint for the boric acid / demineralized water flow rate is set according to the reactor reactivity control requirements. The PID controller configuration is as follows: Among them, K p T represents the proportionality coefficient; i represents the integral time constant; s represents the complex frequency variable. The switching point of the PID parameters for the boric acid replenishment system is 5.5m. 3 / h, PID parameters under high flow rate: K p =1,T i =8; PID parameters under low flow rate are: K p =0.5, T i =1.

[0026] Specifically, such as Figure 2As shown, the boric acid flow control system in the related technology includes a PID controller 1 (for high flow control), a PID controller 2 (for low flow control), a flow selector, a valve positioning unit, and a boric acid / demineral water flow control valve. The flow selector receives a wide / narrow range switching signal, PID controller 1, and PID controller 2 at its input. Its output is connected to the valve positioning unit. The flow selector selects one of the outputs of PID controller 1 and PID controller 2 as the control signal based on the wide / narrow range switching signal. The valve positioning unit receives the valve position demand value and the current valve position feedback signal from the flow selector at its input. Its output is connected to the boric acid / demineral water flow control valve, and it generates a control command by calculating the deviation between the valve position demand and the feedback. The boric acid / demineral water flow control valve receives the control command from the valve positioning unit at its input and controls the flow rate of boric acid or demineral water at its output. The valve position feedback signal is transmitted back to the valve positioning unit via an arrow, forming local feedback.

[0027] To address the technical problems in the background art, embodiments of this application provide a liquid flow rate regulation method, a liquid flow rate regulation device, an electronic device, a computer-readable storage medium, and a computer program product. The liquid flow rate regulation method provided in this application embodiment will be described first below.

[0028] Please see Figure 2 , Figure 2 This is a schematic flowchart of a liquid flow rate regulation method provided in an embodiment of this application. The liquid flow rate regulation method can be applied to the liquid flow rate regulation device or electronic device in the following embodiments.

[0029] The aforementioned electronic devices include personal computers, servers, mobile devices, cloud computing platforms, and supercomputers. The following will describe the liquid flow regulation method from the perspective of its application in electronic devices. The method specifically includes steps 110 to 130.

[0030] S110. Obtain the target liquid flow rate corresponding to the current liquid flow rate, and N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2.

[0031] S120. When the target liquid flow rate difference is less than or equal to the preset difference threshold, determine the target control signal based on the target liquid flow rate value and N sets of preset PID parameters; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value.

[0032] S130. Adjust the current liquid flow rate value according to the target control signal.

[0033] According to the liquid flow rate regulation method provided in this application embodiment, the target liquid flow rate value corresponding to the current liquid flow rate value and N sets of preset proportional-integral-derivative PID parameters are first obtained; N is a positive integer greater than or equal to 2. Then, when the target liquid flow rate difference is less than or equal to a preset difference threshold, a target control signal is determined based on the target liquid flow rate value and the N sets of preset PID parameters; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value. Then, the current liquid flow rate value is adjusted according to the target control signal. That is to say, in this application embodiment, when the target liquid flow rate difference is less than or equal to the preset difference threshold, that is, when the target liquid flow rate difference is small, the target control signal is determined by considering the comprehensive target liquid flow rate value and the N sets of preset PID parameters. Compared with related technologies, which only determine the control signal corresponding to a fixed set of PID parameters as the target control signal, the accuracy of liquid flow rate regulation can be improved.

[0034] The specific implementation methods for each of the above steps are described below.

[0035] In step 110, for example, the current liquid flow rate value can be the current flow rate value of the liquid. The liquid can be boric acid, demineralized water, etc.

[0036] For example, the target liquid flow rate value can be the target flow rate value for liquid regulation.

[0037] For example, preset PID parameters may include proportional coefficient, integral coefficient, and derivative coefficient. The PID can take the form of: K d This represents the differential coefficient.

[0038] For example, the current liquid flow rate value can be obtained through actual measurement.

[0039] For example, the target liquid flow rate value can be preset in the electronic device based on experience so that it can be directly invoked later.

[0040] It should be noted that the value of N can be set according to the actual situation and is not limited here. For example, the value of N can be 2, 3, 4, 5, 6, etc.

[0041] In some possible implementations, N sets of preset PID parameters are obtained, including: Select N operating points within the preset flow range; For each operating point, PID parameters are tuned to obtain the preset PID parameters corresponding to the operating point, thus obtaining N sets of preset PID parameters.

[0042] For example, the preset traffic range is the range from the minimum traffic value to the maximum traffic value.

[0043] For example, six operating points are selected within a preset range, namely 0m 3 / h, 1.2m 3 / h, 4.65m 3 / h, 8.1m 3 / h, 11.55m 3 / h, 15m 3 / h. For each operating point, the PID parameters are tuned separately to form 6 sets of preset PID parameters.

[0044] It is understandable that N operating points can be selected at equal intervals within the preset flow range, or N operating points can be selected at unequal intervals; no limitation is made here.

[0045] In some examples, PID parameter tuning is performed, including: PID parameters are tuned using overshoot and settling time as indicators.

[0046] For example, a setpoint step disturbance is introduced, and the parameters of the PID parameter controller are tuned using overshoot and settling time as indicators. Under each flow step disturbance condition, the overshoot is limited to no more than 5%, the settling time is limited to no more than 100s, and the integral coefficient is minimized as much as possible while meeting the requirements for overshoot and settling time, in order to reduce the flow oscillation frequency.

[0047] In step 120, the preset difference threshold can be set according to the actual situation and is not limited here. It can be understood that when the target liquid flow rate difference is less than or equal to the preset difference threshold, it can be considered as a small flow rate range adjustment, that is, a small flow rate deviation; when the target liquid flow rate difference is greater than the preset difference threshold, it can be considered as a large flow rate range adjustment, that is, a large flow rate deviation.

[0048] In some possible implementations, the target control signal is determined based on the target liquid flow rate and N sets of preset PID parameters, including: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; The preset liquid flow rate value that is the same as the target liquid flow rate value is determined as the first liquid flow rate value; The first control signal corresponding to the first PID parameter is determined as the target control signal; the first PID parameter is the preset PID parameter corresponding to the first liquid flow rate value.

[0049] In this embodiment, by determining a preset liquid flow rate that is the same as the target liquid flow rate as the first liquid flow rate, and determining the preset PID parameter corresponding to the first liquid flow rate as the first PID parameter, and then determining the first control signal corresponding to the first PID parameter as the target control signal, the accuracy of the target control signal determination can be improved.

[0050] For example, the preset liquid flow rate value corresponding to the preset PID parameter is the liquid flow rate value output by the liquid flow regulating valve when the PID control parameter is the preset PID parameter.

[0051] For example, the electronic device may pre-store N preset liquid flow values ​​corresponding to N preset PID parameters, as well as control signals corresponding to N preset PID parameters, for direct recall later.

[0052] For example, preset PID parameter a1 corresponds to preset liquid flow rate value b1, preset PID parameter a2 corresponds to preset liquid flow rate value b2, and preset PID parameter a3 corresponds to preset liquid flow rate value b3. If the target liquid flow rate value is b2, then preset PID parameter a2 is determined as the first PID parameter, and the first control signal corresponding to preset PID parameter a2 is determined as the target control signal.

[0053] In other possible implementations, the target control signal is determined based on the target liquid flow rate and N sets of preset PID parameters, including: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; In the absence of a preset liquid flow value that is identical to the target liquid flow value, a second PID parameter and a third PID parameter are determined; the second PID parameter and the third PID parameter are adjacent, and the target liquid flow value is located between the second liquid flow value corresponding to the second PID parameter and the third liquid flow value corresponding to the third PID parameter. The target control signal is obtained by performing weighted linear interpolation on the second control signal corresponding to the second PID parameter and the third control signal corresponding to the third PID parameter.

[0054] In this embodiment, when no preset liquid flow rate is identical to the target liquid flow rate, second and third PID parameters are determined. Then, a weighted linear interpolation is performed on the second control signal corresponding to the second PID parameter and the third control signal corresponding to the third PID parameter to obtain the target control signal. In other words, when no preset liquid flow rate is identical to the target liquid flow rate, the parameters of the PID controller can be dynamically adjusted based on the second and third PID parameters to achieve better control performance. This allows the PID controller to better adapt to control requirements under different operating conditions, thereby improving the system's control accuracy and stability.

[0055] It should be noted that this implementation method is mainly applied to objects with obvious nonlinear characteristics or highly time-varying parameters. Such objects often cannot achieve good control quality under all operating conditions using the same set of PID parameters. Therefore, it is necessary to use appropriate PID parameters (i.e., second and third PID parameters) according to different operating conditions for optimization.

[0056] Understandably, in this embodiment, when the target liquid flow rate difference is less than or equal to a preset difference threshold, the target control signal, i.e., variable parameter PID control, is determined based on the target liquid flow rate value and N sets of preset PID parameters. Variable parameter PID control is designed to address the nonlinearity of the valve's flow capacity at different opening degrees. PID parameters (i.e., preset PID parameters) are designed for different flow ranges, and the control quantity is obtained by interpolation calculation based on the outputs of two adjacent PID controllers (i.e., the second and third control signals) of the setpoint (i.e., the target liquid flow rate value). In other words, when switching to variable parameter PID control, the controller parameters corresponding to the setpoint are selected for calculation based on the flow setpoint (i.e., the target liquid flow rate value); when the setpoint is between two points, the controller outputs of the corresponding parameters at the two points are used for weighted calculation.

[0057] In this embodiment, the variable parameter PID controller performs closed-loop precise control after the current liquid flow rate reaches near the target liquid flow rate, eliminating deviations and resisting the influence of unpredictable external disturbances on the system.

[0058] Optionally, the variable parameter PID controller is designed to initialize upon startup, and the current liquid flow regulating valve position is read as the initial output value of the variable parameter PID controller. This can improve or solve the sudden change in control quantity caused by the switching of the variable parameter PID controller, and achieve bumpless switching.

[0059] Furthermore, based on the correspondence between the liquid flow regulating valve and the liquid flow rate, the change in liquid flow rate caused by a unit change in the valve opening is small within a small flow rate range, while the change is large within a large flow rate range. Therefore, the PID parameter should be larger within a small flow rate range and smaller within a large flow rate range.

[0060] In step 130, the current liquid flow rate value can be adjusted according to the target control signal to adjust the current liquid flow rate value to the target liquid flow rate value, or the difference between the liquid flow rate value obtained after adjusting the current liquid flow rate value and the target liquid flow rate value is within an acceptable error range.

[0061] In some possible implementations, the method further includes: When the target liquid flow rate difference is greater than a preset difference threshold, a first mapping relationship is obtained. The first mapping relationship is used to characterize the correspondence between the valve opening and the liquid flow rate value of the liquid flow regulating valve under different flow rates. Based on the first mapping relationship, determine the target valve opening corresponding to the target liquid flow rate; Based on the target valve opening, adjust the current liquid flow rate to obtain the adjusted current liquid flow rate. The adjusted current liquid flow rate value is used as the current liquid flow rate value, and the process jumps to the step of "determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to the preset difference threshold".

[0062] In this embodiment, when the target liquid flow rate difference is greater than a preset difference threshold, the target valve opening corresponding to the target liquid flow rate is quickly determined through a first mapping relationship. Then, based on the target valve opening, the current liquid flow rate is quickly adjusted to obtain the adjusted current liquid flow rate. Finally, the adjusted current liquid flow rate is used as the current liquid flow rate, and steps S120 and S130 are executed. In other words, when the target liquid flow rate difference is large, based on the correspondence between the valve opening and the liquid flow rate at different flow rates, the target valve opening can be directly derived from the target liquid flow rate, thereby improving the adjustment speed of the liquid flow rate.

[0063] For example, the valve opening degree of the liquid flow regulating valve and the liquid flow value satisfy formula (1): (1); Among them, C v This represents the flow coefficient of the liquid flow control valve; Q represents the volumetric flow rate, in cubic meters per second (m³). 3 / h; W represents the liquid replenishment mass flow rate, in kg / s; The constant value depends on the unit and type of the flow coefficient; this paper uses [the value]. 8.65×10 -2 ; This indicates the pressure difference across the liquid supply flow regulating valve, expressed in kPa. This indicates the liquid supply density, expressed in kg / m³. 3 ; The density of water is generally measured at normal temperature and pressure, and the unit is kg / m³. 3 .

[0064] Furthermore, it can be seen from formula (1) that when the fluid density is constant, the valve flow rate is determined by valve C. vThe pressure difference between the upstream and downstream sides of the valve is determined. Under normal operating conditions, when the flow rate is constant, the pressure difference between the upstream and downstream sides of the valve is basically fixed. It can be assumed that there is a one-to-one correspondence between the valve opening and the valve flow rate (i.e., the liquid flow rate value). Therefore, pre-control can be performed by obtaining the correspondence between different valve openings and liquid flow rates.

[0065] Furthermore, the first mapping relationship can be stored in a database. This involves acquiring the steady-state liquid flow rate values ​​at different liquid flow rate regulating valve openings within the minimum to maximum flow rate range, constructing a database, and establishing a one-to-one correspondence between the liquid flow rate regulating valve opening and the liquid flow rate value. Based on this database, the target valve opening corresponding to the input target liquid flow rate value can be output as a control variable according to the input target liquid flow rate value and the first mapping relationship. Depending on the relationship between the object's input and output and the influencing factors, this database can be one-dimensional or multi-dimensional. In this embodiment, the input (i.e., the target valve opening) when the object's output equals the target liquid flow rate value can be directly determined, thus enabling rapid adjustment of the object's output. Compared to PID control, which gradually calculates and adjusts the object's output to approach the setpoint (i.e., the target liquid flow rate value), this open-loop control has a faster adjustment speed. This database-based pre-control is mainly suitable for objects with a relatively simple input-output correspondence. A simple input-output correspondence allows for more accurate pre-control adjustment. Obtaining the database requires extensive data extraction from the object's input and output to obtain a relatively accurate correspondence between input and output. When external measurable factors also have a significant impact on the output, data should be extracted from the signal to form a multidimensional database.

[0066] In some possible implementations, the method may further include: Update the preset difference threshold based on the dead zone and minimum adjustment amount of the liquid flow regulating valve.

[0067] For example, liquid flow control valves have minimum adjustment range and dead zone settings. When the deviation between the input control quantity and the valve position is less than a certain value, the valve will not adjust. Therefore, the switch threshold (i.e., the preset difference threshold) should be appropriately increased according to the dead zone and minimum adjustment range of the liquid flow control valve to improve or solve the problem of not being able to switch to variable parameter PID control to achieve precise control after adjusting the liquid flow value to near the set value (i.e., the target liquid flow value) using pre-control. In the actuator selected in this paper, the dead zone is 1.33%. Under a large flow range, this dead zone corresponds to a boric acid flow change of approximately 1.3 m³ / h caused by a single valve adjustment. Therefore, the switch threshold is designed to be 1.5 m³ / h for the boric acid flow deviation.

[0068] Understandably, the difference between open-loop and closed-loop control lies in the presence or absence of a feedback loop, i.e., whether there is a feedback relationship between the control signal and the controlled variable. Open-loop control is characterized by fast response speed but poor anti-interference capability and low control accuracy, while closed-loop control, due to the presence of a feedback loop, can eliminate the impact of external disturbances on the system. The pre-control-variable parameter PID control algorithm designed in this application combines open-loop and closed-loop control: pre-control is open-loop control, used to quickly adjust the flow rate to near the set value (i.e., the target liquid flow rate value) during wide-range valve adjustment (i.e., when the target liquid flow rate difference is greater than a preset difference threshold). When the deviation decreases (i.e., when the target liquid flow rate difference is less than or equal to the preset difference threshold), variable parameter PID is used to achieve closed-loop control, accurately adjusting the flow rate to the set value. This achieves the effect of rapid adjustment over a wide range and accurate adjustment over a small range.

[0069] In this embodiment, the basic logic is as follows: after a change in the set value (i.e., the target liquid flow rate value), if the change magnitude (i.e., the target liquid flow rate difference) is small and the deviation does not exceed the threshold set by the switcher (i.e., the preset difference threshold), then variable parameter PID control is used, and the PID parameters change according to the set value; if the change magnitude is large and the deviation exceeds the switcher threshold, then pre-control is enabled to quickly provide the adjustment signal corresponding to when the object output is the set value, and after the deviation is reduced to within the switcher threshold, then switch to variable parameter PID control.

[0070] like Figure 3 As shown in the embodiment of this application, the pre-control-variable parameter PID control boric acid flow regulation system includes a database, a variable parameter PID controller, a switch, and a liquid flow regulation valve.

[0071] The database serves to establish the relationship between boric acid flow rate and the opening of the boric acid flow control valve for pre-control. When the flow rate deviation is large, the database outputs the corresponding boric acid flow control valve opening as the control variable based on the input boric acid flow rate setpoint. Depending on the relationship between the input and output of the object and the influencing factors, the database can be one-dimensional or multi-dimensional. Its characteristic is that it can directly determine the required input when the object's output equals the target setpoint, thereby quickly adjusting the object's output. Compared to PID control, which gradually calculates and adjusts the object's output to approach the setpoint, this open-loop control has a faster adjustment speed. This database-based pre-control is mainly suitable for objects with a relatively simple input-output correspondence, which allows for more accurate pre-control adjustments. Database acquisition requires extensive data extraction from the object's input and output to obtain a relatively accurate correspondence between them. When external measurable factors also have a significant impact on the output, data extraction should be performed on this signal to form a multi-dimensional database.

[0072] A variable parameter PID controller can dynamically adjust the parameters (proportional coefficient K) of the PID controller according to certain rules, based on traditional PID control. p Integral coefficient K i and differential coefficient K d The PID format is: To achieve better control performance, the parameters of the variable parameter PID controller are no longer fixed but dynamically adjusted. This adjustment method allows the PID controller to better adapt to the control requirements under different operating conditions, improving the control accuracy and stability of the system. This control is mainly applied to objects with obvious nonlinear characteristics or highly time-varying parameters. For such objects, using the same set of PID parameters often cannot achieve good control quality under all operating conditions. Therefore, it is necessary to use appropriate PID parameters according to different operating conditions for optimization. The variable parameter PID controller is designed to deal with the nonlinearity of the flow capacity of the valve at different opening degrees. PID parameters are designed separately for different flow ranges, and the control quantity is obtained by interpolation of the outputs of two adjacent PID controllers based on the setpoint.

[0073] The switcher enables the switching of a variable-parameter PID controller based on the liquid flow deviation (i.e., the target liquid flow difference). When the flow deviation is large (i.e., the target liquid flow difference is greater than a preset difference threshold), pre-control is used. Pre-control is an open-loop control, used to quickly adjust the flow to near the set value during wide-range valve adjustment. When the deviation decreases (i.e., the target liquid flow difference is less than the preset difference threshold), the variable-parameter PID controller implements closed-loop control, accurately adjusting the current liquid flow value to the set value (target liquid flow value). This achieves the characteristics of rapid adjustment over a wide range and accurate adjustment over a small range.

[0074] The aforementioned pre-control-variable parameter PID control boric acid flow regulation system can be used to perform the following steps: S1. Obtain the dataset (i.e., the first mapping relationship) showing the correspondence between valve opening and boric acid flow rate under different flow ranges of the boric acid flow regulating valve.

[0075] S2. Six operating points are taken at equal intervals within the range from minimum to maximum flow rate, namely 0m... 3 / h, 1.2m 3 / h, 4.65m 3 / h, 8.1m 3 / h, 11.55m 3 / h, 15m 3 / h. PID parameters are tuned separately to form 6 sets of PID parameters (i.e., preset PID parameters).

[0076] S3. Design the deviation threshold of the switch based on the minimum adjustment characteristic of the boric acid flow regulating valve. The switch switches between pre-control and variable parameter PID control based on the flow deviation. That is, when the flow deviation is less than the threshold, the switch uses the control signal of variable parameter PID control as the output; when the flow deviation is greater than the threshold, the switch uses the control signal of pre-control as the output. The switch combines pre-control and variable parameter PID control to form a boric acid flow regulating pre-control-variable parameter PID control system.

[0077] In step 1, the valve opening of the liquid flow regulating valve and the liquid flow rate value satisfy formula (1). Formula (1) includes: Among them, C v This represents the flow coefficient of the liquid flow control valve; Q represents the volumetric flow rate, in cubic meters per second (m³). 3 / h; W represents the liquid replenishment mass flow rate, in kg / s; The constant value depends on the unit and type of the flow coefficient; this paper uses [the value]. 8.65×10 -2 ; This indicates the pressure difference across the liquid supply flow regulating valve, expressed in kPa. This indicates the liquid supply density, expressed in kg / m³. 3 ; The density of water is generally measured at normal temperature and pressure, and the unit is kg / m³. 3 .

[0078] It can be seen that, when the fluid density is constant, the valve flow rate is determined by the valve's Cv and the pressure difference between the upstream and downstream sides of the valve. Under normal operating conditions, when the flow rate is constant, the pressure difference between the upstream and downstream sides of the valve is basically fixed. It can be assumed that the valve opening and the valve flow rate have a one-to-one correspondence. Therefore, to obtain the database required for pre-control, it is only necessary to obtain the correspondence between different valve openings and flow rates.

[0079] Within the range of minimum to maximum boric acid flow rate, the boric acid flow rate signals under steady-state conditions at different boric acid flow control valve openings are acquired, a database is constructed, and a one-to-one correspondence is established between the boric acid flow control valve opening and the boric acid flow rate.

[0080] In step 2, the variable parameter PID controller designed in this paper performs closed-loop precise control after the flow rate reaches near the set value under pre-control, eliminating deviations and resisting the influence of external unpredictable disturbances on the system.

[0081] Based on the established relationship between valves and flow rates, it can be seen that the flow rate change caused by a unit valve opening change is small within a small flow rate range, while it is large within a large flow rate range. Therefore, the PID parameters should be set larger for small flow rates and smaller for large flow rates.

[0082] The parameter tuning process at each point is as follows: By introducing a step disturbance to the setpoint, the parameters of the variable parameter PID controller are tuned using overshoot and settling time as indicators. Under the step disturbance conditions of each flow rate, the overshoot is limited to no more than 5%, and the settling time is limited to no more than 100s. While meeting the requirements for overshoot and settling time, the integral coefficient is minimized as much as possible to reduce the flow oscillation frequency.

[0083] When switching to variable parameter PID control, the controller parameters corresponding to the flow setpoint are selected for calculation based on the setpoint. When the setpoint is between two points, the controller outputs corresponding to the parameters at those two points are used for weighted calculation. To avoid abrupt changes in control quantity during controller switching, the variable parameter PID controller is designed to initialize upon startup, reading the current valve position as the initial output value to achieve seamless switching.

[0084] In step 3, the boric acid flow regulating valve has a minimum adjustment range and a dead zone. When the deviation between the input control quantity and the valve position is less than a certain value, the valve will not adjust. Therefore, the switch threshold should be appropriately increased according to the valve's dead zone and minimum adjustment range to avoid the inability to switch to variable parameter PID control for precise control after adjusting the boric acid flow to near the set value using pre-control. In the actuator selected in this paper, the dead zone is 1.33%. Under a large flow range, this dead zone corresponds to a boric acid flow change of approximately 1.3 m³ / h caused by a single valve adjustment. Therefore, the switch threshold is designed to be 1.5 m³ / h for the boric acid flow deviation.

[0085] In control theory, open-loop control and closed-loop control are two basic types of control systems. The difference lies in the presence or absence of a feedback loop, i.e., whether there is a feedback relationship between the control signal and the controlled variable. Open-loop control is characterized by fast response speed but poor anti-interference capability and low control accuracy. Closed-loop control, due to the presence of a feedback loop, can eliminate the influence of external disturbances on the system. The pre-control-variable parameter PID control algorithm designed in this paper combines open-loop and closed-loop control: pre-control is an open-loop control used to quickly adjust the flow rate to near the setpoint during wide-range valve adjustment; once the deviation decreases, variable parameter PID is used to achieve closed-loop control, accurately adjusting the flow rate to the setpoint. This achieves the characteristics of rapid adjustment over a wide range and accurate adjustment over a small range. The basic logic is as follows: after the set value changes, if the change is small and the deviation does not exceed the threshold set by the switcher, variable parameter PID control is used, and the PID parameters change according to the set value; if the change is large and the deviation exceeds the threshold of the switcher, pre-control is enabled to quickly provide the adjustment signal corresponding to the output of the object when it is the set value. After the deviation is reduced to within the threshold of the switcher, it switches to variable parameter PID control.

[0086] according to Figure 2 The controller structure was PID parameter tuned and pre-control design was performed to obtain a boric acid supply flow control system for simulation experiments, and experimental simulation tests were conducted. Figure 3 and Figure 4 The response curves of key parameters of the pressurized water reactor boric acid resupply system are presented under PID control and pre-control-variable parameter PID control, respectively, when a step disturbance of the boric acid flow rate setpoint is introduced. The initial steady-state condition is a boric acid flow rate of 0 m³ / h. A disturbance of a step increase in the boric acid flow rate setpoint to 11.55 m³ / h is introduced at 100 s, while other boundary variables remain unchanged, and the system runs for 500 s. Figure 3 It can be seen that after replacing the original traditional control system with pre-control-variable parameter PID control, the settling time of boric acid flow was significantly optimized. The settling time with pre-control-variable parameter PID control was 32.45s, while the settling time with traditional PID control was 156.85s. Combined with... Figure 4 It can be seen that when using pre-control-variable parameter PID control, before the boric acid flow rate reaches 10.05 m³ / h, the deviation is greater than the switch threshold. Pre-control is used, and the valve is adjusted up at the fastest speed, causing the boric acid flow rate to quickly approach the set value. After the boric acid flow rate reaches 10.05 m³ / h, the deviation is less than the switch threshold. Variable parameter PID control is then used, allowing the boric acid flow rate to gradually adjust to the set value under closed-loop control. The comparison comprehensively demonstrates that the control performance of pre-control-variable parameter PID control is superior to traditional control, verifying the effectiveness of the designed boric acid flow control system based on pre-control-variable parameter PID control.

[0087] Based on the above experimental results, it was found that, in the absence of other unknown disturbances, the boric acid flow setpoint step disturbance under the control of the pre-control-variable parameter PID controller did not have overshoot and significantly reduced the settling time. The optimization of these performance indicators verified the rationality of the designed boric acid flow control system based on pre-control-variable parameter PID control and showed that the control performance of the pre-control-variable parameter PID control system was significantly better than that of traditional control.

[0088] In this embodiment, a high-precision pre-control database based on the valve opening-flow steady-state mapping relationship is used to achieve direct feedforward output from the setpoint to the valve position. To address the valve's nonlinear characteristics, six operating points are selected at equal intervals within the flow range to independently tune the PID parameter set, and an interpolation weighting algorithm based on the outputs of adjacent controllers is used to achieve smooth parameter transition. A switching threshold of 1.5 m³ / h is quantized based on the valve's minimum dead zone (1.33%) to ensure seamless switching between pre-control and variable parameter PID modes. This composite control architecture and its implementation method, particularly the database construction rules, the piecewise tuning and interpolation mechanism of the variable parameter PID, the threshold design principle, and the resulting significant performance improvement, are highlighted.

[0089] In this application embodiment, the technical problem to be solved is to address the overshoot phenomenon at low flow rates and the inaccuracy of flow regulation at high flow rates in boric acid flow regulation systems using single PID parameter controllers. A boric acid flow regulation method (i.e., liquid flow regulation method) based on pre-control-variable parameter PID control is proposed to optimize the boric acid flow control effect and improve the accuracy and regulation speed of the boric acid flow regulation system.

[0090] It should be noted that the various embodiments described in this application can be combined with each other or implemented individually without conflict, and this application does not limit this.

[0091] Corresponding to the above method embodiments, this application also provides a liquid flow regulating device. Please refer to [link to relevant documentation]. Figure 6 , Figure 6 This application provides a functional module diagram of a liquid flow regulating device 600, which includes: The first acquisition module 610 is used to acquire the target liquid flow value corresponding to the current liquid flow value, and N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2; The first determining module 620 is used to determine the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to a preset difference threshold; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value. The first adjustment module 630 is used to adjust the current liquid flow rate value according to the target control signal.

[0092] According to the liquid flow regulation device provided in this application embodiment, the target liquid flow value corresponding to the current liquid flow value and N sets of preset proportional-integral-derivative PID parameters are first obtained; N is a positive integer greater than or equal to 2. Then, when the target liquid flow difference is less than or equal to a preset difference threshold, a target control signal is determined based on the target liquid flow value and the N sets of preset PID parameters; the target liquid flow difference is the difference between the target liquid flow value and the current liquid flow value. The current liquid flow value is then adjusted according to the target control signal. In other words, in this application embodiment, when the target liquid flow difference is less than or equal to the preset difference threshold, i.e., when the target liquid flow difference is small, the target control signal is determined by considering both the target liquid flow value and the N sets of preset PID parameters. Compared with related technologies, which only determine the control signal corresponding to a fixed set of PID parameters as the target control signal, the accuracy of liquid flow regulation can be improved.

[0093] In some possible implementations, the first determining module 620 is specifically used for: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; The preset liquid flow rate value that is the same as the target liquid flow rate value is determined as the first liquid flow rate value; The first control signal corresponding to the first PID parameter is determined as the target control signal; the first PID parameter is the preset PID parameter corresponding to the first liquid flow rate value.

[0094] In some possible implementations, the first determining module 620 is specifically used for: Obtain N preset liquid flow rates corresponding to N sets of preset PID parameters; In the absence of a preset liquid flow value that is identical to the target liquid flow value, a second PID parameter and a third PID parameter are determined; the second PID parameter and the third PID parameter are adjacent, and the target liquid flow value is located between the second liquid flow value corresponding to the second PID parameter and the third liquid flow value corresponding to the third PID parameter. The target control signal is obtained by performing weighted linear interpolation on the second control signal corresponding to the second PID parameter and the third control signal corresponding to the third PID parameter.

[0095] In some possible implementations, the first acquisition module 610 is specifically used for: Select N operating points within the preset flow range; For each operating point, PID parameters are tuned to obtain the preset PID parameters corresponding to the operating point, thus obtaining N sets of preset PID parameters.

[0096] In some possible implementations, the first acquisition module 610 is specifically used for: PID parameters are tuned using overshoot and settling time as indicators.

[0097] In some possible implementations, the device further includes: The second acquisition module is used to acquire a first mapping relationship when the target liquid flow difference is greater than a preset difference threshold. The first mapping relationship is used to characterize the correspondence between the valve opening and the liquid flow value of the liquid flow regulating valve under different flow rates. The second determining module is used to determine the target valve opening corresponding to the target liquid flow rate value based on the first mapping relationship; The second adjustment module is used to adjust the current liquid flow rate based on the target valve opening to obtain the adjusted current liquid flow rate. The adjusted current liquid flow rate value is used as the current liquid flow rate value, and the process jumps to the step of "determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to the preset difference threshold".

[0098] In some possible implementations, the device further includes: The update module is used to update the preset difference threshold based on the adjustment dead zone and minimum adjustment amount of the valve according to the liquid flow rate.

[0099] The liquid flow regulating device provided in this application has the same or similar technical effects and implementation methods as the liquid flow regulating method described above, and will not be repeated here.

[0100] This application also provides an electronic device; please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application.

[0101] The electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0102] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0103] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0104] In some embodiments, memory 702 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the methods provided according to embodiments of this application.

[0105] The processor 701 implements the method provided in the above embodiments by reading and executing computer program instructions stored in the memory 702.

[0106] In one example, the electronic device may also include a communication interface 703 and a bus 710. The processor 701, memory 702, and communication interface 703 are connected via the bus 710 and communicate with each other.

[0107] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0108] Bus 710 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0109] Furthermore, in conjunction with the methods provided in the above embodiments, this application embodiment can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement any of the methods in the above embodiments.

[0110] Furthermore, in conjunction with the methods provided in the above embodiments, this application embodiment can provide a computer program product to implement the methods. This program product is stored in a storage medium and executed by at least one processor to implement the various processes of the embodiments of the methods provided in the above embodiments, achieving similar or identical technical effects. To avoid repetition, further details are omitted here.

[0111] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0112] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0113] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0114] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0115] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for regulating liquid flow rate, characterized in that, include: Obtain the target liquid flow rate corresponding to the current liquid flow rate, as well as N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2; When the target liquid flow rate difference is less than or equal to a preset difference threshold, the target control signal is determined based on the target liquid flow rate value and N sets of preset PID parameters. The target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value; Adjust the current liquid flow rate value according to the target control signal.

2. The method according to claim 1, characterized in that, The step of determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters includes: Obtain N preset liquid flow rates corresponding to the N sets of preset PID parameters; The preset liquid flow rate value that is the same as the target liquid flow rate value is determined as the first liquid flow rate value; The first control signal corresponding to the first PID parameter is determined as the target control signal; the first PID parameter is the preset PID parameter corresponding to the first liquid flow rate value.

3. The method according to claim 1, characterized in that, The step of determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters includes: Obtain N preset liquid flow rates corresponding to the N sets of preset PID parameters; If no preset liquid flow value exists that is identical to the target liquid flow value, a second PID parameter and a third PID parameter are determined; the second PID parameter and the third PID parameter are adjacent, and the target liquid flow value is located between the second liquid flow value corresponding to the second PID parameter and the third liquid flow value corresponding to the third PID parameter; The target control signal is obtained by performing weighted linear interpolation on the second control signal corresponding to the second PID parameter and the third control signal corresponding to the third PID parameter.

4. The method according to claim 1, characterized in that, Obtain N sets of preset PID parameters, including: Select N operating points within the preset flow range; For each of the aforementioned operating conditions, PID parameters are tuned to obtain the preset PID parameters corresponding to the operating conditions, thereby obtaining N sets of preset PID parameters.

5. The method according to claim 4, characterized in that, The PID parameter tuning process includes: PID parameters are tuned using overshoot and settling time as indicators.

6. The method according to claim 1, characterized in that, The method further includes: When the target liquid flow rate difference is greater than the preset difference threshold, a first mapping relationship is obtained. The first mapping relationship is used to characterize the correspondence between the valve opening and the liquid flow rate value of the liquid flow regulating valve under different flow rates. Based on the first mapping relationship, determine the target valve opening corresponding to the target liquid flow rate value; Based on the target valve opening, the current liquid flow rate is adjusted to obtain the adjusted current liquid flow rate. The adjusted current liquid flow rate value is used as the current liquid flow rate value, and the process jumps to the step of "determining the target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to a preset difference threshold".

7. The method according to claim 1, characterized in that, The method further includes: The preset difference threshold is updated based on the dead zone and minimum adjustment amount of the liquid flow regulating valve.

8. A liquid flow rate regulating device, characterized in that, The device includes: The first acquisition module is used to acquire the target liquid flow rate corresponding to the current liquid flow rate value, and N sets of preset proportional-integral-derivative PID parameters; N is a positive integer greater than or equal to 2; The first determining module is used to determine a target control signal based on the target liquid flow rate value and N sets of preset PID parameters when the target liquid flow rate difference is less than or equal to a preset difference threshold; the target liquid flow rate difference is the difference between the target liquid flow rate value and the current liquid flow rate value. The first adjustment module is used to adjust the current liquid flow rate value according to the target control signal.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, implements the liquid flow regulation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the liquid flow regulation method according to any one of claims 1 to 7.

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