A multi-jet needle switching method, system and device based on flow linearization and rate controllable impulse governor

Abstract

The present application relates to the technical field of governor control, and particularly relates to a method, system and equipment for switching multiple spray needles of an impulse governor based on flow linearization and controllable speed, the switching method comprising: taking a total spray needle position given value as a basis for judging spray needle switching; obtaining a flow given target value of an activated spray needle based on a preset spray needle "position-flow" curve; calculating a switching speed of each activated spray needle according to a preset spray needle servomotor opening / closing speed limit value, in combination with a difference between the flow given target value and a flow given current value of the activated spray needle; updating the flow given current value of the activated spray needle, and obtaining an actual flow value of the activated spray needle, and taking a difference between the two as an input for spray needle closed-loop control, to realize coordinated switching of multiple spray needles. Through the method, system and equipment, the load regulation time can be effectively shortened, the unit output can be ensured to change approximately linearly, each spray needle can reach its target value at the same time, and the load fluctuation can be greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of impulse turbine governor control technology, and in particular to a method, system and equipment for switching multiple nozzles in an impulse governor based on flow linearization and rate controllability. Background Technology

[0002] Multiple nozzle switching (needle number switching) is an essential control function for impulse speed controllers. Its key aspects include: nozzle switching point selection, nozzle servo control with flow nonlinearity compensation, and nozzle switching rate control. However, current technologies generally only design for nozzle switching point selection.

[0003] For the selection of nozzle switching points, the existing technical solution is generally to use the actual position value of the nozzle as the nozzle switching point. For example, in the prior art, the Chinese invention patent document with publication number CN104481777A and publication date of April 1, 2015 discloses the following technical solution: A method for switching multiple nozzles of an impulse turbine, including the following steps: 1) Numbering the N nozzles of the turbine and setting N-1 opening values ​​as switching points; 2) When there is an external command to increase or decrease the opening of the turbine, proceed to steps 3) and 4); 3) Comparing the nozzle opening with the opening value of the switching point, controlling the nozzle to lock or increase the opening until the opening of the last N nozzles is 100% simultaneously; 4) Comparing the nozzle opening with the opening value of the switching point, controlling the nozzle to lock or decrease the opening until the opening of the N nozzles is 0; 5) Repeating steps 2) to 4).

[0004] Because the actual movement rate of the nozzle is very slow, the above technical solution would significantly increase the time required for load regulation if each switch required waiting until the nozzle was in its correct position. Furthermore, the lack of matching nozzle servo control and nozzle switching rate control with flow nonlinearity compensation functions easily leads to large fluctuations in unit output during nozzle switching and asynchrony after nozzle switching. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes a method, system, and device for switching multiple nozzles in an impulse speed governor based on flow linearization and rate controllability. Improvements are made in nozzle switching point selection, nozzle servo control, and nozzle switching rate control. This not only effectively shortens the load adjustment time but also ensures that the unit output changes approximately linearly, and each nozzle can reach its target value simultaneously, greatly reducing load fluctuations.

[0006] This invention is achieved by adopting the following technical solution: A method for switching multiple nozzles in an impulse speed controller based on flow linearization and rate controllability includes the following steps: Step S1. Use the total nozzle position as the basis for determining nozzle switching, and obtain the number of nozzle switching points; Step S2. Based on the total needle position setpoint, the total number of needles in the unit, and the number of needle switching points, determine the target position setpoint for the activated needles; Step S3. Based on the preset nozzle "position-flow" curve, obtain the target flow rate of the activated nozzle; Step S4. Based on the preset opening / closing rate limit of the nozzle relay, and combined with the difference between the target value of the flow given by the activated nozzle and the current value of the flow given, calculate the switching time for the activated nozzle to complete the flow adjustment. Take the maximum value among all switching times as the synchronization benchmark and calculate the switching rate of each activated nozzle. Step S5. Update the current value of the flow rate of the activated nozzles according to the switching rate and cycle of each activated nozzle; Step S6. Obtain the actual flow rate of the activated nozzle based on the actual position value of the activated nozzle and the "position-flow rate" curve; Step S7. Use the difference between the current value of the updated activated nozzle flow rate and the actual flow rate value of the activated nozzle as the input for nozzle closed-loop control, adjust the nozzle opening, and realize multi-needle coordinated switching.

[0007] Step S1 specifically refers to the following: when the total nozzle position set value is greater than the nozzle switching point position set value and the total nozzle position set value is less than the nozzle next switching point position set value - nozzle switching backlash, the nozzle will switch according to the number of nozzle switching points corresponding to the nozzle switching point position set value.

[0008] The method for determining the target value of the position of the activated nozzle in step S2 is as follows: SVRef ( y )= SVREF_NZA × Nozzles / NZNUM_CRV ( i ); In the formula, SVRef ( y A target value is given for the position of the activated nozzle. SVREF_NZA is Total nozzle position setpoint Nozzles Total number of nozzles in the unit NZNUM_CRV ( i () represents the number of nozzle switching points. i This is the needle switching point number. y This is the serial number of the spray needle.

[0009] Step S3 specifically refers to: performing linear interpolation calculation based on the target value of the position of the activated nozzle and the preset nozzle "position-flow" curve to obtain the target value of the flow rate of the activated nozzle.

[0010] Step S4 specifically includes the following steps: Step S 41 Based on the nozzle relay's on / off rate limit, and combined with the difference between the target flow rate setpoint and the current flow rate setpoint of the activated nozzle, calculate the switching time for the activated nozzle to complete flow rate adjustment: , In the formula, TmSwitch ( y This represents the switching time after the activated nozzle completes flow adjustment. SVRefQ ( y A target value is given for the flow rate of the activated nozzle. RefQ ( y The current value is given for the flow rate of the activated nozzle. OpRateLmt This is the opening rate limit value for the needle relay. ClRateLmt This is the shut-off rate limit value for the needle relay. y The serial number of the nozzle; Step S 42 Take the maximum value from the switching times of activated nozzles to complete flow adjustment, and obtain the longest time for nozzle switching; Step S 43 Based on the longest switching time of the nozzle, the target value of the flow rate of the activated nozzle, and the current value of the flow rate of the activated nozzle, calculate the switching rate of each activated nozzle.

[0011] The method for calculating the switching rate of each activated nozzle is as follows: , In the formula, LmtRate ( y () represents the switching rate of the activated nozzle. SVRefQ ( y A target value is given for the flow rate of the activated nozzle. RefQ ( y The current value is given for the flow rate of the activated nozzle. TmSwitch_max This is the longest time required for the nozzle to switch. y This is the serial number of the spray needle.

[0012] The calculation method for updating the current value of the flow rate of the activated nozzle in step S5 is as follows: , In the formula, Assign the current value to the updated flow rate of the activated nozzle. RefQ( y The current value is given for the flow rate of the activated nozzle. LmtRate ( y () represents the switching rate of the activated nozzle. Tc For the cycle period, SVRefQ ( y A target value is given for the flow rate of the activated nozzle. y This is the serial number of the spray needle.

[0013] A multi-needle switching system for an impact speed controller based on flow linearization and rate controllability includes: The switching decision unit is used to determine the number of nozzle switching points based on the total nozzle position setpoint, and to calculate the position setpoint target value of each activated nozzle based on the total nozzle position setpoint, the total number of nozzles in the unit and the number of nozzle switching points. The flow mapping unit is configured with a pre-calibrated nozzle "position-flow" curve, which is used to obtain the corresponding flow target value based on the position target value of the activated nozzle. The rate planning unit is used to calculate the switching time for each nozzle to complete the flow adjustment based on the preset nozzle relay opening / closing rate limit value and the difference between the target flow value and the current flow value of each activated nozzle; the maximum value among all switching times is taken as the synchronization reference, and the switching rate of each activated nozzle is calculated accordingly. The flow command update unit is used to incrementally update the current flow command value according to the switching rate and cycle of each activated nozzle in each control cycle, and generate the updated current flow command value of each activated nozzle. The actual flow calculation unit is used to collect the actual position value of each activated nozzle and calculate the actual flow value of each activated nozzle in real time based on the "position-flow" curve. The closed-loop control unit is used to take the difference between the current value of the updated activated nozzle flow rate and the actual flow rate as the control deviation input, adjust the nozzle opening, and realize the coordinated switching of multiple nozzles.

[0014] A multi-needle switching device for an impact speed regulator based on flow linearization and rate controllability includes at least one processor and at least one memory communicatively connected to the processor; the memory stores program instructions executable by the processor; the processor can execute the above-described method or run the above-described system by calling the program instructions.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention significantly improves the response speed, stability, and output linearity of multi-needle impulse turbines during load regulation through the organic synergy of a needle switching strategy, flow linearization control, and rate synchronization mechanism. Specifically, it includes: First, addressing the adjustment lag problem caused by the existing technology requiring waiting for the actual position of the nozzle to be reached before allowing the next switch, this invention uses the total nozzle position setpoint as the criterion for nozzle switching. Since the rate of change of the position setpoint is much higher than the actual movement rate of the nozzle, this strategy can achieve early triggering of the switching action, effectively shortening the overall load adjustment time.

[0016] Secondly, unlike traditional fixed-rate switching methods, this invention fully considers the differences in position changes of each nozzle during the switching process and the inconsistency of the relay opening / closing rate limits, avoiding load fluctuations caused by asynchronous actions. Specifically, this invention calculates the required switching time for each nozzle based on the difference between the target flow rate and the current flow rate of each activated nozzle, combined with its corresponding relay rate limit; and uses the maximum value of all switching times as the synchronization benchmark to deduce the equivalent switching rate of each nozzle. This ensures that all nozzles arrive at their respective target states synchronously under a unified timing sequence, significantly suppressing power oscillations.

[0017] Furthermore, given the inherent strong nonlinearity of the nozzle's "position-flow" relationship, using the traditional position deviation (given vs. actual) as the closed-loop input would lead to nonlinear flow response, causing fluctuations in unit output. This invention, through a preset "position-flow" mapping curve, shifts the closed-loop control from the position domain to the flow domain: using the difference between the current given flow value and the actual flow value as the closed-loop control input. This design directly constrains the flow change trajectory, enabling approximately linear adjustment of the nozzle flow, thereby ensuring a smooth and linear response in unit output.

[0018] In summary, this invention, through a three-level linkage mechanism of pre-switching decision-flow domain linear closed loop-multi-needle rate synchronization, significantly improves regulation efficiency while fundamentally solving the core problems of large load fluctuations, slow response, and low control accuracy caused by switching delay, asynchronous action, and flow nonlinearity in existing technologies, thus achieving a balance between speed, stability, and linearity.

[0019] 2. When determining the nozzle switching point, this invention introduces a judgment mechanism between the total nozzle position setpoint and the nozzle switching point setting value with switching back hysteresis. When the total nozzle position setpoint enters the preset range, the nozzle switching is triggered in advance, which avoids frequent false switching and ensures that the switching action is started in time, significantly improving the load response speed and system stability.

[0020] 3. This invention uses a dynamic calculation method based on the given change in nozzle flow rate and the relay speed limit to accurately predict the switching time required for each activated nozzle to complete flow rate adjustment. This enables precise prediction and coordinated control of the timing of multiple nozzle actions, effectively avoiding load fluctuations caused by response differences and improving the stability and response accuracy of system regulation. Attached Figure Description

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, wherein: Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0022] Example 1 As a basic embodiment of the present invention, the present invention includes a multi-needle switching method for an impact speed governor based on flow linearization and rate controllability, comprising the following steps: Step S1. Use the total needle position as the basis for needle switching and obtain the number of needle switching points.

[0023] Step S2. Based on the total needle position setpoint, the total number of needles in the unit, and the number of needle switching points, determine the target position setpoint of the activated needles.

[0024] Step S3. Based on the preset nozzle "position-flow" curve, obtain the target value of the flow rate of the activated nozzle.

[0025] Step S4. Based on the preset opening / closing rate limit of the nozzle relay, and combined with the difference between the target value of the flow rate given by the activated nozzle and the current value of the flow rate given, calculate the switching time for the activated nozzle to complete the flow rate adjustment. Take the maximum value among all switching times as the synchronization benchmark and calculate the switching rate of each activated nozzle.

[0026] Step S5. Update the current value of the flow rate of the activated nozzles according to the switching rate and cycle of each activated nozzle.

[0027] Step S6. Obtain the actual flow rate of the activated nozzle based on the actual position value of the activated nozzle and the "position-flow rate" curve.

[0028] Step S7. Use the difference between the current value of the updated activated nozzle flow rate and the actual flow rate value of the activated nozzle as the input for nozzle closed-loop control, adjust the nozzle opening, and realize multi-needle coordinated switching.

[0029] Example 2 As a preferred embodiment of the present invention, the present invention includes a multi-needle switching method for an impact speed governor based on flow linearization and rate controllability, comprising the following steps: Step S1. Use the total nozzle position setpoint as the basis for determining nozzle switching and obtain the number of nozzle switching points. Specifically, when the total nozzle position setpoint is greater than the nozzle switching point position setting value, and the total nozzle position setpoint is less than the nozzle next switching point position setting value - nozzle switching backlash, the nozzle will switch according to the number of nozzle switching points corresponding to the nozzle switching point position setting value.

[0030] Step S2. Based on the total nozzle position setpoint, the total number of nozzles in the unit, and the number of nozzle switching points, determine the target position setpoint value for the activated nozzles. Specifically, the method for determining the target position setpoint value for the activated nozzles is as follows: SVRef ( y )= SVREF_NZA × Nozzles / NZNUM_CRV ( i ); In the formula, SVRef ( y A target value is given for the position of the activated nozzle. SVREF_NZA is Total nozzle position setpoint Nozzles Total number of nozzles in the unit NZNUM_CRV ( i () represents the number of nozzle switching points. i This is the needle switching point number. y This is the serial number of the spray needle.

[0031] Step S3. Based on the preset nozzle "position-flow" curve, obtain the target value of the flow rate of the activated nozzle.

[0032] Step S4. Based on the preset opening / closing rate limit of the nozzle relay, and combined with the difference between the target value of the flow rate given by the activated nozzle and the current value of the flow rate given, calculate the switching time for the activated nozzle to complete the flow rate adjustment. Take the maximum value among all switching times as the synchronization benchmark and calculate the switching rate of each activated nozzle.

[0033] Step S5. Update the current value of the flow rate of the activated nozzles according to the switching rate and cycle of each activated nozzle.

[0034] Step S6. Obtain the actual flow rate of the activated nozzle based on the actual position value of the activated nozzle and the "position-flow rate" curve.

[0035] Step S7. Use the difference between the current value of the updated activated nozzle flow rate and the actual flow rate value of the activated nozzle as the input for nozzle closed-loop control, adjust the nozzle opening, and realize multi-needle coordinated switching.

[0036] Example 3 In another preferred embodiment of the present invention, the present invention includes a multi-needle switching method for an impact speed governor based on flow linearization and rate controllability, comprising the following steps: Step S1. Use the total needle position as the basis for needle switching and obtain the number of needle switching points.

[0037] Step S2. Based on the total needle position setpoint, the total number of needles in the unit, and the number of needle switching points, determine the target position setpoint of the activated needles.

[0038] Step S3. Based on the preset nozzle "position-flow" curve, obtain the target flow rate of the activated nozzle. Specifically, linear interpolation is performed based on the target position value of the activated nozzle and the preset nozzle "position-flow" curve to obtain the target flow rate of the activated nozzle.

[0039] Step S4. Based on the preset nozzle relay opening / closing rate limit, and combined with the difference between the target flow rate and the current flow rate of the activated nozzle, calculate the switching time for each activated nozzle to complete flow rate adjustment. Take the maximum value among all switching times as the synchronization benchmark and calculate the switching rate of each activated nozzle. Specifically, this includes the following steps: Step S 41 Based on the nozzle relay's on / off rate limit, and combined with the difference between the target flow rate setpoint and the current flow rate setpoint of the activated nozzle, calculate the switching time for the activated nozzle to complete flow rate adjustment: , In the formula, TmSwitch ( y This represents the switching time after the activated nozzle completes flow adjustment. SVRefQ ( y A target value is given for the flow rate of the activated nozzle. RefQ ( y The current value is given for the flow rate of the activated nozzle. OpRateLmt This is the opening rate limit value for the needle relay. ClRateLmt This is the shut-off rate limit value for the needle relay. y This is the serial number of the spray needle.

[0040] Step S 42 Take the maximum value from the switching time of the activated nozzles to complete the flow adjustment, and obtain the longest time for nozzle switching.

[0041] Step S 43 Based on the longest switching time of the nozzles, the target value of the flow rate of the activated nozzles, and the current value of the flow rate of the activated nozzles, calculate the switching rate of each activated nozzle: , In the formula, LmtRate ( y () represents the switching rate of the activated nozzle. TmSwitch_max This is the longest time required for the nozzle to switch.

[0042] Step S5. Update the current value of the flow rate of the activated nozzles according to the switching rate and cycle of each activated nozzle.

[0043] Step S6. Obtain the actual flow rate of the activated nozzle based on the actual position value of the activated nozzle and the "position-flow rate" curve.

[0044] Step S7. Use the difference between the current value of the updated activated nozzle flow rate and the actual flow rate value of the activated nozzle as the input for nozzle closed-loop control, adjust the nozzle opening, and realize multi-needle coordinated switching.

[0045] Example 4 As another preferred embodiment of the present invention, the present invention includes a multi-needle switching method for an impact speed governor based on flow linearization and rate controllability, as described in the appendix to the specification. Figure 1 This includes the following steps: Step S1. Using the total nozzle position setpoint as the criterion for nozzle switching, obtain the number of nozzle switching points. Specifically, when the total nozzle position setpoint... SVREF_NZA >Needle switching point position setting value NZREF_CRV ( i And the total nozzle position is given. SVREF_NZA <Needle Next Switching Point Position Setting Value> NZREF_CRV ( i+ 1) Needle switching backlash NZS_ REFHYS The spray needle will follow NZNUM_CRV ( i Switching is performed using ). Among them, i This is the needle switching point number. NZNUM_CRV ( i () represents the number of nozzle switching points. See Table 1 below for details.

[0046] Table 1. Parameters for Needle Switching Point

[0047] Step S2. Based on the given value of the total nozzle position SVREF_NZA Total number of nozzles in the unit Nozzles and the number of nozzle switching points NZNUM_CRV ( i ), determine the position of the activated nozzle given a target value. SVRef ( y ): SVRef (y )= SVREF_NZA × Nozzles / NZNUM_CRV ( i ); In the formula, y This is the serial number of the spray needle.

[0048] Step S3. Set the target value based on the position of the activated nozzle. SVRef ( y The preset nozzle "position-flow rate" curve is linearly interpolated to obtain the target flow rate of the activated nozzle. SVRefQ ( y ).

[0049] Step S4. Calculate the switching rate of each activated nozzle. This includes the following steps: Step S 41 Based on the nozzle relay's on / off rate limit, and combined with the difference between the target flow rate setpoint and the current flow rate setpoint of the activated nozzle, calculate the switching time for the activated nozzle to complete flow rate adjustment: , In the formula, TmSwitch ( y This represents the switching time after the activated nozzle completes flow adjustment. RefQ ( y The current value is given for the flow rate of the activated nozzle. OpRateLmt This is the opening rate limit value for the needle relay. ClRateLmt This is the shut-off rate limit value for the needle relay.

[0050] Step S 42 Take the maximum value from the switching times of activated nozzles to complete flow adjustment, and obtain the longest switching time for the nozzles. TmSwitch_max.

[0051] Step S 43 Based on the longest time for needle switching TmSwitch_max The target flow rate of the activated nozzle is given. SVRefQ ( y The current value is given for the flow rate of the activated nozzle. RefQ ( y ), calculate the switching rate of each activated nozzle. LmtRate ( y ): .

[0052] Step S5. Based on the switching rate of each activated nozzle. LmtRate ( y ) and cycle period TcUpdate the flow rate of the activated nozzle given the current value. : .

[0053] Step S6. Based on the actual position value of the activated nozzle. Pos ( y The "position-flow" curve is used to obtain the actual flow rate of the activated nozzle. PosQ ( y ).

[0054] Step S7. Set the updated flow rate of the activated nozzle to the current value. and the actual flow rate of the activated nozzle PosQ ( y The difference between the two values ​​serves as the input for the closed-loop control of the nozzle, adjusting the nozzle opening to achieve coordinated switching of multiple nozzles.

[0055] Example 5 As another preferred embodiment of the present invention, the present invention includes a multi-needle switching system for an impact speed regulator based on flow linearization and rate controllability, comprising: The switching decision unit is used to determine the number of nozzle switching points based on the total nozzle position setpoint, and to calculate the position setpoint target value of each activated nozzle based on the total nozzle position setpoint, the total number of nozzles in the unit and the number of nozzle switching points.

[0056] The flow mapping unit is configured with a pre-calibrated nozzle "position-flow" curve, which is used to obtain the corresponding flow target value based on the position target value of the activated nozzle.

[0057] The rate planning unit is used to calculate the switching time for each nozzle to complete the flow adjustment based on the preset nozzle relay opening / closing rate limit value and the difference between the target flow value and the current flow value of each activated nozzle. The maximum value among all switching times is taken as the synchronization reference, and the switching rate of each activated nozzle is calculated accordingly.

[0058] The flow command update unit is used to incrementally update the current flow command value according to the switching rate and cycle of each activated nozzle in each control cycle, and generate the updated current flow command value of each activated nozzle. The actual flow calculation unit is used to collect the actual position value of each activated nozzle and calculate the actual flow value of each activated nozzle in real time based on the "position-flow" curve.

[0059] The closed-loop control unit is used to take the difference between the current value of the updated activated nozzle flow rate and the actual flow rate as the control deviation input, adjust the nozzle opening, and realize the coordinated switching of multiple nozzles.

[0060] Example 6 In another preferred embodiment of the present invention, the present invention includes a multi-needle switching device for an impact speed regulator based on flow linearization and rate controllability, comprising at least one processor and at least one memory communicatively connected to the processor; the memory stores program instructions executable by the processor. The processor can invoke the program instructions to execute the method described in any of the embodiments 1 to 4 above, or to run the system in embodiment 5 above.

[0061] In summary, any other corresponding modifications made by those skilled in the art after reading this invention document, without requiring creative mental effort, based on the technical solutions and concepts of this invention, are all within the scope of protection of this invention.

Claims

1. A method for switching multiple nozzles in an impact speed controller based on flow linearization and rate controllability, characterized in that: Includes the following steps: Step S1. Use the total given value of the nozzle position as the basis for determining nozzle switching, and obtain the number of nozzle switching points; Step S2. Based on the total needle position setpoint, the total number of needles in the unit, and the number of needle switching points, determine the target position setpoint for the activated needles; Step S3. Based on the preset nozzle "position-flow" curve, obtain the target flow rate of the activated nozzle; Step S4. Based on the preset opening / closing rate limit of the nozzle relay, and combined with the difference between the target value of the flow given by the activated nozzle and the current value of the flow given, calculate the switching time for the activated nozzle to complete the flow adjustment. Take the maximum value among all switching times as the synchronization benchmark and calculate the switching rate of each activated nozzle. Step S5. Update the current value of the flow rate of the activated nozzles according to the switching rate and cycle of each activated nozzle; Step S6. Obtain the actual flow rate of the activated nozzle based on the actual position value of the activated nozzle and the "position-flow rate" curve; Step S7. Use the difference between the current value of the updated activated nozzle flow rate and the actual flow rate value of the activated nozzle as the input for nozzle closed-loop control, adjust the nozzle opening, and realize multi-needle coordinated switching.

2. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 1, characterized in that: Step S1 specifically refers to the following: when the total nozzle position set value is greater than the nozzle switching point position set value and the total nozzle position set value is less than the nozzle next switching point position set value - nozzle switching backlash, the nozzle will switch according to the number of nozzle switching points corresponding to the nozzle switching point position set value.

3. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 1, characterized in that: The method for determining the target value of the position of the activated nozzle in step S2 is as follows: SVRef ( y )= SVREF_NZA × Nozzles / NZNUM_CRV ( i )； In the formula, SVRef ( y A target value is given for the position of the activated nozzle. SVREF_NZA is Total nozzle position setpoint Nozzles Total number of nozzles in the unit NZNUM_CRV ( i () represents the number of nozzle switching points. i This is the needle switching point number. y This is the serial number of the spray needle.

4. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 1, characterized in that: Step S3 specifically refers to: performing linear interpolation calculation based on the target value of the activated nozzle position and the preset nozzle "position-flow" curve to obtain the target value of the activated nozzle flow rate.

5. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 1, characterized in that: Step S4 specifically includes the following steps: Step S 41 Based on the nozzle relay's on / off rate limit, and combined with the difference between the target flow rate setpoint and the current flow rate setpoint of the activated nozzle, calculate the switching time for the activated nozzle to complete flow rate adjustment: ， In the formula, TmSwitch ( y This represents the switching time after the activated nozzle completes flow adjustment. SVRefQ ( y A target value is given for the flow rate of the activated nozzle. RefQ ( y The current value is assigned to the flow rate of the activated nozzle. OpRateLmt This is the opening rate limit value for the nozzle relay. ClRateLmt This is the shut-off rate limit value for the needle relay. y The serial number of the nozzle; Step S 42 Take the maximum value from the switching times of activated nozzles to complete flow adjustment, and obtain the longest time for nozzle switching; Step S 43 Based on the longest switching time of the nozzle, the target value of the flow rate of the activated nozzle, and the current value of the flow rate of the activated nozzle, calculate the switching rate of each activated nozzle.

6. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 5, characterized in that: The method for calculating the switching rate of each activated nozzle is as follows: ， In the formula, LmtRate ( y () represents the switching rate of the activated nozzle. SVRefQ ( y A target value is given for the flow rate of the activated nozzle. RefQ ( y The current value is assigned to the flow rate of the activated nozzle. TmSwitch_max This is the longest time required for the nozzle to switch. y This is the serial number of the spray needle.

7. The method for switching multiple nozzles in an impact speed regulator based on flow linearization and rate controllability as described in claim 1, characterized in that: The calculation method for updating the current value of the flow rate of the activated nozzle in step S5 is as follows: ， In the formula, Assign the current value to the updated flow rate of the activated nozzle. RefQ ( y The current value is assigned to the flow rate of the activated nozzle. LmtRate ( y () represents the switching rate of the activated nozzle. Tc For the cycle period, SVRefQ ( y A target value is given for the flow rate of the activated nozzle. y This is the serial number of the spray needle.

8. A multi-needle switching system for an impact speed regulator based on flow linearization and rate controllability, characterized in that: include: The switching decision unit is used to determine the number of nozzle switching points based on the total nozzle position setpoint, and to calculate the position setpoint target value of each activated nozzle based on the total nozzle position setpoint, the total number of nozzles in the unit and the number of nozzle switching points. The flow mapping unit is configured with a pre-calibrated nozzle "position-flow" curve, which is used to obtain the corresponding flow target value based on the position target value of the activated nozzle. The rate planning unit is used to calculate the switching time for each nozzle to complete the flow adjustment based on the preset nozzle relay opening / closing rate limit value and the difference between the target flow value and the current flow value of each activated nozzle; the maximum value among all switching times is taken as the synchronization reference, and the switching rate of each activated nozzle is calculated accordingly. The flow command update unit is used to incrementally update the current flow command value according to the switching rate and cycle of each activated nozzle in each control cycle, and generate the updated current flow command value of each activated nozzle. The actual flow calculation unit is used to collect the actual position value of each activated nozzle and calculate the actual flow value of each activated nozzle in real time based on the "position-flow" curve. The closed-loop control unit is used to take the difference between the current value of the updated activated nozzle flow rate setpoint and the actual flow rate value as the control deviation input, adjust the nozzle opening, and realize the coordinated switching of multiple nozzles.

9. A multi-needle switching device for an impact speed regulator based on flow linearization and rate controllability, comprising at least one processor and at least one memory communicatively connected to the processor; the memory stores program instructions executable by the processor; characterized in that: The processor can execute the method described in any one of claims 1 to 7, or run the system described in claim 8, by calling the program instructions.

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