A control method and control device for a hydrogen pressure reducing valve spool

Abstract

This application provides a control method and device for the valve core of a hydrogen pressure reducing valve. The method includes: planning the desired motion trajectory of the valve core from its current position to a target position; based on a coupled dynamics model, performing inverse kinematics based on the desired motion trajectory and real-time detected upstream and downstream pressures to generate a feedforward electromagnetic force command and an equivalent damping feedforward compensation term command. The coupled dynamics model characterizes the relationship between the resultant force acting on the valve core and its motion state, and includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve; generating a final control signal based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, and coordinating the control of an electromagnetic actuator and a variable damper to drive the valve core motion. This application improves the trajectory tracking speed and accuracy of the valve core motion and reduces overshoot and oscillation phenomena during the motion process.

Description

Technical Field

[0001] This application relates to the field of control valve technology, and more specifically, to a control method and control device for a hydrogen pressure reducing valve core. Background Technology

[0002] As a key precision component in hydrogen energy systems, the dynamic performance of the hydrogen pressure reducing valve, especially the transient motion response speed and stability of the valve core, directly determines the flow regulation accuracy and reliability of the entire system. In existing technologies, the control of valve core motion often employs a proportional-integral-differential feedback method based on a simple inertial system model. This method treats the complex nonlinear forces acting on the valve core, such as time-varying aerodynamic forces that change drastically with valve opening and upstream / downstream pressure, electromagnetic forces with hysteresis and saturation effects, and frictional forces and gas damping that are difficult to model accurately, as interference or oversimplifies them.

[0003] This "black box" or highly simplified control strategy, lacking a high-precision multiphysics coupled dynamic model, cannot feedforward compensate for the complex nonlinear force coupling effects mentioned above. Therefore, existing methods have inherent performance limitations: to avoid system instability or overshoot, the control gain is often conservatively reduced, leading to sluggish valve core response; and near the target position, uncompensated force abrupt changes can easily cause motion overshoot or even continuous oscillations. This not only limits the dynamic adjustment accuracy of the valve but also exacerbates impact wear on components. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and device for controlling the valve core of a hydrogen pressure reducing valve, so as to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, embodiments of this application provide a control method for the valve core of a hydrogen pressure reducing valve. The method includes: planning the desired motion trajectory of the valve core from its current position to a target position; based on a coupled dynamics model, performing inverse kinematics based on the desired motion trajectory, real-time detected upstream and downstream pressures, and generating a feedforward electromagnetic force command and an equivalent damping feedforward compensation term command. The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve; and generating a final control signal based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core motion.

[0006] In one optional embodiment of this application, the desired motion trajectory is obtained by: generating a smooth displacement curve from the current position to the target position online based on the received target opening command and the maximum speed and maximum acceleration constraints of the valve core, wherein the velocity curve corresponding to the curve is zero at the target position.

[0007] In one alternative embodiment of this application, the coupled dynamic model is obtained by establishing a dynamic equation with valve core displacement and velocity as the state and electromagnetic actuator coil current, inlet pressure and outlet pressure as inputs. This equation includes a nonlinear aerodynamic term determined by the displacement, velocity and outlet pressure difference.

[0008] In one optional embodiment of this application, the feedforward electromagnetic force command is generated in the following manner: the displacement, velocity and acceleration values ​​at each moment in the desired motion trajectory, along with the valve inlet pressure and valve outlet pressure detected in real time at the corresponding moment, are substituted into the coupled dynamics model, and the feedforward electromagnetic force command required to track the trajectory is calculated by inverse model solution.

[0009] In one optional embodiment of this application, the equivalent damping feedforward compensation term instruction is generated in the following manner: during the inverse model solution process, the equivalent damping feedforward compensation term value corresponding to the velocity curve in the desired motion trajectory is synchronously calculated and used as the equivalent damping feedforward compensation term instruction.

[0010] In one optional embodiment of this application, the final control command is obtained by: acquiring the actual displacement measurement value of the valve core; using the actual displacement measurement value, obtaining the actual velocity and unmodeled disturbance of the valve core through a state observer; generating a feedback correction command based on the deviation between the desired motion trajectory and the actual displacement, the estimated velocity, and the unmodeled disturbance, wherein the feedback correction command is the feedback damping correction amount; and synthesizing the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command with the feedback electromagnetic force correction amount and the feedback damping correction amount, respectively, to obtain the final control command.

[0011] In one optional embodiment of this application, the feedback correction command is obtained by taking the deviation between the actual displacement and the desired displacement, the deviation between the estimated velocity and the desired velocity, and the unmodeled disturbance as inputs, and calculating the feedback electromagnetic force correction amount and the feedback damping correction amount through an adaptive feedback controller.

[0012] Secondly, embodiments of this application also provide a control device for the valve core of a hydrogen pressure reducing valve. The device includes: a desired motion trajectory planning module for planning the desired motion trajectory of the valve core from its current position to a target position; a command generation module for generating a feedforward electromagnetic force command and an equivalent damping feedforward compensation term command based on a coupled dynamics model, according to the desired motion trajectory, the real-time detected inlet and outlet pressures, and the coupled dynamics model characterizing the relationship between the resultant force acting on the valve core and its motion state, and the model including a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve; and a valve core motion driving module for generating a final control signal based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, and coordinating the control of an electromagnetic actuator and a variable damper to drive the valve core motion.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described above.

[0015] The control method and control device for the valve core of the hydrogen pressure reducing valve provided in this application plan the desired motion trajectory of the valve core from the current position to the target position. Based on a coupled dynamics model, the method performs inverse kinematics based on the desired motion trajectory and the real-time detected pressure before and after the valve to generate a feedforward electromagnetic force command and an equivalent damping feedforward compensation term command. The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference before and after the valve. Based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, the method generates a final control signal to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core motion. Through this application, by introducing feedforward control based on a coupled dynamics model, the precise command required to overcome nonlinear forces such as aerodynamic resistance and friction can be pre-calculated, thereby enabling the valve core to follow the planned desired trajectory more quickly, improving dynamic response and tracking accuracy. At the same time, by leveraging the coordinated control of the electromagnetic actuator and the variable damper, especially during the braking phase by adjusting the damping force to actively consume the kinetic energy of the valve core, the method suppresses position overshoot during deceleration and achieves precise positioning.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the control method for the hydrogen pressure reducing valve core provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the force analysis of the valve core provided in an embodiment of this application; Figure 3 A flowchart for obtaining the final control command is provided for embodiments of this application; Figure 4 This is a schematic diagram of the control device for the hydrogen pressure reducing valve core provided in the embodiments of this application. Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0020] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of control valve technology.

[0021] Research has revealed that existing hydrogen pressure reducing valves generally employ conventional voltage / current drive or position PID feedback strategies for valve core control. Their core flaw lies in simplifying the valve core and its load as a linear inertial system, completely ignoring the strong coupling nonlinear characteristics of electromagnetic, fluid, and mechanical multi-physics fields during valve core movement. This oversimplified "black box" modeling approach renders the control strategy ineffective in handling the dynamic influences of complex factors such as time-varying aerodynamic forces, electromagnetic force saturation and hysteresis, and uncertain frictional damping. A persistent and irreconcilable contradiction exists between the system's dynamic response and stability.

[0022] The aforementioned defects manifest in practical applications as follows: To avoid overshoot, the control gain is forced to be reduced, severely limiting the valve core response speed; when approaching the target position, the inability to compensate for sudden changes in gas force in a timely manner easily leads to position overshoot or even continuous oscillation, directly affecting the valve's sealing reliability and fatigue life. Especially in the small opening adjustment range, nonlinear forces dominate, and traditional linear controllers lack effective means to suppress electromagnetic force distortion and drastic fluctuations in fluid force, resulting in a significant decrease in valve core position tracking accuracy, making it difficult to meet the high standards of flow regulation precision and repeatability required by hydrogen systems.

[0023] In this embodiment, the controlled object is the valve core assembly of a single two-stage pressure reducing valve, which includes moving parts such as a moving iron core, valve stem, and sealing head. The control system hardware includes a controller, drive circuit, current sensor, and pressure sensors installed before and after the valve. The core software consists of a pre-established high-fidelity coupled dynamics model and a composite controller.

[0024] Based on this, the embodiments of this application provide a control method and control device for the valve core of a hydrogen pressure reducing valve. By establishing a coupled dynamic model of the valve core that includes nonlinear aerodynamic terms, the model is inversely solved based on the desired motion trajectory and the real-time pressure before and after the valve. Feedforward electromagnetic force commands and equivalent damping feedforward compensation terms are generated. Combined with state observation and adaptive feedback control, feedback correction commands are generated. Finally, the electromagnetic driving force and controllable damping force are coordinated to drive the valve core to accurately track the desired trajectory. This solves the problems of slow response, easy overshoot oscillation, and low control accuracy of small openings in the prior art, and realizes the valve core's motion control from start-up to braking without overshoot and with high repeatability.

[0025] Please see Figure 1 , Figure 1 This is a flowchart illustrating the control method for the hydrogen pressure reducing valve core provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the control method for the valve core of the hydrogen pressure reducing valve includes: S101, Plan the desired movement trajectory of the valve core from the current position to the target position.

[0026] Furthermore, the desired motion trajectory is obtained in the following way: Based on the received target opening command and the constraints of the valve core's maximum speed and maximum acceleration, a smooth displacement curve from the current position to the target position is generated online. The velocity curve corresponding to this curve is zero at the target position.

[0027] In this step, the controller receives target opening commands in real time from the upper-level pressure controller or multi-valve scheduler. These commands are valve core target position commands issued by the upper-level rail-pressure coordinated control method or valve group scheduler, and may include control mode parameters, such as "fast mode" or "precision mode," to indicate the preferred strategies of this control method during trajectory planning and damping adjustment. The command is an absolute position value in millimeters or micrometers, written to the controller's memory command register at fixed intervals (typically 0.1 milliseconds) via the controller's local area network or analog input port.

[0028] During execution, this application periodically feeds back the actual position measurement of the valve core and its health status information to the upper-level controller. The health status includes model confidence and system deviation correction. This method does not directly participate in the upper-level pressure calculation; it only uses optimal dynamic performance to accurately and quickly drive the valve core to the designated position, achieving hierarchical decoupling from the upper-level pressure control. This allows the upper-level controller to perform system-level coordinated control based on an ideal actuator with predictable response and approximately linear dynamic characteristics.

[0029] The controller uses the current position of the valve core measured by the displacement sensor as the starting point of the trajectory and the target opening command as the ending point, generating a complete desired motion trajectory online within each control cycle. The trajectory is not a single position point, but a set of curves that change over time, including the desired displacement curve, the desired velocity curve, and the desired acceleration curve.

[0030] The core task of trajectory planning is to generate a set of time-varying motion command curves, including the desired displacement curve, desired velocity curve, and desired acceleration curve. The controller uses pre-calibrated maximum valve core velocity and maximum acceleration as hard constraints to ensure that any planned motion state does not exceed the valve's mechanical limits and electromagnetic drive capability. The desired displacement curve is planned as a continuous curve with a monotonically smooth transition from the starting point to the ending point, without allowing position regression or local abrupt changes; the desired velocity curve is obtained by differentiating the displacement curve with respect to time, and the velocity values ​​are forcibly planned to be zero at the starting and ending points; the desired acceleration curve is obtained by differentiating the velocity curve, and similarly returns to zero at the starting and ending points.

[0031] The controller employs an online trajectory generation method, re-executing the complete planning process upon receiving a new target opening command. After planning is complete, all trajectory data is stored in the controller's memory in time-series format and updated continuously. During each millisecond control interruption cycle, the controller retrieves the desired displacement, desired velocity, and desired acceleration values ​​corresponding to the current moment from the sequence based on the motion timer, serving as the unified input reference for subsequent model inverse solution and feedback control.

[0032] In this way, by pre-planning a smooth curve with zero velocity at the end, the movement of the valve core is transformed into a trajectory tracking problem, rather than a simple point-to-point positioning problem. The valve core has clear velocity guidance throughout its movement, and its velocity is forced to zero when it reaches the target position, fundamentally eliminating the possibility of it overshooting the target position due to velocity inertia.

[0033] S102. Based on a coupled dynamic model, the desired motion trajectory and the real-time detected inlet and outlet pressures of the valve are used to perform inverse kinematics to generate feedforward electromagnetic force commands and equivalent damping feedforward compensation term commands.

[0034] The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes nonlinear aerodynamic terms determined by the valve opening and the pressure difference across the valve.

[0035] In this embodiment, the coupled dynamics model is obtained as follows: a dynamic equation is established with valve core displacement x and velocity v as states, and electromagnetic actuator coil current i, inlet pressure P_in, and outlet pressure P_out as inputs. This equation includes a nonlinear aerodynamic term determined by displacement, velocity, and the pressure difference across the valve. This equation is a force balance equation: the equivalent mass of the valve core multiplied by the acceleration equals the electromagnetic driving force minus the spring force, aerodynamic force, frictional force, and controllable damping force.

[0036]

[0037] Where x is the valve core displacement, m is the equivalent mass of the valve core, and k is the spring stiffness. Electromagnetic driving force The nonlinear aerodynamic force is determined by the valve opening and the pressure difference across the valve. This is the inherent damping force of the system.

[0038] Here, the electromagnetic driving force model is established by fitting experimental data. It is a binary nonlinear function or a two-dimensional lookup table model indexed by displacement and current. The spring force is obtained by multiplying the displacement by the spring stiffness coefficient. The nonlinear aerodynamic force is obtained by a three-dimensional mapping table jointly calibrated by CFD simulation and bench test. This table outputs aerodynamic force values ​​indexed by displacement, velocity, and pressure difference across the valve. The aerodynamic force includes steady-state flow force (related to valve opening and pressure difference) and transient flow force (related to flow velocity and acceleration). It can predict the thrust and Bernoulli force generated by the gas on the valve core under different openings and pressure differences.

[0039] In this step, the controller substitutes the desired displacement, desired velocity, and desired acceleration values, along with the real-time acquired inlet and outlet pressures of the valve, into the coupled dynamics model for inverse solving. The inlet and outlet pressures are acquired in real-time by pressure transmitters installed at the inlet and outlet of the pressure reducing valve, and the valve core displacement is measured in real-time by a displacement sensor. The desired displacement value is used in the inverse solution instead of the measured displacement value to reflect the predictive characteristics of feedforward control.

[0040] First, the total driving force required to track the desired trajectory is calculated, which is the equivalent mass of the valve core multiplied by the desired acceleration, plus the spring force and aerodynamic force. Then, based on the inverse function of the damping force model, an equivalent damping feedforward compensation term is generated based on the velocity calculated from the total driving force. Based on the inverse function of the electromagnetic force model, the portion of the total driving force allocated to the electromagnet is inversely solved as a coil current value, generating a feedforward electromagnetic force command. During the inverse solution of the electromagnetic force model, the desired displacement and required electromagnetic thrust are used as inputs, and a two-dimensional table is obtained through inverse interpolation to obtain the current command.

[0041] The feedforward electromagnetic force command and the equivalent damping feedforward compensation term command are generated within the same control cycle and sent to the electromagnet actuator in digital command form. Through this feedforward control, the controller calculates the required electromagnetic force and equivalent damping feedforward compensation term at every moment along the entire movement path before the valve core moves, while simultaneously counteracting the disturbance of aerodynamic force changes with the opening degree.

[0042] In this application, the controller calculates the required electromagnetic force and equivalent damping feedforward compensation term at every moment along the entire motion path before the valve core moves. This allows the electromagnetic force to counteract the drastic disturbances in aerodynamic force as the valve opening changes, and the damping force to match the braking energy consumption required for speed changes, reducing the burden and lag of feedback regulation.

[0043] For further details, please refer to Figure 2 , Figure 2 This is a schematic diagram of the force analysis of the valve core provided in the embodiments of this application.

[0044] This diagram illustrates the force state and motion parameters of the valve core during the opening process. The valve core assembly has a moving mass *m*, measured in kilograms, representing the total inertia of all moving parts, including the valve core, moving iron core, valve stem, and sealing head. The valve core can move linearly along the Y-axis within its movable region, which refers to the physical travel boundary between the fully closed and fully open positions. The instantaneous displacement of the valve core is called the lift, measured in millimeters, and the lift value directly corresponds to the valve opening degree. The velocity direction arrows marked in the diagram indicate the current direction of the valve core's motion; during the opening process, the velocity direction is along the positive Y-axis, consistent with the valve core's opening direction.

[0045] In the diagram, a damping module is located on the left side of the valve core. This module is an ideal module that combines all motion-related damping terms to calculate the damping force (i.e., the resistance marked in the diagram) opposite to the direction of the motion velocity. The damping force always points in the negative Y-axis direction, hindering the movement of the valve core. A spring module is located on the right side of the valve core to generate a return spring force. The magnitude of the spring force is proportional to the lift, and its direction is also in the negative Y-axis direction. The valve core is subjected to gas force below, which is generated by the pressure difference across the valve orifice and the impact of high-speed airflow. Its magnitude is related to the valve opening, pressure difference, and valve core speed, and its direction is also along the negative Y-axis. The direction of gravity acting on the valve core is also along the negative Y-axis. Above the valve core is an electromagnet module, which generates an electromagnetic driving force when energized. This force is in the positive Y-axis direction and is the only power source that drives the valve core to overcome the spring force, gas force, damping force, and gravity to achieve the opening action.

[0046] like Figure 2 As shown, during the valve core's opening motion, the electromagnetic driving force is upward, while the spring force, gas force, damping force, and gravity are all downward, and all forces act together on the valve core assembly. According to Newton's second law, the vector sum of these forces is the resultant force acting on the valve core. Dividing this resultant force by the moving mass m yields the instantaneous acceleration of the valve core, thus determining the velocity and displacement variation of the valve core.

[0047] S103. Based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, generate the final control signal to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core movement.

[0048] In this step, the controller uses the generated feedforward electromagnetic force command and equivalent damping feedforward compensation term command as the main control signal, and introduces the correction amount of the feedback loop to synthesize them to generate the final execution command.

[0049] During the acceleration phase of the valve core, the electromagnetic actuator provides the main driving force, while during the deceleration and braking phase of the valve core, the variable damper provides the main braking force.

[0050] In this embodiment, the variable damper can be a magnetorheological fluid damper. This damper is mechanically coupled to the valve core, and its damping coefficient can be rapidly and steplessly adjusted by changing the excitation coil current. When the controller outputs an equivalent damping feedforward compensation term command and a feedback damping correction amount, the command is converted into a corresponding excitation current, changing the yield stress of the magnetorheological fluid, thereby adjusting the damping force applied to the valve core in real time. Alternatively, in another embodiment, if space or cost constraints exist, the function of the variable damper can be simulated by generating electronic damping through reverse energization of an electromagnetic actuator. That is, based on the deviation between the valve core speed and the desired speed, a reverse correction current is superimposed on the electromagnetic force feedforward command to actively generate braking force to consume the valve core's kinetic energy.

[0051] The feedforward electromagnetic force command is generated in the following manner: The displacement, velocity, and acceleration values ​​at each moment in the desired trajectory, along with the real-time detected inlet and outlet pressures of the valve, are substituted into the coupled dynamics model. The total driving force required to track the trajectory is calculated through the inverse solution of the model, and then the required feedforward electromagnetic force command is obtained.

[0052] The equivalent damping feedforward compensation term instruction is generated in the following way: during the model inverse solution process, the ideal damping coefficient value required to match the velocity curve in the desired motion trajectory is solved synchronously and used as the equivalent damping feedforward compensation term instruction.

[0053] For the electromagnetic drive circuit, the feedforward electromagnetic force command and the feedback current correction are algebraically added to obtain the final current command. This command is then pulse-width modulated and sent to the electromagnet drive circuit, where it is converted into an average voltage applied across the proportional electromagnet coil, generating an actual coil current, which in turn outputs electromagnetic attraction to drive the valve core.

[0054] The feedback control command is jointly generated by the state observer and the adaptive sliding mode controller. The state observer takes the valve spool position measured by the displacement sensor as its sole input and estimates two unmeasurable state variables in real time using an extended Kalman filter algorithm: the valve spool velocity and the unmodeled resultant force of the disturbance, which includes model errors and external disturbances. The feedback controller takes the deviation between the desired and measured displacements, the deviation between the desired and estimated velocities, and the disturbance estimate as inputs. It calculates the feedback electromagnetic force correction and feedback damping correction using an adaptive sliding mode control law, which are used to compensate for trajectory tracking errors and suppress disturbances, respectively.

[0055] In this way, the response speed and trajectory tracking accuracy are guaranteed by feedforward commands, and the robustness and anti-disturbance capability of the system are guaranteed by feedback correction. With the cooperation of the electromagnetic actuator, the valve core can complete a full stroke movement within a time scale of 5 to 10 milliseconds. When it reaches the end, the speed is close to zero. The static deviation between the measured position and the target position is controlled at the micrometer level. Moreover, there is no rigid impact between the valve core and the valve seat during the entire movement process, and the valve opening and closing life is substantially extended.

[0056] For further details, please refer to Figure 3 , Figure 3 A flowchart illustrating the process of obtaining the final control command, as provided in an embodiment of this application. Figure 3 As shown, the final control command is obtained in the following manner: S201. Obtain the actual displacement measurement value of the valve core.

[0057] In this step, the controller reads the output signal of the displacement sensor through an analog-to-digital converter interface every control cycle (typically 1 millisecond). The displacement sensor is a magnetostrictive displacement sensor or a differential transformer displacement sensor, installed at the tail of the valve core or the end of the valve stem, used to directly measure the absolute position of the valve core. The sensor output is a standard analog voltage signal (0–10 volts) or a digital bus signal, corresponding to the full stroke range of the valve core (e.g., 0–10 mm). The controller converts the acquired voltage value into an actual displacement value in millimeters using a calibration curve. This value is a 32-bit floating-point number and is written to the displacement measurement value register in memory, which is also available for reading by the state observer and the feedback controller.

[0058] It should be noted that the above-mentioned method of directly measuring displacement is mainly used for model calibration and verification in the early experimental stage. In the application of the finalized product, displacement sensors are no longer set up. Instead, the current flow rate is estimated by detecting the pressure change values ​​before and after the valve in real time, and the actual lift position of the valve core is solved based on the mapping relationship between flow rate and lift.

[0059] S202. Using actual displacement measurements, the actual velocity of the valve core and the unmodeled disturbance are obtained through the state observer.

[0060] In this step, the controller uses the actual displacement value output from the above steps as the only input and calls the extended Kalman filter algorithm to estimate two state variables that cannot be directly measured in real time.

[0061] The state observer internally establishes the state equations and observation equations for the valve spool motion. The state vector contains three components: valve spool displacement, valve spool velocity, and the total resultant force of unmodeled disturbances. Displacement is the only observable input, while velocity and disturbances are implicit states. The observer executes a prediction step and an update step in each control cycle: the prediction step calculates the prior state estimate for the current cycle based on the state estimate from the previous cycle and the valve spool dynamics model; the update step calculates the Kalman gain based on the residual between the current measured displacement and the predicted displacement, and corrects the state vector accordingly.

[0062] The observer outputs two key estimates: the first is the actual velocity of the valve core at the current moment, in millimeters per second; the second is the total resultant force of unmodeled disturbances, in Newtons. This force is a lumped parameter, representing the sum of all uncompensated forces, including nonlinear factors, parameter perturbations, and external shock disturbances not included in the model. Both estimates are 32-bit floating-point numbers, written to a memory register for use by the feedback controller.

[0063] S203. Based on the deviation between the expected trajectory and the actual displacement, the estimated velocity, and the unmodeled disturbance, a feedback correction command is generated.

[0064] The feedback correction command is the feedback electromagnetic force correction amount.

[0065] Feedback correction instructions are obtained in the following ways: The deviation between the actual displacement and the expected displacement, the deviation between the estimated velocity and the expected velocity, and the unmodeled disturbance are taken as inputs and the feedback electromagnetic force correction and feedback damping correction are calculated by an adaptive feedback controller.

[0066] In this step, the feedback controller uses an adaptive sliding mode control law to calculate two output quantities from four input quantities.

[0067] The four input values ​​are as follows: Position deviation: The difference between the expected displacement value and the measured displacement value of S201, in millimeters; Speed ​​deviation: The difference between the expected speed value and the estimated speed value in S202, in millimeters per second; Unmodeled disturbance: Estimated total resultant force of disturbance output by S202, in Newtons; Current motion phase flag: provided by the desired trajectory planning module, used to distinguish between the start-up acceleration phase, constant speed phase, and braking phase, so that the controller can adjust the sliding surface parameters and feedback gain.

[0068] The feedback controller internally maintains a set of online adjustable control parameters, including sliding surface coefficients, switching gain, and boundary layer thickness. The control law first constructs a sliding surface function based on position and velocity deviations; then, it looks up the basic feedback force in a table based on the sliding surface function value and the current motion stage; next, it superimposes a disturbance feedforward compensation amount onto the basic feedback force, the value of which is either all or a preset proportion of the unmodeled disturbance estimate; finally, it distributes the total feedback force into two parts: one part serves as a feedback electromagnetic force correction, used to adjust the output force of the electromagnetic actuator; the other part serves as a feedback damping correction, used to adjust the damping coefficient of the variable damper.

[0069] The feedback electromagnetic force correction is the current command value; the feedback damping correction is the damping coefficient command value.

[0070] S204. The feedforward electromagnetic force command and the equivalent damping feedforward compensation term command are combined with the feedback electromagnetic force correction and the feedback damping correction, respectively, to obtain the final control command.

[0071] In this step, the controller performs instruction synthesis calculations.

[0072] For the electromagnetic drive circuit: the feedforward electromagnetic force command (current value) generated by S102 and the feedback electromagnetic force correction (current value) generated by S203 are algebraically added to obtain the final current command. This command is limited within the rated current range of the electromagnet and written to the output buffer in 32-bit floating-point form.

[0073] The synthesized final current command is converted into a duty cycle signal in the next pulse width modulation interrupt cycle and sent to the electromagnet driver.

[0074] Compared with the simplified control methods based on voltage / current drive or position PID feedback in the prior art, the control method and control device for the hydrogen pressure reducing valve core provided in this application significantly improves the response speed of the valve core to the target position command by establishing a high-fidelity coupled dynamic model containing nonlinear aerodynamic terms and generating feedforward commands through inverse solving. Combined with state observation and adaptive sliding mode feedback correction, the valve core's response speed to the target position command is significantly improved, and the start-up and acceleration processes are rapid. There is no overshoot or reciprocating oscillation when moving to the target position, and it stops immediately upon reaching the target position. The position tracking accuracy under small opening is greatly improved, and it can stably perform precise flow regulation. The mechanical impact between the valve core and the valve seat during the braking phase is significantly reduced, and the overall service life of the valve is extended. At the same time, through the real-time estimation of the valve core speed and unmodeled disturbances by the state observer, combined with the adaptive sliding mode feedback controller, this application can effectively compensate for model errors, parameter drift, and external disturbances, maintaining strong robustness and adaptability across the entire operating range, and ensuring stable and non-degradable control performance. Furthermore, this application transforms the originally strongly nonlinear and strongly coupled valve core actuator into an ideal position source with predictable dynamic response and approximately linear position tracking characteristics, providing a high-bandwidth and high-precision underlying execution platform for upper-level rail pressure co-controllers or multi-valve schedulers. The upper-level controller no longer needs to deal with the nonlinear dynamics of the valve core, significantly simplifying the design difficulty of system-level control strategies.

[0075] This application achieves rapid, stable, and overshoot-free positioning of the valve core by coupled modeling and precise control of valve core dynamics, electromagnetics, and fluid mechanics.

[0076] In other embodiments of this application, the nonlinear aerodynamic term in the above-mentioned coupled dynamics model can also be implemented using other modeling methods. For example, by collecting a large amount of bench test data covering different valve opening degrees, pressure differences across the valve, and valve core movement speeds, a multilayer feedforward neural network can be trained. With displacement, velocity, and pressure difference as inputs and aerodynamic force as output, the nonlinear mapping relationship of aerodynamic force can be fitted through black-box learning to replace the aforementioned three-dimensional mapping table jointly calibrated by CFD simulation and experiment.

[0077] In some embodiments of this application, if an independent system cannot be integrated due to limitations in installation space or cost, a similar function can be achieved by controlling the electromagnetic driving force to simulate the "electronic damping" effect. Specifically, during the valve core braking phase, based on the deviation between the desired speed and the measured speed, an additional corrective current opposite to the direction of the valve core's movement speed is superimposed on the electromagnetic force feedforward command. This causes the electromagnet to actively generate a braking force, consuming the remaining kinetic energy of the valve core, thereby suppressing position overshoot without relying on a physical damper.

[0078] In other embodiments of this application, the feedback control law is not limited to adaptive sliding mode control, but can also employ model predictive control. In each control cycle, the controller uses the current valve core state as the initial condition and the desired motion trajectory as a reference. Based on the aforementioned coupled dynamics model, it performs rolling optimization of the electromagnetic force command sequence and damping coefficient command sequence within the future finite time domain, and uses the first control quantity of the optimized sequence as the output command for the current cycle, thereby achieving optimal trajectory tracking and disturbance suppression considering constraints.

[0079] Based on the same inventive concept, this application also provides a control device for the hydrogen pressure reducing valve core corresponding to the control method for the hydrogen pressure reducing valve core. Since the principle of the device in this application is similar to the control method for the hydrogen pressure reducing valve core described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0080] Please see Figure 4 , Figure 4 This is a schematic diagram of the control device for a hydrogen pressure reducing valve core provided in an embodiment of this application. Figure 4 As shown, the control device 400 for the hydrogen pressure reducing valve core includes: The desired motion trajectory planning module 401 is used to plan the desired motion trajectory of the valve core from the current position to the target position; The instruction generation module 402 is used to generate feedforward electromagnetic force instructions and equivalent damping feedforward compensation term instructions based on a coupled dynamics model, according to the desired motion trajectory, the real-time detected inlet pressure and outlet pressure. The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve. The valve core motion drive module 403 is used to generate a final control signal based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, and to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core motion.

[0081] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0082] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1The steps of the control method for the hydrogen pressure reducing valve core in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0083] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the control method for the hydrogen pressure reducing valve core in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0084] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0088] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of a hydrogen pressure reducing valve spool, characterized by, include: Plan the desired movement trajectory of the valve core from its current position to the target position; Based on a coupled dynamics model, the desired motion trajectory, the real-time detected inlet and outlet pressures are inversely solved to generate feedforward electromagnetic force commands and equivalent damping feedforward compensation term commands. The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve. Based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, a final control signal is generated to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core movement.

2. The method of claim 1, wherein, The desired motion trajectory is obtained in the following way: Based on the received target opening command and the constraints of the valve core's maximum speed and maximum acceleration, a smooth displacement curve from the current position to the target position is generated online. The velocity curve corresponding to this curve is zero at the target position.

3. The method of claim 1, wherein, The coupled dynamics model is obtained in the following manner: A dynamic equation is established with valve core displacement and velocity as the state and electromagnetic actuator coil current, inlet pressure and outlet pressure as inputs. This equation includes a nonlinear aerodynamic term determined by the displacement, velocity and the pressure difference across the valve.

4. The method of claim 1, wherein, The feedforward electromagnetic force command is generated in the following manner: The displacement, velocity, and acceleration values ​​at each moment in the desired motion trajectory, along with the real-time detected inlet and outlet pressures of the valve at the corresponding moment, are substituted into the coupled dynamics model. The feedforward electromagnetic force command required to track the trajectory is then calculated through the inverse solution of the model.

5. The method of claim 4, wherein, The equivalent damping feedforward compensation term instruction is generated in the following manner: During the inverse model solution process, the equivalent damping feedforward compensation term value corresponding to the velocity curve in the desired motion trajectory is simultaneously calculated and used as the equivalent damping feedforward compensation term instruction.

6. The method of claim 1, wherein, The final control command is obtained in the following manner: Obtain the actual displacement measurement value of the valve core; Using the actual displacement measurement values, the actual velocity of the valve core and the unmodeled disturbance are obtained through the state observer; Based on the deviation between the expected motion trajectory and the actual displacement and estimated velocity, as well as the unmodeled disturbance, a feedback correction command is generated, which is the feedback damping correction amount. The feedforward electromagnetic force command and the equivalent damping feedforward compensation term command are combined with the feedback electromagnetic force correction and the feedback damping correction, respectively, to obtain the final control command.

7. The method of claim 6, wherein, The feedback correction instruction is obtained in the following manner: The deviation between the actual displacement and the expected displacement, the deviation between the estimated velocity and the expected velocity, and the unmodeled disturbance are taken as inputs and the feedback electromagnetic force correction and the feedback damping correction are calculated by an adaptive feedback controller.

8. A control device for a hydrogen pressure reducing valve spool, characterized by include: The desired motion trajectory planning module is used to plan the desired motion trajectory of the valve core from its current position to the target position. The instruction generation module is used to generate feedforward electromagnetic force instructions and equivalent damping feedforward compensation term instructions based on a coupled dynamics model, according to the desired motion trajectory, the real-time detected inlet and outlet pressures of the valve. The coupled dynamics model is used to characterize the relationship between the resultant force acting on the valve core and its motion state, and the model includes a nonlinear aerodynamic term determined by the valve opening and the pressure difference across the valve. The valve core motion drive module is used to generate a final control signal based on the feedforward electromagnetic force command and the equivalent damping feedforward compensation term command, and to coordinate the control of an electromagnetic actuator and a variable damper to drive the valve core motion.

9. An electronic device, comprising: include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1 to 7.

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

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