Processing method and system for displacement data of hydraulic turbine cylindrical valve servomotor

Abstract

The application discloses a water turbine cylindrical valve servomotor displacement data processing method and system. The water turbine cylindrical valve servomotor displacement data processing method comprises the following steps: collecting original displacement data; combining a last period effective position value, judging whether data jump occurs or not; if not, determining a current period effective position value according to the original displacement data; otherwise, judging whether it is a transient interference jump or not, determining a current period effective position value according to a judgment result, the original displacement data and the last period effective position value; combining the last period effective position value, obtaining an actual position value through range reversal compensation; and combining a zero point calibration parameter, calculating a displacement value of the water turbine cylindrical valve servomotor. By adopting the application, through hierarchical jump determination and range reversal compensation, interference jump can be effectively inhibited and range reversal error can be eliminated, so that high-precision calculation of the cylindrical valve servomotor displacement data is realized, and the data stability and control precision of the cylindrical valve control system are improved.

Description

Technical Field

[0001] This application relates to the field of water turbine inlet valve control technology, and in particular to a method and system for processing displacement data of a water turbine cylindrical valve relay. Background Technology

[0002] In the control system of the turbine's cylindrical valve, the Synchronous Serial Interface (SSI) encoder is the core sensor for detecting the displacement of the relay, and its output data is directly used for the opening, closing, and attitude adjustment control of the cylindrical valve. However, during operation in the industrial field, the encoder is susceptible to electromagnetic interference, mechanical vibration, and other factors, resulting in data jumps or abnormal fluctuations. If the raw data is used directly for control calculations, it will lead to a decrease in the control accuracy of the cylindrical valve, erratic operation, and even affect the stable operation of the unit.

[0003] Existing technologies typically employ a simple mean filtering method to process encoder data, which involves averaging the continuously sampled raw values. However, this method has significant drawbacks: when the encoder experiences large data jumps due to range reversal or field interference, the mean filtering will include these abnormal values ​​in the calculation, resulting in a large deviation in the filtered data and making it difficult to reflect the actual displacement of the relay. Furthermore, this method lacks a fault-tolerance mechanism for data jumps; short-term, small jumps can be misinterpreted as valid displacement changes, triggering false alarms in the cylindrical valve control system and affecting control performance. Summary of the Invention

[0004] Based on this, it is necessary to provide a method and system for processing displacement data of the turbine cylindrical valve servo in response to the above-mentioned technical problems. By using graded jump judgment and range reversal compensation, interference jumps can be effectively suppressed and range reversal errors can be eliminated, thereby achieving high-precision calculation of displacement data of the cylindrical valve servo and improving the data stability and control accuracy of the cylindrical valve control system.

[0005] Firstly, a method for processing displacement data of a turbine cylindrical valve servo unit is provided, including: Collect the original displacement data of the turbine cylindrical valve servo; Based on the original displacement data and the effective position value of the previous cycle, determine whether a data jump has occurred; If no data jump occurs, the effective position value for the current period is determined based on the original displacement data; If a data jump occurs, determine whether the data jump is a transient interference jump, and determine the effective position value of the current cycle based on the determination result, the original displacement data, and the effective position value of the previous cycle. Based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation. The displacement value of the turbine cylindrical valve relay is calculated based on the actual position value and the zero-point calibration parameters.

[0006] In some examples, determining whether a data jump has occurred based on the original displacement data and the valid position value of the previous cycle includes: Calculate the difference between the original displacement data and the effective position value of the previous cycle; If the difference is greater than the jump threshold, a data jump is determined to have occurred; otherwise, no data jump is determined to have occurred.

[0007] In some examples, after determining the valid position value of the current period based on the original displacement data if no data jump occurs, the method further includes: Calculate the position difference between the effective position value of the current period and the effective position value of the previous period; Based on the position difference, update the difference cache array and increment the stability count; When the stable count is greater than or equal to a preset stable count threshold, the average of historical position differences other than the position difference in the difference cache array is calculated as the stable difference average, and the number of historical position differences is equal to the stable count threshold.

[0008] In some examples, determining whether a data jump is a transient interference jump if a data jump occurs includes: Accumulate the jump count; If the transition count is less than or equal to the transition count threshold, the data transition is determined to be a transient interference transition; otherwise, the data transition is determined to be a non-transient interference transition.

[0009] In some examples, determining the valid position value for the current period based on the judgment result, the original displacement data, and the valid position value of the previous period includes: If the data jumps to a transient interference jump, the effective position value of the current period is determined based on the average of the effective position value of the previous period and the stability difference. If the data jump is not an instantaneous disturbance jump, the effective position value of the current period is determined based on the original displacement data.

[0010] In some examples, obtaining the actual position value based on the effective position value of the current cycle and the effective position value of the previous cycle through range flip compensation includes: Calculate the position difference between the effective position value of the current period and the effective position value of the previous period; If the position difference is greater than the flip threshold, the actual position value is determined based on the valid position value of the current period; If the position difference is less than the flip threshold, the actual position value is determined based on the effective position value of the current cycle and the effective position value of the previous cycle.

[0011] In some examples, determining the actual position value based on the valid position value of the current period and the valid position value of the previous period includes: Calculate the average of the effective position values ​​of the current period and the previous period; Determine whether the effective position value of the current cycle is greater than half the encoder's range; If so, the actual position value is the average value minus the full range of the encoder; otherwise, the actual position value is the average value.

[0012] In some examples, it also includes: If a zero-point calibration signal is detected, the zero-point calibration parameters are updated according to the preset zero-point reference value.

[0013] In some examples, it also includes: If an encoder fault signal is detected, a fault message will be displayed.

[0014] Secondly, a system for processing displacement data of a turbine cylindrical valve servo unit is provided, including: The data acquisition module is used to acquire the raw displacement data of the turbine cylindrical valve servo. The judgment module is used to determine whether a data jump has occurred based on the original displacement data and the effective position value of the previous cycle; The first determining module is used to determine the effective position value of the current period based on the original displacement data when no data jump occurs; The second determining module is used to determine whether the data jump is an instantaneous interference jump when a data jump occurs, and to determine the effective position value of the current cycle based on the determination result, the original displacement data and the effective position value of the previous cycle. The compensation module is used to obtain the actual position value by means of range reversal compensation based on the effective position value of the current cycle and the effective position value of the previous cycle. The calculation module is used to calculate the displacement value of the turbine cylindrical valve relay based on the actual position value and the zero-point calibration parameters.

[0015] In the embodiments of this application, the original displacement data of the turbine cylindrical valve servo is first collected; then, based on the original displacement data and the effective position value of the previous cycle, it is determined whether a data jump has occurred; if no data jump has occurred, the effective position value of the current cycle is determined based on the original displacement data; if a data jump has occurred, it is determined whether the data jump is an instantaneous disturbance jump, and based on the determination result, the original displacement data, and the effective position value of the previous cycle, the effective position value of the current cycle is determined; next, based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation; finally, based on the actual position value and the zero-point calibration parameters, the displacement value of the turbine cylindrical valve servo is calculated. Therefore, through graded jump determination and range reversal compensation, disturbance jumps can be effectively suppressed and range reversal errors eliminated, thereby achieving high-precision calculation of the displacement data of the cylindrical valve servo and improving the data stability and control accuracy of the cylindrical valve control system. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart illustrating the method for processing displacement data of a turbine cylindrical valve servo unit provided in this application embodiment; Figure 2 This is an overall execution diagram provided for an embodiment of this application; Figure 3 This is a flowchart of the jump fault-tolerant processing provided in the embodiments of this application; Figure 4 A flowchart of the stable sampling process provided in the embodiments of this application; Figure 5 The flowchart of the calculation and displacement transformation provided in the embodiments of this application; Figure 6 This is a structural block diagram of the system for processing displacement data of a turbine cylindrical valve servo unit provided in an embodiment of this application; Figure 7 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] The following describes in detail, with reference to the accompanying drawings, a method and system for processing displacement data of a turbine cylindrical valve servo unit according to an embodiment of this application.

[0020] Figure 1 This is a flowchart illustrating a method for processing displacement data of a turbine cylindrical valve servo unit according to an embodiment of this application. Figure 1 As shown, the method for processing displacement data of the turbine cylindrical valve servo unit according to an embodiment of this application includes the following steps: S101: Collect the original displacement data of the turbine cylindrical valve relay.

[0021] The raw displacement data is obtained by a Synchronous Serial Interface (SSI) encoder. In a specific example, the single-turn resolution of the SSI encoder is set to 8192, and the full range is 8192×4096.

[0022] S102: Based on the original displacement data and the effective position value of the previous cycle, determine whether a data jump has occurred.

[0023] In one embodiment of this application, determining whether a data jump has occurred based on the original displacement data and the effective position value of the previous cycle includes: calculating the difference between the original displacement data and the effective position value of the previous cycle; if the difference is greater than the jump threshold, it is determined that a data jump has occurred; otherwise, it is determined that no data jump has occurred.

[0024] In a specific example, the jump threshold is set to 1024. Assuming the valid position value of the previous cycle is 1500, if the currently acquired raw displacement data is 2000, the difference between the two is 500 < 1024, then no data jump has occurred. If the currently acquired raw displacement data is 4500, the difference between the two is 3000 > 1024, then a data jump has occurred. Figure 2 As shown, when a data jump is detected, the jump fault tolerance process is initiated; when no data jump is detected, the stable sampling process is initiated.

[0025] S103: If no data jump occurs, determine the effective position value of the current cycle based on the original displacement data.

[0026] In one embodiment of this application, after determining the effective position value of the current period based on the original displacement data if no data jump occurs, the method further includes: calculating the position difference between the effective position value of the current period and the effective position value of the previous period; updating the difference cache array based on the position difference and accumulating a stability count; when the stability count is greater than or equal to a preset stability count threshold, calculating the average of historical position differences other than the position difference in the difference cache array as the average stability difference, wherein the number of historical position differences is equal to the stability count threshold.

[0027] Specifically, such as Figure 4 As shown, when no data jump occurs, the original displacement data is used as the valid position value for the current period; simultaneously, the stability count is incremented by 1, and the jump count is set to 0. Furthermore, a pre-defined difference cache array is used. The original data in the array is shifted sequentially to the right; then, the position difference between the valid position value of the current period and the valid position value of the previous period is calculated and stored at the beginning of the array; next, it is determined whether the current stability count is greater than or equal to the stability count threshold. If so, the average of the historical position differences in the difference cache array, excluding the currently calculated position difference, is calculated as the average stability difference; simultaneously, the stability count is set to 0, and the baseline value is updated to the valid position value for the current period.

[0028] In a specific example, the difference cache array srENC_POS_EDV is a 6-bit array, and the stability count threshold is set to 5. After determining that no data jump has occurred, the remaining bits of the array are shifted in sequence, that is, srENC_POS_EDV[5]=srENC_POS_EDV[4], srENC_POS_EDV[4]=srENC_POS_EDV[3], ..., and srENC_POS_EDV[0] is updated to the currently calculated position difference. When the stability count is ≥5, the average of the 5 historical position differences from srENC_POS_EDV[1] to srENC_POS_EDV[5] is calculated to obtain the average stability difference.

[0029] S104: If a data jump occurs, determine whether the data jump is a momentary disturbance jump, and determine the effective position value of the current period based on the determination result, the original displacement data, and the effective position value of the previous period.

[0030] In one embodiment of this application, the step of determining whether a data jump is a transient interference jump if a data jump occurs includes: accumulating a jump count; if the jump count is less than or equal to a jump count threshold, then the data jump is determined to be a transient interference jump; otherwise, the data jump is determined to be a non-transient interference jump.

[0031] like Figure 3 As shown, when a data jump is detected, the jump fault tolerance process is initiated. Specifically, the jump count is incremented by 1, and the stability count is set to 0. The jump count is then compared with the jump count threshold. If the jump count is less than or equal to the jump count threshold, the data jump is considered to be an instantaneous interference jump. If the jump count is greater than the jump count threshold, the data jump is considered to be a real displacement change of the encoder, i.e., it is determined to be a non-instantaneous interference jump, and the jump count is set to 0.

[0032] In one embodiment of this application, determining the effective position value of the current period based on the judgment result, the original displacement data, and the effective position value of the previous period includes: if the data jump becomes a transient disturbance jump, then determining the effective position value of the current period based on the effective position value of the previous period and the average of the stability difference; if the data jump is not a transient disturbance jump, then determining the effective position value of the current period based on the original displacement data.

[0033] Specifically, when the data jumps to a transient disturbance jump, the effective position value of the previous cycle and the average of the stability difference are summed to obtain the effective position value of the current cycle; when the data jumps to a non-transient disturbance jump, the original displacement data is used as the effective position value of the current cycle; and the reference value is updated to the effective position value of the current position.

[0034] In a specific example, the jump count threshold is set to 25, the average stability difference is 10, the effective position value of the previous cycle is 1500, and the currently collected raw displacement data is 2000. Then, when the jump count is ≤25, the effective position value of the current cycle is 1500+10=1510; when the jump count is >25, the effective position value of the current cycle is 2000.

[0035] S105: Based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation.

[0036] In one embodiment of this application, the step of obtaining the actual position value by range reversal compensation based on the effective position value of the current cycle and the effective position value of the previous cycle includes: calculating the position difference between the effective position value of the current cycle and the effective position value of the previous cycle; if the position difference is greater than a reversal threshold, then determining the actual position value based on the effective position value of the current cycle; if the position difference is less than a reversal threshold, then determining the actual position value based on the effective position value of the current cycle and the effective position value of the previous cycle.

[0037] In one embodiment of this application, determining the actual position value based on the effective position value of the current cycle and the effective position value of the previous cycle includes: calculating the average of the effective position value of the current cycle and the effective position value of the previous cycle; determining whether the effective position value of the current cycle is greater than half the encoder's range; if so, the actual position value is the average minus the encoder's full range; otherwise, the actual position value is the average.

[0038] Specifically, such as Figure 5 As shown, to eliminate data jumps caused by range reversal, the position difference between the effective position value of the current cycle and the effective position value of the previous cycle is calculated. If the position difference is greater than the reversal threshold, a range reversal is determined to have occurred, and the effective position value of the current cycle is used as the actual position value; if the position difference is less than or equal to the reversal threshold, a range reversal is determined not to have occurred, and the average of the effective position values ​​of the previous cycle and the current cycle is calculated. During this process, to ensure that the actual position value is within the positive and negative half-range of the encoder, the effective position value of the current cycle is compared with half-range of the encoder: if the effective position value of the current cycle is greater than half-range, the actual position value is the average minus the full range of the encoder; otherwise, the average is directly used as the actual position value.

[0039] In a specific example, the flip threshold is set to 2048. The encoder's full range is 8192 × 4096 = 33554432, and its half range is 16777216. When the effective position value of the previous cycle is 1500 and the effective position value of the current cycle is 2000, the difference between the two is 500 < 2048, and the effective position value of the current cycle is 2000 ≤ 16777216, so the actual position value is (2000 + 1500) / 2 = 1750. When the effective position value of the previous cycle is 19999000 and the effective position value of the current cycle is 20000000, the difference between the two is 1000 < 2048, and the effective position value of the current cycle is 20000000 > 16777216, so the actual position value is (19999000 + 20000000) / 2 - 33554432 = -13554932.

[0040] S106: Calculate the displacement value of the turbine cylindrical valve servo based on the actual position value and the zero-point calibration parameters.

[0041] Specifically, the displacement value of the turbine cylindrical valve servo is defined as shown in Formula 1: (1) in, This is the displacement value; For the ball screw lead; This is a function that converts signed integers to floating-point numbers; This is the actual location value; This represents the single-turn resolution of the encoder; These are the zero-point calibration parameters.

[0042] In one embodiment of this application, the method further includes: if a zero-point calibration signal is detected, updating the zero-point calibration parameters according to a preset zero-point reference value.

[0043] Specifically, the update process of the zero-point calibration parameters is shown in Equation 2: (2) in, This is the preset zero-point reference value.

[0044] In a specific example, the zero-point reference value is set to 100, the ball screw lead is 10.0, the actual position value is 1750, and the encoder's single-turn resolution is 8192. Then, according to Formula 2, the zero-point calibration parameters... Then, using Formula 1, the displacement value of the turbine cylindrical valve servo is obtained. (mm).

[0045] In one embodiment of this application, the method further includes: if an encoder fault signal is detected, a fault indication is given.

[0046] Specifically, if an encoder fault signal is detected, the displacement value of the turbine cylindrical valve servo is set to a fault replacement value, such as -100.0, to trigger a fault indication in the control system.

[0047] According to the method for processing displacement data of the turbine cylindrical valve servo in this application, the following steps are taken: First, the original displacement data of the turbine cylindrical valve servo is collected. Then, based on the original displacement data and the effective position value of the previous cycle, it is determined whether a data jump has occurred. If no data jump has occurred, the effective position value of the current cycle is determined based on the original displacement data. If a data jump has occurred, it is determined whether the data jump is an instantaneous disturbance jump, and the effective position value of the current cycle is determined based on the determination result, the original displacement data, and the effective position value of the previous cycle. Next, based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation. Finally, based on the actual position value and the zero-point calibration parameters, the displacement value of the turbine cylindrical valve servo is calculated. Thus, through graded jump judgment and range reversal compensation, disturbance jumps can be effectively suppressed and range reversal errors can be eliminated, thereby achieving high-precision calculation of the displacement data of the cylindrical valve servo and improving the data stability and control accuracy of the cylindrical valve control system.

[0048] Figure 6 This is a structural block diagram of a system for processing displacement data of a turbine cylindrical valve servo unit according to an embodiment of this application. Figure 6 As shown, a system for processing displacement data of a turbine cylindrical valve servo unit according to an embodiment of this application includes: a data acquisition module 610, a judgment module 620, a first determination module 630, a second determination module 640, a compensation module 650, and a calculation module 660, wherein: The data acquisition module 610 is used to acquire the original displacement data of the turbine cylindrical valve servo. The judgment module 620 is used to determine whether a data jump has occurred based on the original displacement data and the effective position value of the previous cycle; The first determining module 630 is used to determine the effective position value of the current period based on the original displacement data when no data jump occurs. The second determining module 640 is used to determine whether the data jump is an instantaneous interference jump when a data jump occurs, and to determine the effective position value of the current cycle based on the determination result, the original displacement data and the effective position value of the previous cycle. The compensation module 650 is used to obtain the actual position value by means of range reversal compensation based on the effective position value of the current cycle and the effective position value of the previous cycle. The calculation module 660 is used to calculate the displacement value of the turbine cylindrical valve relay based on the actual position value and the zero-point calibration parameters.

[0049] The turbine cylindrical valve servo data processing system according to an embodiment of this application first collects the original displacement data of the turbine cylindrical valve servo; then, based on the original displacement data and the effective position value of the previous cycle, it determines whether a data jump has occurred; if no data jump has occurred, the effective position value of the current cycle is determined based on the original displacement data; if a data jump has occurred, it determines whether the data jump is an instantaneous disturbance jump, and determines the effective position value of the current cycle based on the determination result, the original displacement data, and the effective position value of the previous cycle; next, based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation; finally, based on the actual position value and the zero-point calibration parameters, the displacement value of the turbine cylindrical valve servo is calculated. Therefore, through graded jump judgment and range reversal compensation, disturbance jumps can be effectively suppressed and range reversal errors eliminated, thereby achieving high-precision calculation of the cylindrical valve servo displacement data and improving the data stability and control accuracy of the cylindrical valve control system.

[0050] Specific limitations regarding the processing system for the displacement data of the turbine cylindrical valve servo unit can be found in the above-mentioned limitations on the processing method for the displacement data of the turbine cylindrical valve servo unit, and will not be repeated here. Each module of the aforementioned processing system for the displacement data of the turbine cylindrical valve servo unit can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0051] In one embodiment, a computer device is provided. Figure 7 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 7 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned embodiment of the method for processing displacement data of the turbine cylindrical valve relay. For example, it executes: collecting the raw displacement data of the turbine cylindrical valve relay; Based on the original displacement data and the effective position value of the previous cycle, determine whether a data jump has occurred; If no data jump occurs, the effective position value for the current period is determined based on the original displacement data; If a data jump occurs, determine whether the data jump is a transient interference jump, and determine the effective position value of the current cycle based on the determination result, the original displacement data, and the effective position value of the previous cycle. Based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation. The displacement value of the turbine cylindrical valve relay is calculated based on the actual position value and the zero-point calibration parameters.

[0052] This application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, it implements the aforementioned method embodiment for processing displacement data of the turbine cylindrical valve relay. For example, it executes: collecting the original displacement data of the turbine cylindrical valve relay; Based on the original displacement data and the effective position value of the previous cycle, determine whether a data jump has occurred; If no data jump occurs, the effective position value for the current period is determined based on the original displacement data; If a data jump occurs, determine whether the data jump is a transient interference jump, and determine the effective position value of the current cycle based on the determination result, the original displacement data, and the effective position value of the previous cycle. Based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation. The displacement value of the turbine cylindrical valve relay is calculated based on the actual position value and the zero-point calibration parameters.

[0053] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0054] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for processing displacement data of a turbine cylindrical valve servo unit, characterized in that, include: Collect the original displacement data of the turbine cylindrical valve servo; Based on the original displacement data and the effective position value of the previous cycle, determine whether a data jump has occurred; If no data jump occurs, the effective position value for the current period is determined based on the original displacement data; If a data jump occurs, determine whether the data jump is a transient interference jump, and determine the effective position value of the current cycle based on the determination result, the original displacement data, and the effective position value of the previous cycle. Based on the effective position value of the current cycle and the effective position value of the previous cycle, the actual position value is obtained through range reversal compensation. The displacement value of the turbine cylindrical valve relay is calculated based on the actual position value and the zero-point calibration parameters.

2. The method for processing displacement data of the turbine cylindrical valve servo as described in claim 1, characterized in that, The step of determining whether a data jump has occurred based on the original displacement data and the effective position value of the previous cycle includes: Calculate the difference between the original displacement data and the effective position value of the previous cycle; If the difference is greater than the jump threshold, a data jump is determined to have occurred; otherwise, no data jump is determined to have occurred.

3. The method for processing displacement data of the turbine cylindrical valve servo as described in claim 1, characterized in that, After determining the valid position value of the current period based on the original displacement data if no data jump occurs, the method further includes: Calculate the position difference between the effective position value of the current period and the effective position value of the previous period; Based on the position difference, update the difference cache array and increment the stability count; When the stable count is greater than or equal to a preset stable count threshold, the average of historical position differences other than the position difference in the difference cache array is calculated as the stable difference average, and the number of historical position differences is equal to the stable count threshold.

4. The method for processing displacement data of the turbine cylindrical valve relay according to claim 1, characterized in that, If a data jump occurs, determining whether the data jump is a transient interference jump includes: Accumulate the jump count; If the transition count is less than or equal to the transition count threshold, the data transition is determined to be a transient interference transition; otherwise, the data transition is determined to be a non-transient interference transition.

5. The method for processing displacement data of the turbine cylindrical valve relay according to claim 3, characterized in that, The step of determining the effective position value of the current cycle based on the judgment result, the original displacement data, and the effective position value of the previous cycle includes: If the data jumps to a transient interference jump, the effective position value of the current period is determined based on the average of the effective position value of the previous period and the stability difference. If the data jump is not an instantaneous disturbance jump, the effective position value of the current period is determined based on the original displacement data.

6. The method for processing displacement data of the turbine cylindrical valve servo as described in claim 1, characterized in that, The step of obtaining the actual position value based on the effective position value of the current cycle and the effective position value of the previous cycle through range reversal compensation includes: Calculate the position difference between the effective position value of the current period and the effective position value of the previous period; If the position difference is greater than the flip threshold, the actual position value is determined based on the valid position value of the current period; If the position difference is less than the flip threshold, the actual position value is determined based on the effective position value of the current cycle and the effective position value of the previous cycle.

7. The method for processing displacement data of the turbine cylindrical valve relay according to claim 6, characterized in that, Determining the actual position value based on the effective position value of the current period and the effective position value of the previous period includes: Calculate the average of the effective position values ​​of the current period and the previous period; Determine whether the valid position value of the current cycle is greater than half the encoder's range. If so, the actual position value is the average value minus the full range of the encoder; otherwise, the actual position value is the average value.

8. The method for processing displacement data of the turbine cylindrical valve servo as described in claim 1, characterized in that, Also includes: If a zero-point calibration signal is detected, the zero-point calibration parameters are updated according to the preset zero-point reference value.

9. The method for processing displacement data of the turbine cylindrical valve servo as described in claim 1, characterized in that, Also includes: If an encoder fault signal is detected, a fault message will be displayed.

10. A system for processing displacement data of a turbine cylindrical valve relay, characterized in that, include: The data acquisition module is used to acquire the raw displacement data of the turbine cylindrical valve servo. The judgment module is used to determine whether a data jump has occurred based on the original displacement data and the effective position value of the previous cycle; The first determining module is used to determine the effective position value of the current period based on the original displacement data when no data jump occurs; The second determining module is used to determine whether the data jump is an instantaneous interference jump when a data jump occurs, and to determine the effective position value of the current cycle based on the determination result, the original displacement data and the effective position value of the previous cycle. The compensation module is used to obtain the actual position value by means of range reversal compensation based on the effective position value of the current cycle and the effective position value of the previous cycle. The calculation module is used to calculate the displacement value of the turbine cylindrical valve relay based on the actual position value and the zero-point calibration parameters.

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