A temperature control valve switch angle precision control method

Abstract

The present application relates to temperature regulation control technical field, disclose a kind of temperature control valve switch angle precision control method, comprising: the temperature control valve driven by stepper motor is benchmarked, and the basic angle benchmark set is obtained;The basic angle benchmark set is two-way segmented scanning, and the two-way effective opening mapping table is obtained;The preset temperature control state quantity and water side disturbance quantity are phase state determination, and the current control phase state is obtained;The two-way effective opening mapping table and current control phase state are target angle compensation processing, and the target angle after compensation is obtained;The target angle after compensation is divided into phase state pulse packet generation.The technical scheme of two-way effective opening mapping and target angle compensation is combined, the technical effect that command angle is matched with real effective opening is achieved, small opening interval stable position control is realized, the deficiency that angle is positioned and flow is not stably positioned due to dead zone, hysteresis and stickiness in prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of temperature regulation and control technology, specifically to a method for precise control of the switching angle of a temperature control valve, an electronic device, and a storage medium. Background Technology

[0002] In the scenario of controlling a small-opening thermostatic valve in a heat pump-driven, individual room low-temperature hot water terminal system, when the stepper motor drives the thermostatic valve to adjust the opening and closing angle, the valve is in a small-opening operating state for a long time. The combined effects of valve core friction, mechanical hysteresis, changes in valve seat preload, changes in medium pressure difference, thermal deformation caused by water temperature changes, and flow disturbances caused by the start and stop of adjacent branches make it impossible to keep the actual effective opening consistent for the same driving pulse. At the same time, room temperature feedback has thermal inertia and lag, making it difficult to accurately determine whether the current valve has achieved the target effective opening, and making it difficult to achieve stable and precise control of the opening and closing angle under small-opening operating conditions.

[0003] Currently, for the above scenarios, the deviation between the current temperature and the set temperature is usually detected by a room temperature sensor. The controller then sends drive pulses to the stepper motor according to proportional adjustment, segmented threshold control, or fixed step control, so that the stepper motor moves forward or backward to drive the temperature control valve to open or close. Some solutions switch the valve opening by power-on reset or preset angle settings. The core of this type of technical solution is to approximate the number of motor steps as a representation of the valve opening and closing angle, and to directly convert the temperature deviation into the amount of motor action.

[0004] Existing technologies often approximate the number of step pulses as the actual effective valve opening, making it difficult to address dead zones, hysteresis, and viscosity issues in small opening ranges. In low-temperature hot water terminal systems of heat pumps, valve seat pressure, valve core friction, and medium temperature fluctuations can cause the valve to exhibit different response relationships in the opening and closing directions. This results in inconsistencies in the actual effective opening for the same target angle under different directions and operating conditions, leading to problems where the angle is achieved but the actual flow rate is not consistently achieved during control. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for precise control of the switching angle of a temperature control valve, an electronic device, and a storage medium, thereby at least partially solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a method for precisely controlling the switching angle of a temperature control valve, comprising:

[0008] A reference calibration is performed on the temperature control valve driven by the stepper motor to obtain the basic angle reference set;

[0009] A bidirectional segmented scan is performed on the basic angle reference set to obtain a bidirectional effective opening mapping table;

[0010] The current control phase state is obtained by determining the preset temperature control state quantity and water-side disturbance quantity.

[0011] The target angle is compensated by performing target angle compensation processing on the bidirectional effective opening degree mapping table and the current control phase state to obtain the compensated target angle;

[0012] A phase-state pulse packet is generated for the compensated target angle to obtain the stepper motor execution command, and the execution response of the stepper motor execution command is analyzed to obtain a reliable angle result;

[0013] The control result is generated from the reliable angle result to obtain the current switching angle control result.

[0014] Preferably, the basic angle reference set is subjected to bidirectional segmented scanning to obtain a bidirectional effective aperture mapping table, including:

[0015] The scanning interval is determined based on the aforementioned basic angle reference set, thus obtaining the scanning range;

[0016] The scanning range is segmented and driven to scan in the valve opening direction to obtain effective valve opening response data in the valve opening direction;

[0017] The scanning range is segmented and driven in the valve-closing direction to obtain effective valve-closing direction opening response data;

[0018] A mapping relationship is constructed between the effective opening response data in the opening direction and the effective opening response data in the closing direction to obtain a bidirectional effective opening mapping table.

[0019] Preferably, the current control phase state is determined by judging the preset temperature control state quantity and water-side disturbance quantity, including:

[0020] The temperature control status quantity is deviated to obtain the temperature control deviation result;

[0021] The temperature control status variables are trend-identified to obtain temperature control trend results;

[0022] The disturbance intensity of the water-side disturbance is identified to obtain the water-side disturbance result;

[0023] The temperature control deviation results, temperature control trend results, and water-side disturbance results are used to determine the phase state and obtain the current control phase state.

[0024] Preferably, the bidirectional effective opening mapping table and the current control phase state are subjected to target angle compensation processing to obtain the compensated target angle, including:

[0025] The effective opening degree of the target is determined based on the current control phase state, and the target opening degree result is obtained;

[0026] Using the target opening result as a constraint, a reverse lookup is performed on the bidirectional effective opening mapping table to obtain the basic target angle;

[0027] The compensation calculation is performed on the basic target angle to obtain the angle compensation amount;

[0028] The target angle is corrected by adjusting the base target angle and the angle compensation amount to obtain the compensated target angle.

[0029] Preferably, the compensated target angle is subjected to phase-state pulse packet generation to obtain stepper motor execution instructions, including:

[0030] Based on the current control phase state, the control mode is determined, resulting in the dead zone crossing control mode, the fine-tuning approximation control mode, and the steady-state holding control mode.

[0031] In the dead zone crossing control mode, a crossing pulse is generated for the compensated target angle to obtain a crossing pulse packet;

[0032] In the fine-tuning approximation control mode, small-step pulses are generated for the compensated target angle to obtain a fine-tuning pulse packet;

[0033] In the steady-state holding control mode, a holding pulse is generated for the compensated target angle to obtain a holding pulse packet;

[0034] Instructions are generated from the aforementioned straddle pulse packet, fine-tuning pulse packet, or holding pulse packet to obtain the stepper motor execution instructions.

[0035] Preferably, the execution response analysis of the stepper motor execution command is performed to obtain a reliable angle result, including:

[0036] Based on the stepper motor execution command, the temperature control response parameters and motor operation response parameters before and after execution are obtained to obtain response data;

[0037] The response data is subjected to change feature extraction to obtain the response change results;

[0038] By setting preset response characteristics, the response change results are compared and analyzed with the response characteristics to obtain response consistency results;

[0039] The reliability of the response consistency results is determined to obtain the angular reliability result.

[0040] Preferably, the segmented driving scan includes the following steps:

[0041] The scanning range is divided into segments to obtain several scanning segments;

[0042] A preset step distance is used to drive the stepper motor to move segment by segment in the corresponding direction according to the preset step distance, so as to obtain the driving position corresponding to each scanning segment.

[0043] Response parameters are collected at each of the driving positions to obtain response data corresponding to each scan segment;

[0044] The opening response is correlated with the response data corresponding to each driving position and each scanning segment to obtain the effective opening response data in the corresponding direction.

[0045] Preferably, the compensation calculation for the basic target angle is performed to obtain the angle compensation amount, including:

[0046] Temperature compensation features are extracted from the temperature control status variables. Temperature compensation data is obtained by extracting temperature deviation features and temperature change features.

[0047] The disturbance compensation features of the water-side disturbance are extracted. By extracting the pressure difference change features and flow disturbance features, the disturbance compensation data is obtained.

[0048] The temperature compensation data and disturbance compensation data are used to calculate the compensation amount. The angle compensation amount is obtained by weighted synthesis of the temperature compensation data and disturbance compensation data.

[0049] Preferably, the target angle is corrected by adjusting the base target angle and the angle compensation amount to obtain the compensated target angle, including:

[0050] The base target angle is aligned by matching and correcting the base target angle with the corresponding angle reference in the bidirectional effective opening mapping table to obtain the alignment angle.

[0051] The angle compensation amount is superimposed and corrected on the alignment angle. The corrected angle is obtained by superimposing the angle compensation amount and the alignment angle.

[0052] The correction angle is subjected to boundary constraint processing. By limiting the correction angle to the angle range corresponding to the basic angle reference set, the constraint angle is obtained.

[0053] The constraint angle is determined as the compensated target angle.

[0054] Preferably, the reliability of the response consistency result is determined to obtain an angular reliability result, including:

[0055] A preset consistency grading rule is used to classify the response consistency results into consistency levels. By matching the response consistency results with the consistency grading rule, a consistency level result is obtained.

[0056] A preset credibility threshold is set, and the consistency level results are compared with the credibility threshold. By comparing the consistency level results with the credibility threshold, a credibility judgment result is obtained.

[0057] The credibility judgment result is used to determine the credibility interval. The valid opening credibility interval is determined by the interval mapping relationship corresponding to the credibility judgment result, and the angle credibility result is obtained.

[0058] In a second aspect, the present invention provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in the first aspect.

[0059] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method in the first aspect.

[0060] The present invention has the following beneficial effects:

[0061] 1. This invention adopts a technical solution that combines bidirectional effective opening mapping with target angle compensation to achieve the technical effect of matching the command angle with the actual effective opening, realize stable positioning control in the small opening range, and solve the shortcomings of the prior art where dead zone, hysteresis and viscosity cause the angle to be in place but the flow rate to not be stable.

[0062] 2. The present invention adopts a technical solution of jointly determining the temperature control state quantity and the water-side disturbance quantity and performing phase-state control to achieve the technical effect of suppressing oscillation and reducing overshoot, and realize stable regulation under dynamic operating conditions. Attached Figure Description

[0063] Figure 1 This is a flowchart illustrating the precise control method for the switching angle of a temperature control valve provided in an embodiment of the present invention. Detailed Implementation

[0064] To enable those skilled in the art to understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0065] The present invention will now be described in detail with reference to the accompanying drawings:

[0066] Example:

[0067] Please see the appendix Figure 1 This invention provides a precise control method for the switching angle of a temperature control valve. Instead of directly outputting a fixed number of steps based on a single temperature difference, this method establishes a two-way correspondence between the stepper motor drive angle and the actual effective opening of the valve. The control phase is determined based on the current thermal state and the water-side disturbance state. Furthermore, the basic target angle is looked up, the angle compensation amount is calculated, and the compensated target angle is obtained after correction. Then, a pulse packet matching the control phase is generated to drive the stepper motor to execute. The reliability of the angle is analyzed based on the thermal response and motor response after execution, and the current switching angle control result is output.

[0068] Therefore, this invention can solve the problem of "angle in place but effective opening not in place" caused by dead zone, hysteresis and viscosity in the small opening range, while reducing the oscillation, overshoot and repeated correction phenomena caused by the superposition of thermal inertia and water-side disturbance.

[0069] A baseline calibration is performed on the temperature control valve driven by the stepper motor to obtain a basic angle reference set. The baseline calibration is used to establish a unified reference boundary for angle control. The baseline calibration includes at least the determination of the valve's mechanical zero position when closed, the determination of the safe zero position, and the determination of the fully open angle.

[0070] The controller first drives a stepper motor to move the temperature control valve at a low speed towards the valve-closing direction, continuously collecting motor operating status parameters during this process. When a sudden increase in motor load, a complete stop in rotation, or a stall criterion is met, the current position is designated as the mechanical zero position for valve closure. To avoid additional friction and structural stress caused by the valve core pressing against the valve seat for an extended period, the controller retracts a small angle from the mechanical zero position towards the valve-opening direction to obtain a safe zero position. Immediately afterwards, the controller continues to drive the stepper motor towards the valve-opening direction until the maximum angle position allowed by the structure is reached, and this position is designated as the fully open angle.

[0071] The basic angle reference set includes at least: the valve closing mechanical zero position, the safety zero position, the fully open angle, and several reference angle points between the safety zero position and the fully open angle. The purpose of the basic angle reference set is to define the controllable angle range and provide boundary criteria for segmented scanning and target angle correction. In the implementation, the controller divides the movement range from the safety zero position to the fully open angle into several reference segments according to a uniform step size. Each segment corresponds to a reference angle point, thus forming the basic angle reference set.

[0072] The system performs bidirectional segmented scanning on the baseline angle reference set to obtain a bidirectional effective opening degree mapping table. Bidirectional segmented scanning is a key technical feature of this invention, used to solve the problem of inconsistent responses in the valve opening and closing directions. The controller determines the scanning interval based on the baseline angle reference set; preferably, the scanning interval is the entire control interval between the safe zero position and the fully open angle. Then, segmented drive scanning is performed on this scanning interval in the valve opening direction. Specifically, the controller drives the stepper motor segment by segment according to a preset step distance, completing one segment of action, and collecting the response parameters corresponding to that drive position. The response parameters can be the change in supply and return water temperature difference, the change in pressure difference across the valve, the change in local flow characteristics, or a comprehensive quantity characterizing the change in effective opening degree. This yields the effective opening degree response data in the valve opening direction.

[0073] After the valve opening direction scan is completed, the controller adopts the same or corresponding segmented strategy to perform segmented scanning on the same scanning interval in the valve closing direction, and similarly collects the response parameters corresponding to each drive position to obtain the effective opening response data in the valve closing direction.

[0074] The controller then establishes a correspondence between the effective opening response data in the opening direction and the effective opening response data in the closing direction, creating a bidirectional effective opening mapping table. This bidirectional effective opening mapping table is not a single angle table, but rather a mapping dataset reflecting the correspondence between the target effective opening and the actual angular position under different driving directions.

[0075] During this mapping process, the dead zone, hysteresis zone, and viscous zone within the small opening range are identified. The dead zone refers to the interval where the stepper motor has output an angle change but the response parameters have not yet produced a identifiable change. The hysteresis zone refers to the interval where, under the same target effective opening degree, the corresponding angles of the valve opening direction and the valve closing direction are different. The viscous zone refers to the interval where the valve core has actuated but the effective opening degree changes slowly or lags behind.

[0076] The system presets temperature control state variables and water-side disturbance variables, and performs phase determination on these variables to obtain the current control phase. The temperature control state variables consist of the temperature difference between room temperature and set temperature, the rate of change of the temperature difference, the supply water temperature, the return water temperature, and the heat exchange trend. The water-side disturbance variables consist of the pressure difference across the valve, the rate of change of the pressure difference, flow fluctuations, and motor operation fluctuations. The controller first identifies the deviation of the temperature control state variables to obtain the temperature control deviation result. Deviation identification is mainly used to identify the degree of deviation between the current room temperature and the set temperature from the target. Next, it identifies the trend of the temperature control state variables to obtain the temperature control trend result, used to determine whether the temperature difference is converging or expanding. Finally, it identifies the disturbance intensity of the water-side disturbance variables to obtain the water-side disturbance result, used to reflect whether the current hydraulic conditions are stable.

[0077] Finally, the controller performs phase matching determination based on the temperature control deviation results, temperature control trend results, and water-side disturbance results to obtain the current control phase state. The current control phase state includes at least: dead zone crossing phase state, fine-tuning approximation phase state, and steady-state holding phase state.

[0078] Among them, the dead zone crossing phase state is suitable for scenarios where the valve is in the low response zone and needs to quickly cross the small opening ineffective action zone; the fine adjustment approach phase state is suitable for scenarios where the temperature difference still exists but is close to the target and requires small correction; the steady state holding phase state is suitable for scenarios where the temperature difference is close to stable and the focus is on suppressing rebound and preventing frequent back-and-forth corrections.

[0079] The target angle is compensated by performing target angle compensation processing on the bidirectional effective opening mapping table and the current control phase state to obtain the compensated target angle. The controller first determines the target effective opening based on the current control phase state, obtaining the target opening result. Here, the target effective opening is not a simple angle value, but rather the effective flow capacity target corresponding to the temperature control target under the current operating conditions. Then, using the target opening result as a constraint, a reverse lookup is performed on the bidirectional effective opening mapping table to obtain the basic target angle.

[0080] Because thermal conditions, water-side disturbances, and valve core conditions can cause deviations between the basic target angle and the actual required control angle, further compensation calculations are needed to obtain the angle compensation amount. Finally, the basic target angle and the angle compensation amount are corrected to obtain the compensated target angle.

[0081] The key technical point of this step is that the target angle after compensation is not directly calculated from the temperature difference, but is obtained through the "target effective opening degree - mapping back lookup - compensation correction" link, so that the output angle is close to the control angle corresponding to the true effective opening degree of the valve.

[0082] The controller generates phase-state pulse packets for the compensated target angle to obtain the stepper motor execution command. Based on the current control phase state, the controller determines the control mode, resulting in dead-zone crossing control mode, fine-tuning approximation control mode, and steady-state holding control mode.

[0083] In dead-zone crossing control mode, the controller generates a crossing pulse packet for the compensated target angle. This pulse packet is characterized by a relatively concentrated number of steps and a relatively direct action, and is used to quickly cross known dead zones or low-response zones.

[0084] In fine-tuning approximation control mode, the controller generates small-step pulse packets for the compensated target angle. These pulse packets are characterized by small step size, slow rhythm, and high resolution, and are used to gradually approximate the target angle and suppress overshoot.

[0085] In steady-state hold control mode, the controller generates a hold pulse packet for the compensated target angle. This pulse packet includes hold current control to maintain the current position and small-amplitude perturbation control to overcome static friction and prevent valve spool rebound.

[0086] The controller generates instructions for the stepper motor to execute, such as the stepping pulse packet, fine-tuning pulse packet, or holding pulse packet, and outputs them to the drive unit.

[0087] The execution response of the stepper motor commands is analyzed to obtain reliable angle results. Based on the stepper motor execution commands, the controller acquires the temperature control response parameters and motor operation response parameters before and after execution, obtaining response data. Response data may include the difference in supply and return water temperature before and after execution, the change in pressure difference before and after execution, the change in motor current fluctuation before and after execution, and the change in thermal response per unit time after execution.

[0088] Next, the controller extracts change features from the response data to obtain response change results. This feature extraction identifies whether the current action truly causes perceptible changes on both the thermal and hydraulic sides. The controller then compares the response change results with preset response features to obtain response consistency results. These consistency results reflect whether there is a match between the "expected effect of the command action" and the "actual feedback effect."

[0089] Finally, the reliability of the response consistency results is determined to obtain the angular reliability results. The angular reliability results can be represented as high reliability, medium reliability, or low reliability, or as the corresponding effective opening degree reliability interval.

[0090] The controller generates control results based on the reliable angle results, yielding the current switching angle control result. The controller jointly processes the compensated target angle, the current control phase state, and the reliable angle results to obtain the current switching angle control result. The current switching angle control result may include: the current target control angle, the current effective opening degree reliability interval, the current control status indicator, and suggestions on whether further correction is needed.

[0091] In the implementation, the controller combines the number of consecutive unresponsive actions, the frequency of reverse correction, and the degree of abnormal fluctuations in the motor to further output risk results for jamming risk analysis or maintenance prompts.

[0092] The controller determines the scanning range based on the safety zero point and the fully open angle of the base angle reference set. Preferably, the scanning range does not cover the mechanical clamping limit position, but uses the safety zero point as the starting point of the valve closing end and the fully open angle as the ending point of the valve opening end, to avoid repeated impacts on the mechanical limit during the segmented scanning process.

[0093] The controller divides the scanning range into segments, resulting in several scanning segments. Each scanning segment corresponds to a fixed angle range or a fixed number of steps. More segments result in higher mapping table resolution, but increase construction time. In practical applications, the optimal number of segments can be determined based on a combination of factors, including the stepper motor's microstepping capability, the valve body's mechanical resolution, and the system's response speed.

[0094] The controller drives the stepper motor to move segment by segment in a specified direction according to a preset step size. Once a segment is completed, the corresponding drive position is recorded. The drive position can be a cumulative pulse value, an angle count value, or a converted mechanical angle value.

[0095] At each drive position, the controller collects at least one response parameter that reflects the change in effective opening degree. If a thermal response parameter is used, the change in supply and return water temperature difference can be selected; if a hydraulic response parameter is used, the change in pressure difference can be selected; if a comprehensive response parameter is used, multiple response parameters can be fused according to weights.

[0096] Deviation identification is used to determine the degree of deviation from the current temperature control target. The larger the deviation, the more aggressive the adjustment needs; the smaller the deviation, the closer the system is to stability, and over-driving should be avoided.

[0097] Trend identification is used to determine whether the current temperature difference is converging towards or deviating from the target. Even if the current deviation is large, as long as the trend converges rapidly, it is not advisable to use overly strong actions; conversely, even if the current deviation is small, if the trend deteriorates, the correction should still be appropriately strengthened.

[0098] Disturbance intensity identification is used to determine the degree of impact of changes in external water-side operating conditions on the current control. When the disturbance intensity is high, it indicates that a constant valve angle may lead to significant changes in flow rate and heat exchange capacity. In this case, the robustness of the control strategy should be improved and frequent reciprocating actions should be reduced.

[0099] The controller performs matching judgment based on the deviation results, trend results, and disturbance results, combined with a preset phase state rule table. When the deviation is large, the trend has not converged, and the valve is in the small opening range, it is judged as the dead zone crossing phase state; when the deviation is moderate or small, the trend converges, and the target is close, it is judged as the fine-tuning approximation phase state; when the deviation is very small, the trend is stable, and the disturbance intensity is controllable, it is judged as the steady-state maintenance phase state.

[0100] Formula for calculating the target angle after compensation

[0101] The following formula can be used: ,

[0102] in, Indicates the target angle after compensation. Indicates the basic objective perspective. Indicates the amount of angle compensation.

[0103] The angle compensation amount can be further expressed as: ,

[0104] in, Indicates the temperature compensation component. This represents the disturbance compensation component. This represents the viscosity compensation component.

[0105] The angle compensation amount is obtained by weighted synthesis of temperature compensation data and disturbance compensation data, therefore, it is preferred to use the following method in the corresponding implementation: ,

[0106] in, This indicates temperature compensation data. This indicates disturbance compensation data. Indicates the temperature compensation weight. This indicates the disturbance compensation weight.

[0107] In another embodiment, to take into account the effects of viscous hysteresis, a viscous correction term can be added to form an extended formula.

[0108] The controller determines the target effective opening degree based on the current control phase state. Next, the basic target angle is obtained by reverse lookup using a two-way effective opening mapping table. The reverse lookup relationship can be written as:

[0109] ,in, Indicates the effective opening degree of the target. Indicates the current control direction or the currently selected mapping direction. This represents the lookup function for a bidirectional effective openness mapping table. This indicates the perspective of the basic objective.

[0110] In practical control, the two-way effective aperture mapping table can be implemented using a lookup table, piecewise linear interpolation, or piecewise fitting. Taking piecewise linear interpolation as an example, if the target's effective aperture falls between adjacent data points in the mapping table, the basic target angle can be obtained using the following formula:

[0111] ,

[0112] in, and This represents the angle value corresponding to two adjacent mapping points. and This represents the effective opening value corresponding to two adjacent mapping points. Indicates the effective opening degree of the target. This indicates the perspective of the basic objective.

[0113] Temperature compensation feature extraction is used to construct temperature compensation data. This data can be determined by both temperature deviation characteristics and temperature change characteristics. Temperature deviation characteristics characterize the degree of deviation of the current room temperature from the set temperature, while temperature change characteristics characterize the current thermal response rate.

[0114] Temperature compensation data can be obtained from the following relationship: ,

[0115] in, This indicates temperature compensation data. Indicates temperature deviation characteristics. Indicates the characteristics of temperature change. , This indicates the corresponding weight.

[0116] Disturbance compensation feature extraction is used to construct disturbance compensation data DpD_pDp. This data can be composed of pressure difference variation features and flow disturbance features. Pressure difference variation features reflect the degree of deviation between the current hydraulic boundary and the calibration condition, while flow disturbance features reflect the strength of system disturbance fluctuations.

[0117] The disturbance compensation data can be written as: ,

[0118] in, This indicates disturbance compensation data. Indicates the characteristics of pressure difference changes. This indicates the characteristics of flow disturbance. , This indicates the corresponding weight.

[0119] Target angle correction includes datum alignment processing, overlay correction, and boundary constraint processing.

[0120] The benchmark alignment process involves matching and correcting the base target angle with the corresponding angle benchmark in the two-way effective opening mapping table, eliminating benchmark deviations caused by interpolation errors, table entry resolution, or angle encoding conversion. The aligned angle is then obtained.

[0121] Next, the controller adds the angle compensation amount to the alignment angle to obtain the corrected angle. Finally, the corrected angle is limited to the allowable angle range corresponding to the base angle reference set to obtain the constraint angle, and this constraint angle is determined as the target angle after compensation.

[0122] Boundary constraints can take the following forms: ,

[0123] in, Indicates the target angle after compensation. Indicates the correction angle. This represents the minimum permissible angle corresponding to the base angle reference set. This represents the maximum permissible angle corresponding to the base angle reference set.

[0124] This constraint treatment prevents the controller from outputting command angles that exceed the structure's allowable range.

[0125] The controller determines the control mode based on the current control phase state. There is a one-to-one correspondence between the current control phase state and the control mode, or a mapping relationship from phase state to mode.

[0126] In dead-zone crossing control mode, the controller generates a crossing pulse packet based on the difference between the compensated target angle and the current position. This pulse packet can use relatively large continuous pulse segments to quickly cross the low-response zone.

[0127] In fine-tuning approximation control mode, the controller generates fine-tuning pulse packets in small step increments. These pulse packets can be output in batches with low step increments and intervals to slowly approach the compensated target angle and prevent exceeding the target position.

[0128] In steady-state hold control mode, the controller can generate hold pulse packets using hold current or perturbation pulses. The hold pulse can be zero-displacement hold or minimal displacement fine-tuning, used to stably maintain the current effective opening state.

[0129] The controller converts pulse packets from different modes into execution instructions that the driver can recognize, including direction signals, number of pulses, pulse frequency, hold time, deceleration rhythm, and current mode control parameters.

[0130] The response data includes at least the temperature control response parameters before and after execution, and the motor operation response parameters. The temperature control response parameters reflect the thermal effect, while the motor operation response parameters reflect the status of the actuator itself.

[0131] The controller obtains the response change result by calculating the difference, proportion, or rate of change of the data before and after execution. The response change result can be used to determine whether the current action has the expected impact on the system.

[0132] The controller has preset response characteristics, which represent the direction and range of target change that should occur under normal conditions due to a correction action at a certain angle. The actual response changes are then compared and analyzed with the preset response characteristics to obtain the response consistency results.

[0133] Consistency evaluation can take the following forms: ,

[0134] in, Indicates the overall consistency score. This represents the temperature control response consistency component. Indicates the water-side response consistency component. Represents the motor's operational consistency component. , , This indicates the corresponding weight. When... A higher value indicates a high degree of consistency between the command action and the actual response; when A lower value indicates that the current round of execution may not have resulted in an effective change in opening degree.

[0135] Credibility assessment can be divided into consistency level classification, credibility threshold comparison, and credibility interval.

[0136] The controller presets consistency grading rules, classifying response consistency results into high consistency, medium consistency, and low consistency. It then presets a trustworthiness threshold, comparing the consistency grade results with this threshold to obtain a trustworthiness judgment result.

[0137] Finally, the controller determines the effective opening confidence interval based on the interval mapping relationship corresponding to the confidence determination result, thereby obtaining the angle confidence result. The angle confidence result can be an opening interval range or a confidence level label. Setting a confidence interval helps to suppress excessive reliance on low-confidence actions in control rounds.

[0138] The reference calibration process refers to the process of establishing an angle reference boundary through mechanical zero-position identification, safety retraction, and full-open boundary identification. The bidirectional segmented scanning process refers to the process of driving the control interval segment by segment and collecting response data in both the opening and closing directions to establish a direction-related effective opening mapping relationship. The deviation identification process refers to the process of identifying the degree of target deviation from temperature control state variables. The trend identification process refers to the process of identifying the direction and rate of temperature change from temperature control state variables. The disturbance intensity identification process refers to the process of identifying the degree of fluctuation in the current operating condition from water-side disturbance variables. The phase matching determination process refers to the process of classifying the current operating state into a preset control phase state based on deviation, trend, and disturbance information. The target angle compensation process refers to the process of obtaining the compensated target angle from the target effective opening through mapping back lookup, compensation calculation, and angle correction. The temperature compensation feature extraction process refers to the process of extracting temperature deviation and temperature change information that affects angle compensation from temperature control state variables. Disturbance compensation feature extraction refers to the process of extracting differential pressure and flow fluctuation information that affect angle compensation from water-side disturbance quantities. Reference alignment processing refers to the process of performing reference matching correction on the basic target angle to ensure consistency with the mapping table reference. Superposition correction processing refers to the process of superimposing the angle compensation quantity onto the aligned angle to form the corrected angle. Boundary constraint processing refers to the process of limiting the corrected angle within the allowable range of the basic angle reference set. Phase-state pulse packet generation refers to the process of selecting a control mode based on the current control phase state and generating pulse packets corresponding to that mode. Execution response analysis refers to the process of analyzing the effectiveness of the current action based on the thermal, hydraulic, and motor responses before and after execution. Reliability determination refers to the process of determining the reliability of the action and forming a reliability interval based on the response consistency results. Control result generation refers to the process of forming the current switching angle control result by integrating the compensated target angle, the current control phase state, and the angle reliability result.

[0139] Through the above technical solution, the present invention establishes a bidirectional effective opening degree mapping relationship, enabling the difference between the valve opening direction and the valve closing direction to be explicitly identified and utilized; at the same time, by introducing temperature control state quantity and water-side disturbance quantity into the control phase determination and target angle compensation processing, the controller can output different control strategies for different operating conditions; by performing response analysis and reliability determination, the completion of motor steps is avoided as mistakenly identifying the valve as effectively in position, thereby achieving precise control in the small opening degree range and stable adjustment under dynamic operating conditions.

[0140] Example 1: Verification of precise control of small opening degree for floor radiant heating terminal

[0141] This embodiment is applied to a low-temperature hot water floor radiant heating system driven by an air source heat pump, with each household and room equipped with a stepper motor-driven thermostatic valve. The valve's rated adjustable angle range is 0° to 90°, and each microstep of the stepper motor corresponds to a mechanical angle of 0.05°. The controller sampling period is set to 1 second, the room temperature setpoint is 22°C, the supply water temperature is stable at around 38°C, the initial return water temperature is 34.5°C, and the initial pressure difference across the valve is 12 kPa. To verify the invention's ability to solve dead zone, hysteresis, and viscosity problems within a small opening range, the valve was tested by operating it for an extended period within a small opening range of 5° to 25°.

[0142] In this embodiment, a reference calibration is performed. The controller drives the stepper motor towards the valve-closing direction at a low speed of 80 microsteps per second, continuously collecting the motor winding current. When the motor current is detected to rise from 0.28A to 0.44A, and the position remains unchanged for two consecutive sampling cycles, it is determined that the mechanical zero position of valve closure has been reached. The controller retracts 4 microsteps towards the valve-opening direction, corresponding to a retraction angle of 0.2°, and this position is determined as the safe zero position. Immediately afterwards, it continues to drive the motor at 100 microsteps per second to the vicinity of the valve-opening limit. When the cumulative angle reaches 89.8° and the current shows another significant abrupt change upon further action, 89.8° is determined as the fully open angle. Subsequently, a basic angle reference set is formed between the safe zero position and the fully open angle at 5° intervals, resulting in 18 basic reference points for subsequent scanning.

[0143] After obtaining the baseline angle reference set, a bidirectional segmented scan is performed. The controller sets the scan range to 0.2°–89.8°, and performs segmented drive scanning in the valve opening direction with one set of sampling points per 1°. To improve the resolution of the small opening range, a 1.6° interval is used between 0.2° and 30°, corresponding to 32 microsteps for each segment; a 4° interval is used above 30°. After completing one segment, the controller waits for 20 seconds to avoid thermal transient noise and collects the changes in supply and return water temperature difference and the changes in pressure difference across the valve. The scan results show that in the valve opening direction, within the range of 0.2°–6.6°, the change in supply and return water temperature difference is less than 0.05℃, and the change in pressure difference is less than 0.1kPa, which can be identified as the valve opening dead zone; when the angle reaches 8.2°, the change in supply and return water temperature difference rises to 0.18℃, and the change in pressure difference reaches 0.5kPa, indicating that the valve begins to form an effective opening. Next, the controller performs a reverse scan in the valve-closing direction using the same segmented method. The results show that the corresponding angle for the same effective opening state in the valve-closing direction is generally about 1.5° to 2.3° smaller than that in the valve-opening direction, especially in the 10° to 20° range, where the directional difference is most significant. Based on this, a bidirectional effective opening mapping table is constructed, recording the valve-opening direction mapping curve and the valve-closing direction mapping curve.

[0144] After the mapping table was established, the system entered normal temperature control. At this time, the actual room temperature was 20.6℃, the setpoint was 22℃, and the temperature difference was 1.4℃. The temperature difference change rates over three consecutive sampling periods were -0.02℃ / min, -0.01℃ / min, and 0℃ / min. The supply water temperature was 38.2℃, the return water temperature was 34.6℃, and the pressure difference across the valve was 11.8 kPa. The controller determined the phase state based on the above temperature control status variables and water-side disturbances. Since the current absolute temperature difference was greater than 1℃, the temperature difference convergence speed was slow, and the current estimated valve position was within a small opening range of approximately 9°. Therefore, the current control phase was determined to be a dead-zone crossing phase.

[0145] In the target angle compensation process, the controller determines the target effective opening degree based on the current control phase state. In this embodiment, a proportional mapping method is used to map a temperature difference of 1.4℃ to a target effective opening degree of 0.28. Then, using the target opening degree result as a constraint, a reverse lookup is performed on the bidirectional effective opening degree mapping table. Since the current control direction is the valve opening direction, and the target effective opening degree lies between 0.25 and 0.31 in the valve opening direction mapping table, corresponding to angles of 11.4° and 13.0°, linear interpolation yields a basic target angle of approximately 12.2°. Next, compensation calculations are performed on the basic target angle. At this point, using a calibrated operating condition pressure difference of 10 kPa as a reference, the current pressure difference deviation is 1.8 kPa; using a calibrated water supply temperature of 36℃ as a reference, the current water supply temperature deviation is 2.2℃. The controller extracts temperature compensation data and disturbance compensation data, taking 0.42° and 0.36° respectively; then, weighted by a temperature weight of 0.55 and a disturbance weight of 0.45, the angle compensation amount is obtained as 0.39°. Finally, the base target angle of 12.2° is superimposed with the angle compensation amount of 0.39° to obtain the corrected angle of 12.59°. After boundary constraint processing, the compensated target angle is determined to be 12.6°.

[0146] During the phase-separated pulse packet generation stage, since the current control phase is a dead-zone crossing phase, the controller adopts a crossing pulse generation strategy. The current valve position is estimated to be 8.8°, with a difference of 3.8° from the compensated target angle of 12.6°, corresponding to 76 microsteps. Considering that the known width of the valve opening dead zone is approximately 6.4°, and that the current position is near the end of the dead zone, the controller outputs a crossing pulse packet consisting of 50 sets of fast pulses and 26 sets of medium-speed pulses, with pulse frequencies set to 400Hz and 200Hz, forming a stepper motor execution command. After execution, the controller records the rate of change of the supply and return water temperature difference and the changes in motor current characteristics before and after execution. The average rate of change of the supply and return water temperature difference is 0.01℃ / s in the first 5 seconds of execution, and increases to 0.06℃ / s in the 20 seconds after execution. The pressure difference across the valve changes by 0.9kPa, and the motor current fluctuation increases from 0.02A to 0.07A without stalling. After comparing the above response change results with the preset response features, the calculated response consistency result is high consistency, corresponding to a consistency score of 0.86. According to the preset credibility judgment threshold, a score above 0.8 is considered high credibility. Therefore, the angle credibility result is high credibility, and the corresponding effective opening credibility interval is 0.26 to 0.30.

[0147] Continue running for 5 minutes. Compared with traditional fixed-step control, in this embodiment, during the process of the room temperature rising from 20.6℃ to 21.8℃, the valve made 3 effective corrections, with the maximum single overshoot angle not exceeding 0.7°. The supply and return water temperature difference curve was stable, without significant back-and-forth corrections. In contrast, the control group using the ordinary fixed-step method made 8 corrections under the same operating conditions, including 2 reverse corrections. The valve repeatedly oscillated around 12°, causing it to continue operating even when the room temperature approached the target.

[0148] This embodiment verifies the reliability under continuous operation conditions. The controller continuously records the execution results for 10 rounds, of which 9 rounds are judged as medium to high reliability, and 1 round is judged as medium reliability because the consistency score drops to 0.62 due to a short-term fluctuation in the water supply temperature. In subsequent control, the system reduces the weight of the results from that round, and no significant misadjustment occurs.

[0149] Example 2: Verification of dynamic steady-state control for start-up and shutdown disturbance scenarios of fan coil unit terminals and adjacent branches

[0150] This embodiment is applied to a fan coil heating system driven by a water source heat pump. The test objects are three parallel branches under the same main pipe, one of which is the target branch controlled by this invention, and the remaining two branches are periodically started and stopped to simulate common water-side disturbance scenarios in actual use. The target branch uses a stepper motor to drive the thermostatic valve. The full stroke of the stepper motor corresponds to a mechanical angle of 96°, and each microstep corresponds to 0.04°. The room temperature setpoint is 23°C, the initial room temperature is 22.4°C, the supply water temperature is 41°C, the return water temperature is 36.8°C, and the initial pressure difference across the valve in the target branch is 9 kPa. The two adjacent branches are started and stopped at periods of 120s and 180s, so that the pressure difference in the target branch varies between 7 kPa and 13 kPa, to verify the effectiveness of this invention in solving the problems of oscillation, overshoot, and repeated correction.

[0151] In this embodiment, a baseline calibration is first performed. The controller drives the valve to close in 60 microsteps per second. When the motor operating current jumps from 0.26A to 0.48A, the current position is taken as the mechanical zero position for valve closure. Then, it reverses 6 microsteps, corresponding to 0.24°, which is determined as the safe zero position. Then, it moves in the valve opening direction to 95.72°, which is determined as the fully open angle. Between the safe zero position and the fully open angle, a basic angle reference set is established in groups of 3°. An additional 1° supplementary node is inserted in the range of 0.24° to 30° to improve the control accuracy in the small and medium-low opening range.

[0152] A bidirectional segmented scan was then performed. In the valve-open direction, the controller scanned segment by segment at 1° intervals up to 30°, and then at 3° intervals up to 95.72°. The changes in supply and return water temperature difference, the changes in pressure difference across the valve, and the heat exchange response time of the fan coil unit were recorded at each scan point. The scan revealed almost no significant heat exchange response in the valve-open direction between 0.24° and 5.24°, a slow increase in response between 5.24° and 8.24°, and a significant increase in response beyond 9.24°. In the valve-closed direction, when the corresponding effective heat exchange level returned to the same response zone, the angle was generally about 1.8° earlier than in the valve-open direction, indicating a significant directional hysteresis in the valve core. Based on this, the controller generated a bidirectional effective opening mapping table, marking the segment before 5.24° as the low response zone and the area near 9.24° as the effective opening initiation sensitive zone.

[0153] During normal operation, the initial room temperature was 22.4℃, 0.6℃ below the setpoint of 23℃. The controller constructed temperature control state variables and water-side disturbance variables. Over five consecutive sampling periods, the measured temperature differences were 0.60℃, 0.58℃, 0.57℃, 0.57℃, and 0.56℃, respectively, showing a slow convergence in the rate of temperature difference change. The supply water temperature was 41.1℃, and the return water temperature fluctuated between 36.7℃ and 37.0℃. The pressure difference across the valve fluctuated rapidly between 9.1kPa, 11.8kPa, 8.4kPa, and 12.6kPa due to the start-stop operation of adjacent branches. Based on this data, the controller performed deviation identification, trend identification, and disturbance intensity identification, resulting in a medium temperature control deviation, weak convergence in the temperature control trend, and a strong disturbance in the water-side disturbance. According to the phase-state matching rule, when the deviation is medium, the trend is convergent, but the disturbance intensity is high, the system enters a fine-tuning approximation phase state.

[0154] In the target angle compensation process, the controller determines the effective target opening degree to be 0.42 based on the current fine-tuning approximation phase state. Referring to the valve opening direction mapping table, it can be seen that when the effective opening degree is 0.42, the basic target angle is approximately 17.6°. Since the current pressure difference fluctuates significantly relative to the calibrated pressure difference of 8 kPa, and the supply water temperature is 2.1° higher than the calibrated temperature of 39°C, compensation calculation is required. The controller obtains temperature compensation data of 0.31° through temperature compensation feature extraction and disturbance compensation data of 0.58° through disturbance compensation feature extraction. Considering that the water-side disturbance has a significant impact than the thermal deviation in this embodiment, the temperature weight is set to 0.4 and the disturbance weight to 0.6, ultimately calculating an angle compensation amount of 0.47°. This angle compensation amount is superimposed on the basic target angle of 17.6° to obtain a corrected angle of 18.07°. After boundary constraints, the compensated target angle is determined to be 18.1°.

[0155] During the phase-state pulse packet generation stage, the controller selects a small-step pulse generation strategy based on the current control phase state being a fine-tuning approximation phase state. The current estimated valve position is 16.9°, with a difference of 1.2° from the compensated target angle of 18.1°, corresponding to 30 microsteps. Instead of directly outputting 30 pulse groups at once, the controller splits them into 3 pulse packets, each with 10 pulses, with a 15s interval between groups and a pulse frequency of 150Hz. After the first pulse group is executed, the pressure difference increases from 8.7kPa to 12.9kPa due to the closure of the adjacent branch, resulting in an increase in actual flow capacity. At this point, the invention immediately performs execution response analysis. The analysis reveals that even after executing 10 microsteps, the rate of change of the supply and return water temperature difference has increased from 0.02℃ / s to 0.07℃ / s, indicating a significant pressure difference response. The response consistency score reaches 0.81, corresponding to high confidence. Based on this, the controller determines that the current effective opening is close to the target range, so it reduces the number of the second group of pulses from 10 to 6, cancels the third group of pulse packets, and switches to steady-state hold control mode.

[0156] In steady-state holding control mode, the controller generates holding pulse packets and adopts a low-amplitude micro-disturbance holding strategy. Specifically, it outputs a 2-micro-step tentative holding pulse every 60 seconds, while maintaining the winding holding current at 0.18A to suppress valve core rebound and static friction retention. In the following 6 minutes, adjacent branches continue to start and stop according to the set cycle. The target branch pressure difference fluctuates continuously between 7.3 kPa and 12.7 kPa, but the target branch valve does not exhibit significant back-and-forth movements, and the room temperature stabilizes between 22.92℃ and 23.08℃, with a maximum overshoot of 0.08℃. In contrast, when the control group uses fixed-step temperature difference closed-loop control, under the same disturbance conditions, the valve undergoes 9 forward and reverse corrections, and the room temperature fluctuation range reaches 22.8℃ to 23.34℃, showing significant comfort fluctuations.

[0157] This embodiment further verifies the guiding role of the angle reliability result for subsequent control. During two consecutive rapid start-stop cycles of adjacent branches, the stepper motor completed the command after one round of execution, but due to a sudden change in pressure difference, the supply and return water temperature difference did not meet the preset response characteristic requirements. The system calculated a response consistency score of 0.58, which was judged as low reliability. Based on this, the controller did not immediately solidify the result of this round into a new stable control position, but saved it as a transient result, and recalculated the current control phase state and target angle in the next round of control. In the next round of analysis, the consistency score recovered to 0.79, and the system re-determined the effective opening degree reliability interval.

[0158] Those skilled in the art should understand that the embodiments of the present invention can be implemented using a pure hardware architecture, a pure software architecture, or an integrated hardware and software architecture. The present invention can be prepared as a computer program product, which can be stored in various non-volatile computer-readable storage media, including but not limited to solid-state drives, flash memory chips, mobile storage devices, optical discs, cloud storage servers, and other standardized storage media, and is not limited to traditional storage media.

[0159] Embodiments of the present invention have been presented and described. It will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0160] Based on the foregoing description in conjunction with the accompanying drawings, those skilled in the art will understand that the embodiments of this application can also be implemented by software programs. Therefore, this application also provides a computer-readable storage medium. This computer-readable storage medium stores computer-readable instructions thereon, which, when executed by one or more processors, implement the method described above in conjunction with the accompanying drawings.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computing device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0162] It should be noted that although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0163] It should be understood that when the terms "first," "second," "third," and "fourth," etc., are used in the claims, specification, and drawings of this application, they are used only to distinguish different objects and not to describe a specific order. The terms "comprising" and "including" as used in the specification and claims of this application indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

[0164] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this specification and claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0165] Although the embodiments of this application are described above, the content is merely an example adopted for the purpose of facilitating understanding of this application and is not intended to limit the scope and application scenarios of this application. Any person skilled in the art described in this application may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this application, but the scope of patent protection of this application shall still be determined by the scope defined in the appended claims.

Claims

1. A method for precisely controlling the switching angle of a temperature control valve, characterized in that, include: A reference calibration is performed on the temperature control valve driven by the stepper motor to obtain the basic angle reference set; A bidirectional segmented scan is performed on the basic angle reference set to obtain a bidirectional effective opening mapping table; The current control phase state is obtained by determining the preset temperature control state quantity and water-side disturbance quantity. The target angle is compensated by performing target angle compensation processing on the bidirectional effective opening degree mapping table and the current control phase state to obtain the compensated target angle; A phase-state pulse packet is generated for the compensated target angle to obtain the stepper motor execution command, and the execution response of the stepper motor execution command is analyzed to obtain a reliable angle result; The control result is generated from the reliable angle result to obtain the current switching angle control result.

2. The method for precisely controlling the switching angle of a temperature control valve according to claim 1, characterized in that, A bidirectional segmented scan is performed on the aforementioned basic angle reference set to obtain a bidirectional effective aperture mapping table, including: The scanning interval is determined based on the aforementioned basic angle reference set, thus obtaining the scanning range; The scanning range is segmented and driven to scan in the valve opening direction to obtain effective valve opening response data in the valve opening direction. The scanning range is segmented and driven in the valve-closing direction to obtain effective valve-closing direction opening response data; A mapping relationship is constructed between the effective opening response data in the opening direction and the effective opening response data in the closing direction to obtain a bidirectional effective opening mapping table.

3. The method for precise control of the switching angle of a temperature control valve according to claim 1, characterized in that, The current control phase state is obtained by performing phase state determination on the preset temperature control state variables and water-side disturbance variables, including: The temperature control status quantity is deviated to obtain the temperature control deviation result; The temperature control status variables are trend-identified to obtain temperature control trend results; The disturbance intensity of the water-side disturbance is identified to obtain the water-side disturbance result; The temperature control deviation results, temperature control trend results, and water-side disturbance results are used to determine the phase state and obtain the current control phase state.

4. The method for precisely controlling the switching angle of a temperature control valve according to claim 1, characterized in that, The bidirectional effective opening mapping table and the current control phase state are subjected to target angle compensation processing to obtain the compensated target angle, including: The effective opening degree of the target is determined based on the current control phase state, and the target opening degree result is obtained; Using the target opening result as a constraint, a reverse lookup is performed on the bidirectional effective opening mapping table to obtain the basic target angle; The compensation calculation is performed on the basic target angle to obtain the angle compensation amount; The target angle is corrected by adjusting the base target angle and the angle compensation amount to obtain the compensated target angle.

5. The method for precisely controlling the switching angle of a temperature control valve according to claim 1, characterized in that, The compensated target angle is subjected to phase-state pulse packet generation to obtain stepper motor execution instructions, including: Based on the current control phase state, the control mode is determined, resulting in the dead zone crossing control mode, the fine-tuning approximation control mode, and the steady-state holding control mode. In the dead zone crossing control mode, a crossing pulse is generated for the compensated target angle to obtain a crossing pulse packet; In the fine-tuning approximation control mode, small-step pulses are generated for the compensated target angle to obtain a fine-tuning pulse packet; In the steady-state holding control mode, a holding pulse is generated for the compensated target angle to obtain a holding pulse packet; Instructions are generated from the aforementioned straddle pulse packet, fine-tuning pulse packet, or holding pulse packet to obtain the stepper motor execution instructions.

6. The method for precisely controlling the switching angle of a temperature control valve according to claim 1, characterized in that, The execution response of the stepper motor is analyzed to obtain reliable angle results, including: Based on the stepper motor execution command, the temperature control response parameters and motor operation response parameters before and after execution are obtained to obtain response data; The response data is subjected to change feature extraction to obtain the response change results; By setting preset response characteristics, the response change results are compared and analyzed with the response characteristics to obtain response consistency results; The reliability of the response consistency results is determined to obtain the angular reliability result.

7. The method for precisely controlling the switching angle of a temperature control valve according to claim 2, characterized in that, The segmented drive scan includes the following steps: The scanning range is divided into segments to obtain several scanning segments; A preset step distance is used to drive the stepper motor to move segment by segment in the corresponding direction according to the preset step distance, so as to obtain the driving position corresponding to each scanning segment. Response parameters are collected at each of the driving positions to obtain response data corresponding to each scan segment; The opening response is correlated with the response data corresponding to each driving position and each scanning segment to obtain the effective opening response data in the corresponding direction.

8. The method for precisely controlling the switching angle of a temperature control valve according to claim 4, characterized in that, The compensation calculation is performed on the basic target angle to obtain the angle compensation amount, including: Temperature compensation features are extracted from the temperature control status variables. Temperature compensation data is obtained by extracting temperature deviation features and temperature change features. The disturbance compensation features of the water-side disturbance are extracted. By extracting the pressure difference change features and flow disturbance features, the disturbance compensation data is obtained. The temperature compensation data and disturbance compensation data are used to calculate the compensation amount. The angle compensation amount is obtained by weighted synthesis of the temperature compensation data and disturbance compensation data.

9. The method for precisely controlling the switching angle of a temperature control valve according to claim 4, characterized in that, The base target angle and the angle compensation amount are corrected to obtain the compensated target angle, including: The base target angle is aligned by matching and correcting the base target angle with the corresponding angle reference in the bidirectional effective opening mapping table to obtain the alignment angle. The angle compensation amount is superimposed and corrected on the alignment angle. The corrected angle is obtained by superimposing the angle compensation amount and the alignment angle. The correction angle is subjected to boundary constraint processing. By limiting the correction angle to the angle range corresponding to the basic angle reference set, the constraint angle is obtained. The constraint angle is determined as the compensated target angle.

10. The method for precisely controlling the switching angle of a temperature control valve according to claim 6, characterized in that, The reliability of the response consistency results is determined to obtain angular reliability results, including: A preset consistency grading rule is used to classify the response consistency results into consistency levels. By matching the response consistency results with the consistency grading rule, a consistency level result is obtained. A preset credibility threshold is set, and the consistency level results are compared with the credibility threshold. By comparing the consistency level results with the credibility threshold, a credibility judgment result is obtained. The credibility judgment result is used to determine the credibility interval. The valid opening credibility interval is determined by the interval mapping relationship corresponding to the credibility judgment result, and the angle credibility result is obtained.

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