Gas pipeline network valve remote control method and system, electronic device, storage medium

Abstract

The application provides a gas pipeline network valve remote control method and system, an electronic device and a storage medium, and belongs to the technical field of gas pipeline network control. The method comprises the following steps: calculating a current deviation value according to a pressure set value and a pipeline pressure value of each field valve station, comparing the absolute value of the current deviation value with a large deviation threshold value and a dead zone threshold value, and determining a fast response mode, a standard proportional integral control mode or a dead zone control mode; calculating a valve opening degree adjustment amount through an adaptive PID control algorithm based on proportional coefficients, integral coefficients and differential coefficients corresponding to the current control mode; generating a valve control instruction according to the valve opening degree adjustment amount and delivering the valve control instruction to a corresponding station through a wireless communication link to drive a valve actuator to perform a corresponding action. The gas pipeline network valve remote control method and system, the electronic device and the storage medium provided by the application can improve the response speed, adjustment accuracy and operation stability of the gas pipeline network valve remote control.

Description

Technical Field

[0001] This application belongs to the field of gas pipeline control technology, and more specifically, relates to a remote control method and system for gas pipeline valves, electronic equipment, and storage medium. Background Technology

[0002] Remote control of gas pipeline valves typically employs a fixed-parameter proportional-integral-derivative (PID) control algorithm, calculating valve opening adjustments based on pipeline pressure deviations and issuing control commands. However, pipeline operating conditions are complex and variable, with pressure deviations varying significantly across different time periods. Fixed parameters struggle to simultaneously meet the demands for rapid correction of large deviations and precise adjustment of small deviations: conservative parameter tuning results in slow response and long pressure recovery times under large deviations; aggressive parameter tuning leads to oscillations and frequent actions under small deviations, and the continuous accumulation of the integral term during large deviation phases can cause overshoot, resulting in repeated valve adjustments. Existing methods lack effective mechanisms for dynamically matching control strategies based on deviation amplitude and suppressing integral saturation, hindering further improvements in control performance. Therefore, a technical solution is urgently needed to improve the response speed, adjustment accuracy, and operational stability of remote control of gas pipeline valves. Summary of the Invention

[0003] This application provides a method and system for remote control of gas pipeline valves, electronic equipment, and storage medium to improve the response speed, adjustment accuracy, and operational stability of remote control of gas pipeline valves.

[0004] According to one aspect of the embodiments of this application, a remote control method for gas pipeline valves is provided, applied in a monitoring center, wherein the monitoring center is connected to each field valve station via a wireless communication link, including: Receive pipeline operation parameters uploaded by each field valve station via wireless communication link. The pipeline operation parameters include pipeline pressure values. The current deviation value is calculated based on the preset pressure setpoint and pipeline pressure value. The absolute value of the current deviation value is compared with the preset large deviation threshold and the preset dead zone threshold respectively. When the absolute value of the current deviation value is greater than the large deviation threshold, the current control mode is determined to be fast response mode. When the absolute value of the current deviation value is greater than the dead zone threshold and less than or equal to the large deviation threshold, the current control mode is determined to be standard proportional-integral control mode. When the absolute value of the current deviation value is less than or equal to the dead zone threshold, the current control mode is determined to be dead zone control mode. The dead zone threshold is less than the large deviation threshold. If the current control mode is not a dead zone control mode, the valve opening adjustment is calculated based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode, and through an adaptive proportional-integral-derivative control algorithm; if the current control mode is a dead zone control mode, the valve opening adjustment is set to zero. Based on the valve opening adjustment, a valve control command is generated and transmitted to the corresponding field valve station via a wireless communication link, so that the field valve station can drive the valve actuator to perform the corresponding valve action. The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, integral coefficient, and derivative coefficient according to the range of the absolute value of the current deviation. The integral saturation suppression strategy is used to perform integral limiting processing on the cumulative value of the deviation integral during the calculation process.

[0005] According to one aspect of the embodiments of this application, a remote control system for gas pipeline valves is provided, applied in a monitoring center, wherein the monitoring center is connected to each field valve station via a wireless communication link, including: The parameter acquisition module is used to receive pipeline operation parameters uploaded by each field valve station via wireless communication link. The pipeline operation parameters include pipeline pressure values. The control mode determination module calculates the current deviation value based on the preset pressure setpoint and pipeline pressure value, and compares the absolute value of the current deviation value with the preset large deviation threshold and the preset dead zone threshold respectively. When the absolute value of the current deviation value is greater than the large deviation threshold, the current control mode is determined to be the fast response mode; when the absolute value of the current deviation value is greater than the dead zone threshold but less than or equal to the large deviation threshold, the current control mode is determined to be the standard proportional-integral control mode; when the absolute value of the current deviation value is less than or equal to the dead zone threshold, the current control mode is determined to be the dead zone control mode; the dead zone threshold is less than the large deviation threshold. The adjustment amount calculation module is used to calculate the valve opening adjustment amount based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode and through an adaptive proportional-integral-derivative control algorithm if the current control mode is not a dead zone control mode; if the current control mode is a dead zone control mode, the valve opening adjustment amount is set to zero. The valve control module is used to generate valve control commands based on the valve opening adjustment amount, and to send the valve control commands to the corresponding field valve station through a wireless communication link, so that the field valve station can drive the valve actuator to perform the corresponding valve action. The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, integral coefficient, and derivative coefficient according to the range of the absolute value of the current deviation. The integral saturation suppression strategy is used to perform integral limiting processing on the cumulative value of the deviation integral during the calculation process.

[0006] According to one aspect of the embodiments of this application, an electronic device is provided, which includes a processor and a memory. The memory stores a computer program, which is loaded and executed by the processor to implement the above-described remote control method for gas pipeline valves.

[0007] According to one aspect of the embodiments of this application, the computer program product includes a computer program stored in a computer-readable storage medium. A processor of an electronic device reads the computer program from the computer-readable storage medium and executes the computer program, causing the electronic device to perform the aforementioned remote control method for gas pipeline valves.

[0008] The technical solutions provided in this application embodiment may have the following beneficial effects: This application embodiment categorizes the control mode into three modes—fast response, standard proportional-integral (PI) and dead zone—based on the comparison results between the absolute value of the current deviation and the large deviation threshold and dead zone threshold. It dynamically adjusts the PID parameters based on the deviation amplitude, enabling the system to quickly correct deviations with high proportional gain during large deviations, maintain steady-state accuracy during medium deviations, and stop adjustment to avoid oscillations during small deviations. Simultaneously, an integral saturation suppression strategy is used to limit the accumulated integral value of the deviation, preventing overshoot caused by excessive integral accumulation during large deviations. The synergistic effect of this hierarchical adaptive control and integral limiting allows the control system to match the optimal control strategy according to the degree of pipeline pressure deviation. This ensures rapid recovery during pressure anomalies while avoiding frequent actions and integral saturation risks under stable operating conditions, thereby improving the response speed, adjustment accuracy, and operational stability of remote control of gas pipeline valves. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A flowchart illustrating the remote control method for gas pipeline valves provided in this application embodiment; Figure 2 A structural block diagram of the gas pipeline valve remote control system provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0012] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of systems and methods consistent with some aspects of this application.

[0013] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0014] Figure 1 This is a flowchart of a remote control method for gas pipeline valves provided in an embodiment of this application. This method can be applied to a monitoring center, which communicates with each field valve station via a wireless communication link. The method can be executed by electronic equipment within the monitoring center. In this embodiment, the monitoring center is the central system responsible for the overall scheduling and remote control of the gas pipeline network. It can be deployed in the gas company's dispatch room and internally runs software modules for data acquisition, control algorithm calculation, and command issuance. The monitoring center maintains real-time communication with various field valve stations distributed along the pipeline network via wireless communication links, enabling remote adjustment of valve openings.

[0015] A wireless communication link refers to the data transmission channel established between the monitoring center and the field valve stations. In this embodiment, the wireless communication link can be implemented using low-power wide-area network technologies such as 4G / 5G cellular networks, NB-IoT (Narrowband Internet of Things), or LoRa.

[0016] Field valve stations are valve control units installed at various nodes of the gas pipeline network. They may include electric valve actuators, pressure sensors, flow meters, local controllers (such as PLCs or embedded control boards), and wireless communication modules. Each field valve station is responsible for collecting the operating parameters of its respective pipeline section and driving the valve actuator to adjust the valve opening according to control commands issued by the monitoring center.

[0017] The method includes: S101: Receives pipeline operation parameters uploaded by each field valve station via wireless communication link. The pipeline operation parameters include pipeline pressure values.

[0018] In this embodiment, the pipeline operation parameters are various monitoring data that reflect the current operating status of the gas pipeline network, including at least the pipeline pressure value.

[0019] In this embodiment, the monitoring center maintains communication with the field valve stations distributed at various nodes of the gas pipeline network via a wireless communication link. Each field valve station uploads the collected pipeline operating parameters to the monitoring center via the wireless communication link according to a preset data reporting cycle. The data reporting cycle can be set according to the operating characteristics of the pipeline network and the communication bandwidth, for example, it can be set to report once every 5 seconds, and can be shortened to once every 2 seconds during peak gas consumption periods to improve the response speed of the control system.

[0020] The pipeline operation parameters uploaded by the on-site valve stations must include at least the pipeline pressure value. The pipeline pressure value is acquired in real time by pressure transmitters installed at the valve stations. The pressure transmitters convert the pressure signal in the pipeline into a standard electrical signal (e.g., 4~20mA), which is then converted into a digital quantity by an analog-to-digital converter in the local controller. This digital quantity is then encapsulated into a data frame and uploaded to the monitoring center via a wireless communication link. In addition to the pipeline pressure value, the data frame may also include fields such as pipeline flow rate, pipeline temperature, current valve opening, equipment status identifier, and timestamp.

[0021] After receiving data frames uploaded by each field valve station, the monitoring center first performs protocol parsing and integrity verification (e.g., CRC check) on the data frames. Once the data is confirmed to be correct, the parsed pipeline operation parameters are stored in the real-time database for subsequent control algorithms to use. For data frames that fail the verification, the monitoring center discards the frame and waits for the next data report cycle, or sends a retransmission request to the corresponding field valve station.

[0022] In actual deployments, the monitoring center may manage dozens or even hundreds of field valve stations simultaneously. To improve data processing efficiency, the monitoring center can use multi-threading or asynchronous I / O to concurrently process data uploaded from each station, ensuring that data from each station can be received and processed in a timely manner.

[0023] S102: Calculate the current deviation value based on the preset pressure setpoint and pipeline pressure value, and compare the absolute value of the current deviation value with the preset large deviation threshold and the preset dead zone threshold respectively; when the absolute value of the current deviation value is greater than the large deviation threshold, determine the current control mode as fast response mode; when the absolute value of the current deviation value is greater than the dead zone threshold and less than or equal to the large deviation threshold, determine the current control mode as standard proportional-integral control mode; when the absolute value of the current deviation value is less than or equal to the dead zone threshold, determine the current control mode as dead zone control mode; the dead zone threshold is less than the large deviation threshold.

[0024] In this embodiment, the pressure setpoint is the target pressure value set by the monitoring center for the corresponding pipe section of each field valve station, i.e., the pressure level that the pipe section is expected to maintain. This pressure setpoint can be determined by dispatchers based on the hydraulic calculation results of the pipeline network, downstream user needs, and pipeline network safety operation procedures. For example, if the design operating pressure of a medium-pressure pipe section is 0.25 MPa, then the pressure setpoint can be set to 250 kPa. In some scenarios, the pressure setpoint can also be dynamically adjusted according to time periods (such as peak and off-peak gas consumption periods).

[0025] The current deviation value refers to the difference between the pressure setpoint and the actual pipeline pressure, reflecting the degree to which the pressure in the current pipe section deviates from the target value. Its calculation formula is: ,in, This represents the current deviation value in the k-th control cycle. Indicates the pressure setpoint. This represents the pipeline pressure value collected during the k-th control cycle. When When the value is positive, it indicates that the actual pressure is lower than the set value, and the valve needs to be opened wider to increase the gas supply; when... When the value is negative, it indicates that the actual pressure is higher than the set value, and the valve needs to be closed to reduce the gas supply.

[0026] The large deviation threshold is a preset limit value used to determine whether the pressure deviation of a pipeline section is within a large range. When the absolute value of the deviation exceeds this threshold, the pipeline section pressure is considered to have significantly deviated from the target value, requiring the activation of a rapid response mode to eliminate the deviation as quickly as possible. The value of this large deviation threshold can be determined based on the design pressure level of the pipeline section and operational experience. For example, for a medium-pressure pipeline section with a design pressure of 0.4 MPa, the large deviation threshold can be set to 50 kPa, meaning that a rapid response mode is triggered when the pressure deviation exceeds 50 kPa. This value is derived from statistical analysis of the historical operational data of the pipeline section, taking the 95th percentile of the historical deviation distribution as a reference benchmark, and then appropriately correcting it based on the allowable pressure fluctuation range specified in the dispatching procedures.

[0027] Dead zone threshold is a preset threshold value used to determine whether the pressure deviation of a pipeline section is within a negligible range. When the absolute value of the deviation is less than or equal to this threshold, the pipeline pressure is considered to be within an acceptable stable range, and no adjustment is required. The dead zone threshold should be less than the large deviation threshold. For example, for the medium-pressure pipeline section mentioned above, the dead zone threshold can be set to 5 kPa. The basis for determining this value is that when the pressure deviation is less than 5 kPa, frequent valve adjustments will cause oscillations due to the mechanical clearance of the actuator and pipeline pressure fluctuations. Therefore, a dead zone is set to avoid unnecessary adjustment actions, protect the valve actuator, and extend its service life.

[0028] The fast response mode is the control mode used when the pipe section pressure deviation is large. Its characteristic is to quickly reduce the deviation with a large proportional gain, while turning off the integral action to avoid excessive integral accumulation during the large deviation stage, and appropriately increasing the derivative action to suppress overshoot. The standard proportional-integral control mode is the control mode used when the pipe section pressure deviation is within a medium range. Its core feature is to simultaneously activate the proportional and integral actions to balance response speed and steady-state accuracy, while appropriately reducing the derivative action to avoid excessive sensitivity to measurement noise. The dead zone control mode is the control mode used when the pipe section pressure deviation is small enough. At this time, no adjustment is output, and the valve maintains its current opening.

[0029] In this embodiment, the monitoring center receives the pipeline pressure value uploaded by a certain field valve station. Then, read the pressure setpoint corresponding to that station. According to the formula Calculate the current deviation value.

[0030] Subsequently, the monitoring center will set the absolute value of the current deviation. Each with a preset large deviation threshold and preset dead zone threshold Comparison. Among them, The comparison results determine the control mode for the current control cycle: when If this occurs, it indicates that the pipeline pressure has significantly deviated from the target value, posing a substantial risk of pressure imbalance. In this case, the current control mode is set to rapid response mode. Under rapid response mode, adjustments will be made with maximum force to bring the pressure deviation back to the normal range in the shortest possible time.

[0031] when If the pressure deviation in the pipeline segment is not severe, it indicates that there is a certain deviation, and the current control mode is set to the standard proportional-integral control mode. In this mode, adjustments are made with conventional force, balancing response speed and adjustment stability.

[0032] when When the pressure in the pipeline section is within an acceptable stable range, the current control mode is determined to be dead-zone control mode. In this mode, no adjustment is output, and the valve maintains its current opening without actuation, in order to avoid unnecessary wear on the valve actuator caused by frequent adjustments.

[0033] Taking a medium-pressure pipeline section as an example, the pressure setpoint =250kPa, large deviation threshold =50kPa, dead zone threshold =5kPa. If the pipeline pressure value P(k) collected in a certain control cycle is 190kPa, then the current deviation value e(k) is 250. 190 = 60 kPa =60kPa>50kPa, therefore the current control mode is determined to be fast response mode. If the pipeline pressure value P(k) collected in the next control cycle is 230kPa, then e(k)=250 230 = 20 kPa, 5 kPa < 20 kPa ≤ 50 kPa, therefore the current control mode is determined to be the standard proportional-integral control mode. If the pipeline pressure value P(k) collected in the next control cycle is 248 kPa, then e(k) = 250. 248 = 2 kPa =2kPa≤5kPa, therefore the current control mode is determined to be dead zone control mode.

[0034] In this embodiment, the large deviation threshold and dead zone threshold can be set separately for different pipe sections. Different pipe sections exhibit different pressure fluctuation characteristics due to variations in pipe diameter, length, and the number of downstream users. Therefore, configuring independent threshold parameters for each pipe section or type of pipe section helps improve the accuracy of control mode determination. These threshold parameters can be manually configured by dispatchers based on the pipe section's design parameters and historical operating experience, or they can be automatically recommended through offline analysis of historical operating data.

[0035] S103: If the current control mode is not a dead zone control mode, the valve opening adjustment amount is calculated based on the proportional coefficient, integral coefficient and derivative coefficient corresponding to the current control mode and through the adaptive proportional-integral-derivative control algorithm; if the current control mode is a dead zone control mode, the valve opening adjustment amount is set to zero.

[0036] The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, integral coefficient, and derivative coefficient according to the range of the absolute value of the current deviation. The integral saturation suppression strategy is used to perform integral limiting processing on the cumulative value of the deviation integral during the calculation process.

[0037] In this embodiment, the adaptive proportional-integral-derivative (PID) control algorithm refers to an improved control algorithm that introduces an adaptive parameter adjustment mechanism and an integral saturation suppression mechanism on the basis of the classic PID.

[0038] The adaptive parameter adjustment strategy dynamically adjusts the values ​​of the proportional, integral, and derivative coefficients based on the range of the absolute value of the current deviation, enabling the controller to achieve optimal control performance under different operating conditions. Specifically, the proportional coefficient is increased when the deviation is large to speed up the response, and decreased when the deviation is small to avoid overshoot, thereby achieving adaptive changes in control parameters according to operating conditions.

[0039] The integral saturation suppression strategy sets upper and lower limits on the accumulated integral value of the deviation to prevent the integral term from accumulating infinitely under long-term large deviations, leading to severe overshoot in the control output (i.e., "integral saturation"). When the absolute value of the accumulated integral value of the deviation exceeds the preset integral limit boundary value, it is truncated to this boundary value, thereby limiting the contribution of the integral term to a reasonable range. The integral limit boundary value refers to the maximum allowable amplitude set for the accumulated integral value of the deviation. The determination of this value requires comprehensive consideration of the magnitude of the integral coefficient and the allowable range of the control output.

[0040] In this embodiment, the core calculation formula of the adaptive PID control algorithm is: ; in, This represents the valve opening adjustment amount in the k-th control cycle; is the proportional coefficient under the current control mode; e(k) is the current deviation value in the k-th control cycle; S(k) represents the integral coefficient under the current control mode; S(k) represents the cumulative value of the deviation integral after integral limiting processing. e(k) represents the differential coefficient under the current control mode; 1) is the kth Deviation value over one control cycle.

[0041] The parameter adaptive adjustment strategy is reflected in different control modes corresponding to different... , , Value combination. When the deviation is large (fast response mode), use the larger value combination. To speed up the response time, and at the same time Set to zero to avoid integral saturation, and increase appropriately. To suppress overshoot; when the deviation is in the moderate range (standard proportional-integral control mode), a moderate adjustment is adopted. and To balance response speed and steady-state accuracy, while reducing To reduce sensitivity to noise.

[0042] The integral saturation suppression strategy is reflected in the fact that when calculating the cumulative integral value of the deviation in each control cycle, the original cumulative integral value is calculated first. Then judge Does the absolute value exceed the preset integral limit boundary value? .like Then S(k) is truncated to , where sign(·) is the sign function; if ,but The S(k) after the above limiting process is substituted into the control formula for calculation.

[0043] Integral limit boundary value The method for determining it is as follows: ,in To control the maximum allowable change in output (i.e., the maximum change in opening per cycle, for example, 10%). This represents the maximum possible value of the integral coefficient. This setting ensures that the maximum contribution of the integral term does not exceed the allowable range of the control output, fundamentally avoiding integral saturation.

[0044] Taking a certain control cycle as an example, assuming the current control mode is the standard proportional-integral control mode, =0.8, =0.05, =0.1, current deviation value e(k)=20kPa, previous cycle deviation value e(k) 1) = 25 kPa, the cumulative integral value of the previous period =150, integral limit boundary value =200. Therefore: =150+20=170, because Since <200, S(k) = 170.

[0045] u(k)=0.8×20+0.05×170+0.1×(20 25) = 16 + 8.5 + ( 0.5) = 24.

[0046] This means the valve opening adjustment for the current cycle is +24 (meaning the valve needs to be opened 24 units).

[0047] In one embodiment of this application, the valve opening adjustment is calculated using an adaptive proportional-integral-derivative (PID) control algorithm based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode, including: When the current control mode is fast response mode, the proportional coefficient is set to the preset maximum proportional coefficient, the integral coefficient is set to zero, and the derivative coefficient is set to the preset increased derivative coefficient. Based on the maximum proportional coefficient, zero and the increased derivative coefficient, the valve opening adjustment amount is calculated by the adaptive proportional-integral-derivative control algorithm. When the current control mode is the standard proportional-integral control mode, the proportional coefficient is set to the preset standard proportional coefficient, the integral coefficient is set to the preset standard integral coefficient, and the derivative coefficient is set to the preset reduced derivative coefficient. The valve opening adjustment is calculated based on the standard proportional coefficient, the standard integral coefficient, and the reduced derivative coefficient, using an adaptive proportional-integral-derivative control algorithm.

[0048] In this embodiment, the maximum proportional gain is the upper limit of the proportional gain used in fast response mode. Since the goal of fast response mode is to eliminate large deviations in the shortest possible time, the proportional gain is set to the maximum value allowed by the system to produce the largest possible control output. Maximum proportional gain The maximum response rate of the valve actuator and the pressure fluctuation tolerance of the pipeline network must be considered comprehensively. For example, It can be set to 2.0. This value comes from the matching calculation of the valve actuator's full stroke response time (e.g., 30s) and the rate of change of pipe pressure: when the deviation is 50kPa, the proportional term output is 2.0×50=100 (corresponding to the valve opening change after normalization), which can significantly reduce the deviation within 2~3 control cycles.

[0049] The increased derivative coefficient is the derivative coefficient used in fast response mode, and its value is greater than that in standard proportional-integral control mode. Because the proportional coefficient is larger in fast response mode, overshoot is prone to occur. Increasing the derivative coefficient can enhance the suppression of the rate of change of deviation, acting as a "brake" and reducing overshoot. For example, increasing the derivative coefficient... It can be set to 0.3, while the differential coefficient in standard mode... It is 0.1.

[0050] The standard proportional coefficient refers to the proportional coefficient used in standard proportional-integral control mode, which is chosen to balance response speed and stability. For example, the standard proportional coefficient... It can be set to 0.8. This value is obtained through simulation optimization of historical operating data of the pipeline section, that is, under different conditions in the simulation environment. Closed-loop control simulation was performed using values ​​that ensured overshoot was less than 5% and settling time was less than 60 seconds. The value is used as a standard proportionality coefficient.

[0051] The standard integral coefficient refers to the integral coefficient used in standard proportional-integral (PI) control mode. The introduction of integral action is to eliminate steady-state error, ensuring that the pipe pressure ultimately converges precisely to the setpoint. For example, the standard integral coefficient... It can be set to 0.05. This value can also be determined through simulation optimization, and it is necessary to ensure that the integral action does not cause system oscillation.

[0052] The reduced derivative coefficient is the derivative coefficient used in the standard proportional-integral control mode, and its value is smaller than that in the fast response mode. Since the deviation is already within a moderate range in the standard mode, an excessively large derivative coefficient will make the system overly sensitive to noise in the pressure sensor signal, leading to control output jitter. Therefore, the derivative coefficient is appropriately reduced. For example, the reduced derivative coefficient... It can be set to 0.1.

[0053] In this embodiment, when the current control mode is fast response mode, the monitoring center will adjust the proportional coefficient. Set to the preset maximum scaling factor =2.0, the integral coefficient Set to zero, and set the differential coefficients to zero. Set to the preset increased differential coefficient .

[0054] Will The reason for setting it to zero is that in fast response mode, the deviation is large and the duration may be long. If the integral term continues to accumulate at this time, when the deviation decreases, the integral term will release a large amount of accumulated value, resulting in a serious overshoot phenomenon (i.e., overshoot after "integral saturation"). Therefore, in fast response mode, the integral action is completely turned off, and the integral action is re-enabled after the deviation shrinks to a medium range (switching to standard proportional-integral control mode).

[0055] At this point, the formula for calculating the valve opening adjustment amount simplifies to: ; Taking the control cycle under a certain fast response mode as an example, e(k) = 60 kPa, e(k 1) = 70 kPa, then: u(k) = 2.0 × 60 + 0.3 × (60) 70) = 120 + ( 3) = 117.

[0056] After undergoing subsequent safety constraint processing, this adjustment amount will serve as the basis for valve control commands.

[0057] When the current control mode is the standard proportional-integral control mode, the monitoring center will adjust the proportional coefficient. Set to the preset standard ratio coefficient Integral coefficients Set to the preset standard integral coefficient The differential coefficients Set to the preset reduced differential coefficient .

[0058] At this point, the formula for calculating the valve opening adjustment is in complete PID form: ; Where S(k) is the cumulative value of the deviation integral after integral limiting processing, and its calculation method is as before.

[0059] When the current control mode is dead-zone control mode, the monitoring center directly sets the valve opening adjustment to zero, i.e., u(k) = 0. At this time, no new valve control command is generated (or a command to keep the opening unchanged is generated), and the valve actuator maintains the current opening without actuation. This design avoids frequent valve fine-tuning when the pressure deviation is extremely small, effectively reducing the mechanical wear of the valve actuator and extending the equipment's service life.

[0060] In this embodiment, the parameter values ​​in each of the above control modes are ( , =0.3、 =0.8、 =0.05、 =0.1) is an example value for a typical medium-pressure pipe section. In practical applications, different pipe sections may require different parameter combinations due to differences in pipe diameter, length, downstream load characteristics, etc. These parameters can be determined through offline simulation optimization or online parameter identification methods, or they can be manually tuned by experienced dispatchers based on the characteristics of the pipe section.

[0061] As can be seen from the above, this embodiment achieves adaptive adjustment of control parameters according to the deviation amplitude by configuring different PID parameter combinations in three control modes. In fast response mode, the large proportional gain combined with derivative suppression ensures fast convergence and no overshoot; in standard proportional-integral control mode, proportional-integral coordination ensures steady-state accuracy; in dead-zone control mode, zero output avoids unnecessary adjustment actions. This hierarchical parameter design enables the control system to maintain good control quality across the entire operating range, avoiding both the safety risk of slow response under large deviations and the wear and tear on equipment caused by frequent actions under small deviations.

[0062] S104: Generate valve control commands based on valve opening adjustment amount, and send the valve control commands to the corresponding field valve station through wireless communication link so that the field valve station drives the valve actuator to perform the corresponding valve action.

[0063] In this embodiment, the valve control command refers to the control command generated by the monitoring center based on the valve opening adjustment amount and sent to the field valve station. This command carries the target opening value or opening adjustment amount information. After receiving the command, the field valve station drives the valve actuator to perform the corresponding opening adjustment action. The valve actuator is an electric drive system installed on the valve body, typically an electric actuator or a pneumatic actuator, capable of driving the valve core to rotate or move according to the received control signal, thereby changing the valve opening.

[0064] In this embodiment, after calculating the valve opening adjustment amount u(k), the monitoring center generates a valve control command based on the valve opening adjustment amount. The valve control command includes at least the following information: the site identifier of the target field valve station (used for addressing), the target opening value (i.e., the sum of the current valve opening value and the valve opening adjustment amount), the command generation timestamp, and the command sequence number. The monitoring center encapsulates the generated valve control command into a data frame conforming to the communication protocol format and sends it to the corresponding field valve station via a wireless communication link.

[0065] After receiving the valve control command, the local controller at the field valve station parses and verifies the command. Once the command is confirmed to be valid, it converts the target opening value into a control signal (such as a 4~20mA analog signal) that the valve actuator can recognize, and drives the valve actuator to adjust the valve to the target opening position.

[0066] As can be seen from the above, this embodiment divides the control mode into three modes—fast response, standard proportional-integral (PI) and dead zone—based on the comparison results between the absolute value of the current deviation and the large deviation threshold and dead zone threshold. It dynamically adjusts the PID parameters based on the deviation amplitude, enabling the system to quickly correct deviations with a high proportional gain during large deviations, maintain steady-state accuracy during medium deviations, and stop adjustment to avoid oscillations during small deviations. Simultaneously, it combines an integral saturation suppression strategy to limit the accumulated integral value of the deviation, preventing overshoot caused by excessive integral accumulation during large deviations. The synergistic effect of the above-mentioned hierarchical adaptive control and integral limiting allows the control system to match the optimal control strategy according to the degree of pipeline pressure deviation. This ensures rapid recovery capability during pressure anomalies while avoiding frequent actions and integral saturation risks under stable operating conditions, thereby improving the response speed, adjustment accuracy, and operational stability of remote control of gas pipeline valves.

[0067] In one embodiment of this application, a valve control command is generated based on the valve opening adjustment amount, and the valve control command is transmitted to the corresponding field valve station via a wireless communication link, so that the field valve station drives the valve actuator to perform the corresponding valve action, including: Determine the target field valve station corresponding to the valve control command, and include the target opening value corresponding to the valve opening adjustment amount in the valve control command; The valve control command is sent to the target field valve station via a wireless communication link, so that the target field valve station drives the valve actuator to perform the corresponding valve action according to the target opening value. In the process of driving the valve actuator to perform the corresponding valve action, the valve position status signal uploaded by the target site valve station is received. The valve position status signal includes the actual opening value of the valve actuator. The actual opening value is compared with the target opening value to calculate the position deviation value; When the absolute value of the position deviation exceeds the preset position deviation threshold, a correction control command is generated. The correction control command is a supplementary command to the valve control command. The correction control command is sent to the target field valve station via a wireless communication link to drive the valve actuator to perform position correction, thereby enabling the valve actuator to perform the corresponding valve action.

[0068] In this embodiment, the target field valve station refers to a specific field valve station that needs to receive valve control commands within the current control cycle. The target opening value is the target opening degree that the valve should reach, carried in the valve control command, expressed as a percentage (0%~100%). The valve position status signal is the status information fed back to the monitoring center by the field valve station during or after driving the valve actuator; this signal contains the actual opening value of the valve actuator, that is, the current actual opening position reached by the valve actuator. The valve position status signal is collected by the position sensor (such as a potentiometer or encoder) built into the valve actuator, processed by the local controller, and uploaded to the monitoring center via a wireless communication link. The actual opening value refers to the current actual opening position fed back by the valve actuator, expressed as a percentage. Due to the mechanical characteristics of the valve actuator (such as valve stem friction, seal resistance, etc.), the actual opening value may deviate from the target opening value to a certain extent.

[0069] Position deviation value refers to the difference between the actual opening value and the target opening value, reflecting whether the valve actuator has accurately reached the target position. Its calculation formula is: ,in This indicates the positional deviation value. This represents the actual opening value. This represents the target opening value.

[0070] The position deviation threshold is the allowable deviation range for determining whether a valve actuator is accurately positioned. When the absolute value of the position deviation exceeds this threshold, the valve actuator is considered not to be accurately positioned and correction is required. The value of the position deviation threshold is determined based on the positioning accuracy of the valve actuator. For example, for an electric actuator with a positioning accuracy of ±2%, the position deviation threshold can be set to 2%. This value is derived from the positioning accuracy specification given in the valve actuator's product technical specifications, and is appropriately relaxed (e.g., 1.5 times the positioning accuracy) to avoid misjudgments caused by measurement noise.

[0071] Correction control commands are supplementary control commands generated by the monitoring center when the valve actuator fails to accurately reach the target position. These commands drive the valve actuator to continue correcting its position. The correction control command carries the corrected target opening value or correction amount.

[0072] In this embodiment, after calculating the valve opening adjustment amount u(k), the monitoring center first determines the target field valve station corresponding to this adjustment amount. Since the calculation for each control cycle is performed for a specific pipe segment, and each pipe segment corresponds to a field valve station, the target field valve station can be directly mapped from the pipe segment identifier.

[0073] Subsequently, the monitoring center obtains the current valve opening value at the target site valve station (this value can be obtained from the most recently reported pipeline operation parameters), adds it to the valve opening adjustment amount, and obtains the target opening value. For example, if the current valve opening value is 45% and the valve opening adjustment amount is +3%, then the target opening value is 48%. The monitoring center encapsulates the target opening value into a valve control command and sends this command to the target site valve station via a wireless communication link.

[0074] After receiving the valve control command, the local controller at the target site valve station parses the target opening value in the command and converts it into a drive signal for the valve actuator, driving the valve actuator to move towards the target opening position. During the movement of the valve actuator, the position sensor continuously detects the valve stem position, and the local controller encapsulates the detected actual opening value into a valve position status signal, which is then uploaded to the monitoring center via a wireless communication link.

[0075] After receiving the valve's position status signal, the monitoring center extracts the actual opening value and compares it with the target opening value to calculate the position deviation. .like If the position deviation is ≤ the threshold (e.g., 2%), the valve actuator is considered to have accurately reached its position, and the control action is considered complete. If the position deviation threshold is reached, it indicates that the valve actuator has not accurately reached the target position. At this time, the monitoring center generates a correction control command and sends it to the target valve station through the wireless communication link to drive the valve actuator to perform position correction.

[0076] Taking a certain control process as an example, the target opening value is 48%, and the actual opening value fed back by the valve actuator after action is 45.5%. Then the position deviation value is... =45.5% 48%= 2.5%, =2.5% > 2% (position deviation threshold), therefore a correction control command is generated, carrying a correction amount of +2.5% (i.e., requiring the valve to open further by 2.5 percentage points). After this correction control command is sent to the target valve station, the valve actuator continues to move towards the target position of 48%.

[0077] As can be seen from the above, this embodiment ensures that the valve actuator can accurately reach the target opening position by introducing a feedback mechanism for the valve's position status signal and a closed-loop verification of the position deviation. When the valve fails to reach the target position in one go due to mechanical resistance or external interference, the system automatically generates a correction control command to compensate, avoiding pipe pressure control deviations caused by inaccurate valve position, and improving the reliability and control accuracy of the entire control system.

[0078] In one embodiment of this application, a correction control command is transmitted to the target field valve station via a wireless communication link to drive the valve actuator to perform position correction, thereby enabling the valve actuator to execute the corresponding valve action, including: The correction control command is sent to the target field valve station via a wireless communication link, and the preset correction count counter is incremented by one; Receive the corrected actual opening value uploaded by the target field valve station in response to the corrected control command; The difference between the corrected actual opening value and the target opening value is calculated to obtain the corrected position deviation value; When the absolute value of the corrected position deviation is less than or equal to the position deviation threshold, it is determined that the valve actuator has reached the target position corresponding to the target opening value, and the valve actuator performs the corresponding valve action. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter is less than the preset maximum correction count, the correction control command is regenerated based on the corrected position deviation value, and the step of sending the correction control command to the target field valve station through the wireless communication link is repeated. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter reaches the maximum number of corrections, a valve actuator fault alarm signal is generated, and the corresponding target field valve station is marked as an actuator fault state.

[0079] In this embodiment, the correction count counter is a counting variable maintained by the monitoring center for each target field valve station, used to record the number of consecutive correction control commands issued for the same target opening value. Each time a correction control command is sent by the monitoring center, the corresponding correction count counter is incremented. The initial value of this counter is zero, and it is reset to zero each time a new valve control command (non-correction command) is issued.

[0080] The maximum number of correction attempts refers to the maximum number of positional correction attempts the system is allowed to make for the same target opening value. When the correction attempt counter reaches this maximum value, the system will stop attempting corrections and instead determine that the valve actuator is faulty. The maximum number of correction attempts can be determined based on the normal correction capability of the valve actuator. For example, the maximum number of correction attempts can be set to 3.

[0081] In this embodiment, after generating the correction control command, the monitoring center sends it to the target valve station via a wireless communication link, and simultaneously increments the correction count counter corresponding to the target valve station. Upon receiving the correction control command, the target valve station drives the valve actuator to continue moving towards the target opening position, and uploads the corrected actual opening value after the movement is completed (or during the movement).

[0082] After receiving the corrected actual opening value, the monitoring center calculates the difference between it and the target opening value to obtain the corrected position deviation value. Then, it performs branch decisions based on the magnitude of the corrected position deviation value. If the absolute value of the corrected position deviation is less than or equal to the position deviation threshold, the valve actuator is determined to have accurately reached the target position, the valve action is completed, and the correction process ends. The monitoring center resets the correction count counter for that station to zero, awaiting the next control cycle.

[0083] If the absolute value of the corrected position deviation is still greater than the position deviation threshold, and the correction count counter has not yet reached the maximum correction count, it indicates that the valve actuator has responded but has not yet accurately reached its position. At this time, the monitoring center regenerates the correction control command based on the corrected position deviation value (the correction amount is equal to the negative of the corrected position deviation value), and repeats the step of sending the correction control command to the target field valve station, while incrementing the correction count counter again.

[0084] If the absolute value of the corrected position deviation is still greater than the position deviation threshold, and the correction count counter has reached the maximum number of corrections, it indicates that the valve actuator still cannot accurately reach its position after multiple corrections, and there is a high probability of a mechanical or electrical fault. At this time, the monitoring center generates a valve actuator fault alarm signal and marks the corresponding target field valve station as having an actuator fault status.

[0085] Taking a complete correction process as an example: the target opening value is 50%, the position deviation threshold is 2%, and the maximum number of corrections is 3.

[0086] After the first movement, the actual opening value was 46%, and the positional deviation value was... If the value exceeds 4%, a correction control command (correction amount + 4%) is generated, and the correction count counter becomes 1.

[0087] After the second action (after the first correction), the actual opening value after correction is 48.5%, and the position deviation after correction is [value missing]. 1.5%, not exceeding the threshold, the judgment was successful, and the correction process ended.

[0088] If the actual opening value after correction following the second action is still 46.5%, the corrected position deviation value is... If the value is 3.5%, which still exceeds the threshold, and the correction count counter is 1 < 3, then continue to generate correction control instructions, and the correction count counter becomes 2.

[0089] If the actual opening value after the third adjustment is 47%, the corrected position deviation value is... If the value is 3%, it still exceeds the threshold, and the correction count counter is 2 < 3, then continue to generate correction control instructions, and the correction count counter becomes 3.

[0090] If the actual opening value after correction following the fourth action is 47.2%, the corrected position deviation value is... If the error rate is 2.8%, it still exceeds the threshold, and the correction count counter is 3 = the maximum number of corrections. At this time, a valve actuator fault alarm signal is generated, and the station is marked as having an actuator fault status.

[0091] Valve actuator fault alarm signals can include information such as site identifier, fault determination time, target opening value, last actual opening value, and number of corrections, facilitating maintenance personnel to quickly locate faulty equipment and analyze the cause of the fault. Simultaneously, the monitoring center can display the faulty site prominently on the dispatch interface (e.g., with a flashing red icon) and notify relevant maintenance personnel via SMS, instant messaging, or other means.

[0092] As can be seen from the above, this embodiment, by introducing a correction count counter and a maximum correction count limit mechanism, avoids the problem of infinitely looping corrections when the valve actuator does indeed have a fault, thus protecting equipment safety. Simultaneously, when the correction count reaches the upper limit, a fault alarm signal is automatically generated and the fault status is marked, providing maintenance personnel with timely fault diagnosis information, shortening fault detection and handling time, and ensuring the safe and stable operation of the gas pipeline network.

[0093] In one embodiment of this application, before generating a valve control command based on the valve opening adjustment amount, the method further includes: Obtain the current valve opening value of the corresponding field valve station; Add the current valve opening value to the valve opening adjustment amount to obtain the target opening value; The target opening value is compared with the preset upper opening value and the preset lower opening value respectively. When the target opening value is greater than the upper opening value, the valve opening adjustment is corrected to the difference between the upper opening value and the current valve opening value. When the target opening value is less than the lower opening value, the valve opening adjustment is corrected to the difference between the lower opening value and the current valve opening value. The absolute value of the corrected valve opening adjustment is compared with the preset maximum opening change in a single cycle. When the absolute value of the corrected valve opening adjustment is greater than the maximum opening change in a single cycle, the absolute value of the corrected valve opening adjustment is truncated to the maximum opening change in a single cycle, while keeping the sign of the corrected valve opening adjustment unchanged, thus obtaining the valve opening adjustment after safety constraints.

[0094] In this embodiment, the target opening estimate refers to the estimated value obtained by adding the current valve opening value to the valve opening adjustment amount. It represents the valve opening position that will be reached after the action is performed according to the currently calculated adjustment amount. The calculation formula is as follows: ,in This indicates the estimated target opening size. This indicates the current valve opening value.

[0095] The maximum change in valve opening per single cycle refers to the maximum allowable change in valve opening within a single control cycle. This limit is set to prevent the control algorithm from outputting excessively large adjustments within a single cycle, which could cause rapid and significant movements of the valve actuator, resulting in drastic fluctuations in pipeline pressure and affecting the normal gas supply to downstream users.

[0096] In this embodiment, after the monitoring center calculates the valve opening adjustment amount u(k) through the adaptive PID control algorithm, it first obtains the current valve opening value of the corresponding field valve station. This value is read from the status data of each station stored locally in the monitoring center. The data comes from the valve opening information most recently reported by that station.

[0097] Then, the current valve opening value is... Adding this to the valve opening adjustment amount u(k) yields the estimated target opening value.

[0098] Next, we will estimate the target opening degree. Each is compared with the preset upper limit value of the opening. and the preset lower limit value of opening Comparison: like This indicates that the valve opening will exceed the maximum allowable value after the current adjustment is executed. In this case, the valve opening adjustment amount should be corrected to... This means that the valve is only allowed to be opened to its maximum value, and will not be opened any further.

[0099] like This indicates that after executing the current adjustment, the valve opening will be lower than the minimum allowable value. In this case, the valve opening adjustment amount will be corrected to... This means that the valve is only allowed to be closed to the lower limit value, and will not be closed further.

[0100] like This indicates that the estimated target opening is within the allowable range, and the valve opening adjustment amount does not need to be corrected.

[0101] After constraining the upper and lower limits of the valve opening, the monitoring center further constrains the maximum change in the corrected valve opening adjustment within a single cycle. Specifically, the absolute value of the corrected valve opening adjustment is... The change in maximum opening degree in a single cycle as preset Comparison: like > This indicates that the adjustment amount in the current cycle is too large and needs to be truncated. At this point, the absolute value of the valve opening adjustment is truncated to... At the same time, its sign remains unchanged. That is: if ,but ;like <0, then = .in This indicates the final valve opening adjustment amount after safety constraints.

[0102] like ≤ This indicates that the adjustment amount in the current cycle is within the allowable range. .

[0103] Taking a certain calculation as an example: Current valve opening value =92%, the calculated valve opening adjustment amount u(k) = +15%, the upper limit of the opening. =100%, lower limit of opening =0%, Maximum opening change in a single cycle =10%.

[0104] First, the estimated target opening degree. =92% + 15% = 107% > 100% (upper limit of valve opening), therefore the valve opening adjustment amount is corrected to 100%. 92% = 8%. After correction, |8%| = 8% < 10% (maximum opening change in a single cycle), so no further truncation is needed. The final valve opening adjustment is +8%.

[0105] The valve opening adjustment amount obtained after the above safety constraint processing is the final adjustment amount used to generate valve control commands. This adjustment amount ensures that the valve opening does not exceed the physical allowable range and limits the variation within a single cycle, avoiding violent valve actions caused by abnormal control algorithm output, and ensuring the safety and stability of pipeline network operation.

[0106] As can be seen from the above, this embodiment effectively prevents the risk of the control algorithm outputting excessive adjustment amounts due to calculation anomalies or improper parameter tuning by setting a dual safety constraint mechanism (upper and lower opening limits and single-cycle maximum change constraint) before generating valve control commands. The upper and lower opening limits ensure that the valve always operates within the physically permissible range, avoiding pipeline safety accidents that may be caused by the valve being fully open or fully closed; the single-cycle maximum change constraint smooths the valve's operation process, avoiding the impact of pressure surges on downstream users, improving the stability of pipeline operation and the user's gas usage experience.

[0107] In one embodiment of this application, the method further includes: Send handshake commands to each field valve station and receive response frames returned by each field valve station; If a response frame is received and the signal strength of the response frame meets the preset signal strength requirements, then the communication link of the corresponding field valve station is determined to be successfully established. According to the preset heartbeat cycle, a heartbeat request frame is sent to each field valve station, and it is checked whether the corresponding response frame from the field valve station is received within the preset timeout window. If no response frame is received from a certain field valve station for a preset number of consecutive times, the communication link of the field valve station is determined to be faulty.

[0108] In this embodiment, the handshake command is a communication link establishment request sent by the monitoring center to the field valve station. This command is used to confirm the availability of the wireless communication link between the two parties and to negotiate communication parameters (such as data frame format, transmission rate, etc.). The handshake command typically includes the monitoring center's identification and communication protocol version number.

[0109] A response frame is a data frame sent by a field valve station to the monitoring center in response to a command received from the monitoring center. Response frames typically contain the field valve station's identification, equipment status information, and signal strength information.

[0110] Signal strength requirement refers to a preset threshold for determining whether the quality of a communication link meets normal communication needs. This requirement is usually expressed in the form of Received Signal Strength Indication (RSSI). For example, the signal strength requirement can be set as RSSI ≥ 95dBm. This value comes from the technical specifications of the wireless communication module; when the RSSI is lower than... At 95dBm, the bit error rate of data transmission will increase significantly, making it impossible to guarantee the reliable transmission of control commands.

[0111] The heartbeat cycle refers to the time interval between the monitoring center sending heartbeat request frames to each field valve station. The heartbeat mechanism continuously monitors the connectivity of the communication link, ensuring timely detection of link interruptions. The value of the heartbeat cycle needs to balance communication overhead and fault detection speed. For example, the heartbeat cycle can be set to 10 seconds, meaning a heartbeat request frame is sent every 10 seconds. This value is determined based on the service requirements for fault detection time: if a communication link fault is required to be detected within 30 seconds, and a fault is only considered valid after three consecutive unresponsive heartbeats, then the heartbeat cycle should be set to 10 seconds (3 × 10 = 30 seconds).

[0112] The preset number of times refers to the number of consecutive heartbeats without response required to determine a communication link failure. For example, the preset number of times can be set to 3 times, meaning that a communication link failure is determined only if no response frame is received from a certain station for 3 consecutive heartbeat cycles (30 seconds in total).

[0113] In this embodiment, during system initialization or when a communication connection needs to be re-established, the monitoring center sends a handshake command to each field valve station one by one. Upon receiving the handshake command, each field valve station returns a response frame to the monitoring center. Upon receiving the response frame, the monitoring center checks two conditions: first, whether the response frame is complete and passes verification; second, whether the signal strength information carried in the response frame meets the preset signal strength requirements. If both conditions are met, the communication link for that field valve station is determined to be successfully established, and the monitoring center marks the station as "online" in its local communication status table. If the response frame fails verification or the signal strength does not meet the requirements, the communication link establishment is determined to have failed, and the monitoring center can resend the handshake command after a delay to retry.

[0114] After the communication link is successfully established, the monitoring center sends heartbeat request frames to each field valve station according to the preset heartbeat cycle and starts the corresponding timeout window timer (e.g., 5 seconds). If a response frame is received from the corresponding station within the timeout window, the station is considered to be communicating normally, and the station's continuous non-response counter is reset. If no response frame is received by the timeout window expires, the station's continuous non-response counter is incremented by one.

[0115] When the continuous non-response counter of a certain field valve station reaches a preset number (e.g., 3 times), the monitoring center determines that the communication link of the station is faulty, marks its communication status as "link fault", and triggers the subsequent fault handling process (such as reconnection attempt and emergency handling, which will be described in detail in the following embodiments).

[0116] Taking a heartbeat detection process as an example: The monitoring center sends a heartbeat request frame to station A at time T0, with a timeout window of 5 seconds. If a response frame is received from station A at T0+3 seconds and the signal strength meets the requirements, communication is considered normal, and the continuous non-response counter remains at 0. If no response frame is received at T0+5 seconds, the continuous non-response counter becomes 1. At time T0+10 seconds (the next heartbeat cycle), a heartbeat request frame is sent again. If no response is received, the continuous non-response counter becomes 2. At time T0+20 seconds, a heartbeat request frame is sent for the third time. If no response is received, the continuous non-response counter becomes 3. Reaching the preset number of attempts, the communication link of station A is determined to be faulty.

[0117] As can be seen from the above, this embodiment achieves reliable establishment and continuous monitoring of the communication link through the combination of handshake commands and a heartbeat mechanism. The signal strength verification during the handshake phase ensures good communication quality from the outset, avoiding subsequent communication instability caused by forcibly establishing a connection under poor signal conditions. The heartbeat mechanism, through periodic probing and consecutive failure counting, can promptly detect communication link faults while avoiding misjudgments caused by occasional network jitter, providing a reliable basis for subsequent fault handling and emergency dispatch.

[0118] In one embodiment of this application, after determining that the communication link at the field valve station is faulty, the method further includes: According to the preset reconnection interval, a reconnection request frame is sent to the field valve station where the communication link fails. If a response frame is received from the field valve station after sending a preset number of reconnection request frames, it is determined that the communication link of the field valve station has been restored to normal, and valve control commands are resumed to be sent to the field valve station. If no response frame is received from the field valve station after sending reconnection request frames for a specified number of reconnection attempts, the field valve station will be marked as offline, and the following emergency procedures will be performed: Obtain pipeline operation parameters uploaded by at least one adjacent field valve station that is adjacent to the offline field valve station; Based on the pipeline operation parameters uploaded by the adjacent field valve stations, adjust the pressure setpoint of the corresponding adjacent field valve stations to obtain the adjusted pressure setpoint to compensate for the lack of pipeline pressure regulation caused by the offline field valve stations leaving the control. Generate communication link fault alarm information, which includes the site identifier of the field valve station marked as offline, the fault determination time, and the adjusted pressure setpoint.

[0119] In this embodiment, the reconnection interval refers to the time interval between when the monitoring center sends a reconnection request frame to the faulty site after determining a communication link failure. The value of the reconnection interval needs to take into account the recovery time of temporary interference in the wireless communication environment. For example, the reconnection interval can be set to 30 seconds. This value can be determined based on the typical recovery time of the wireless communication network: for cellular networks, temporary signal blockage or base station switching usually recovers within tens of seconds; for NB-IoT networks, the time for a terminal to wake up from power-saving mode and reconnect to the network is approximately 10-30 seconds. Therefore, setting a 30-second reconnection interval can cover most temporary fault recovery scenarios.

[0120] Adjacent field valve stations refer to other field valve stations that are directly adjacent to (i.e., connected through the same pipe segment) an offline field valve station in the gas pipeline network topology. The pipeline operation parameters uploaded by adjacent field valve stations can reflect the pressure status of the pipe segments managed by the offline stations, providing data for compensation control.

[0121] The adjusted pressure setpoint refers to the new setpoint obtained by adjusting the pressure setpoints of adjacent stations to compensate for the offline station's withdrawal from control. By adjusting the pressure setpoints of adjacent stations, the adjacent stations can take over some of the pressure regulation functions originally performed by the offline station, thereby maintaining the basic stability of the pipeline pressure even after the offline station withdraws.

[0122] In this embodiment, when the monitoring center determines that the communication link of a certain field valve station has failed, it enters the reconnection attempt phase. The monitoring center sends a reconnection request frame to the failed station according to a preset reconnection interval and waits for a response frame. After each reconnection request frame is sent, the monitoring center starts a timeout window timer. If a response frame is received within the timeout window, the communication link is considered to have been restored, the communication status of the station is marked as "online," and valve control commands are resumed to be sent to the station. Simultaneously, the monitoring center can send a link restoration notification to the dispatcher.

[0123] If no response frame is received from the site after sending a preset number of reconnection request frames, the monitoring center will mark the site as offline and execute emergency handling procedures.

[0124] In this embodiment, after an offline station exits control, the adjustment capabilities of its neighboring stations are utilized to compensate for the lack of pressure regulation in the pipe section managed by the offline station. Specifically, the monitoring center obtains pipeline operation parameters (including pipeline pressure values, etc.) uploaded by at least one adjacent field valve station adjacent to the offline station, and then adjusts the pressure setpoint of the corresponding adjacent station based on these pipeline operation parameters.

[0125] The specific method for adjusting the pressure setpoint is as follows: The monitoring center determines the upstream and downstream relationships of the pipe sections managed by the offline stations based on the pipeline network topology. If an offline station is located downstream of a pipe section, the pressure setpoint of its upstream neighboring stations can be appropriately increased to increase the gas supply to the pipe section managed by the offline station; if an offline station is located upstream of a pipe section, the pressure setpoint of its downstream neighboring stations can be appropriately decreased to reduce the required pressure for that pipe section. The adjustment range can be estimated based on the valve opening value before the offline station's withdrawal and the hydraulic model of the pipe section. For example, if the valve opening before the offline station's withdrawal was 60% and the pipe section's design flow rate was 500 m³ / h, the pressure increment required for compensation by neighboring stations can be estimated to be approximately 15 kPa based on the hydraulic calculation formula. Therefore, the pressure setpoint of the neighboring stations can be adjusted from 250 kPa to 265 kPa.

[0126] After the pressure setpoint adjustment is completed, the monitoring center generates a communication link failure alarm. This alarm includes: the site identifier of the field valve station marked as offline (for maintenance personnel to quickly locate the faulty equipment), the fault determination time (the moment the communication link failure is determined, used for fault tracing and analysis), and the adjusted pressure setpoint (to inform dispatchers that the control target of adjacent stations has changed). This alarm can be sent to relevant maintenance personnel via a pop-up window in the dispatch interface, SMS notification, or instant messaging push, enabling timely on-site troubleshooting and repair.

[0127] Taking a complete fault handling process as an example: At time T0, the monitoring center determined that the communication link of station B was faulty. Subsequently, it sent reconnection request frames at T0+30, T0+60, T0+90, T0+120, and T0+150 seconds, but received no response. At T0+150 seconds, the monitoring center marked station B as offline. Then, the monitoring center obtained the pipeline operation parameters uploaded by the neighboring stations C and D. Based on the pipeline hydraulic model, it calculated that the pressure setpoint of station C needed to be adjusted from 250 kPa to 260 kPa, and the pressure setpoint of station D needed to be adjusted from 240 kPa to 248 kPa. Finally, an alarm message was generated: "Communication link fault at station B, fault determination time T0, adjusted pressure setpoint of station C 260 kPa, adjusted pressure setpoint of station D 248 kPa."

[0128] As can be seen from the above, this embodiment provides ample recovery opportunities for temporary communication interruptions by performing orderly reconnection attempts after a communication link failure, avoiding the unnecessary overhead of directly triggering offline processing due to occasional failures. After confirming that a station is indeed offline, compensation control is performed by adjusting the pressure setpoints of adjacent stations, ensuring that the pressure of the pipe section managed by the offline station does not deviate significantly from the normal range due to loss of control, thus maintaining the overall operational safety of the pipeline network. Simultaneously, complete alarm information provides maintenance personnel with sufficient fault context, facilitating rapid location and handling of communication faults.

[0129] Corresponding to the gas pipeline valve remote control method in the above embodiment, Figure 2 This is a structural block diagram of a remote control system for gas pipeline valves provided according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. References Figure 2 The gas pipeline valve remote control system 20 is applied to the monitoring center. The monitoring center communicates with each field valve station through a wireless communication link. It includes: parameter acquisition module 21, control mode determination module 22, adjustment amount calculation module 23 and valve control module 24.

[0130] Among them, the parameter acquisition module 21 is used to receive pipeline operation parameters uploaded by each field valve station through the wireless communication link. The pipeline operation parameters include pipeline pressure values. The control mode determination module 22 is used to calculate the current deviation value based on the preset pressure setpoint and pipeline pressure value, and compare the absolute value of the current deviation value with the preset large deviation threshold and the preset dead zone threshold respectively; when the absolute value of the current deviation value is greater than the large deviation threshold, the current control mode is determined to be the fast response mode; when the absolute value of the current deviation value is greater than the dead zone threshold and less than or equal to the large deviation threshold, the current control mode is determined to be the standard proportional-integral control mode; when the absolute value of the current deviation value is less than or equal to the dead zone threshold, the current control mode is determined to be the dead zone control mode; the dead zone threshold is less than the large deviation threshold. The adjustment amount calculation module 23 is used to calculate the valve opening adjustment amount based on the proportional coefficient, integral coefficient and derivative coefficient corresponding to the current control mode and through the adaptive proportional integral derivative control algorithm if the current control mode is not the dead zone control mode; if the current control mode is the dead zone control mode, the valve opening adjustment amount is determined to be zero. Valve control module 24 is used to generate valve control commands based on the valve opening adjustment amount and send the valve control commands to the corresponding field valve station through a wireless communication link so that the field valve station drives the valve actuator to perform the corresponding valve action. The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, integral coefficient, and derivative coefficient according to the range of the absolute value of the current deviation. The integral saturation suppression strategy is used to perform integral limiting processing on the cumulative value of the deviation integral during the calculation process.

[0131] In one embodiment of this application, the adjustment amount calculation module 23 is specifically used for: When the current control mode is fast response mode, the proportional coefficient is set to the preset maximum proportional coefficient, the integral coefficient is set to zero, and the derivative coefficient is set to the preset increased derivative coefficient. Based on the maximum proportional coefficient, zero and the increased derivative coefficient, the valve opening adjustment amount is calculated by the adaptive proportional-integral-derivative control algorithm. When the current control mode is the standard proportional-integral control mode, the proportional coefficient is set to the preset standard proportional coefficient, the integral coefficient is set to the preset standard integral coefficient, and the derivative coefficient is set to the preset reduced derivative coefficient. The valve opening adjustment is calculated based on the standard proportional coefficient, the standard integral coefficient, and the reduced derivative coefficient, using an adaptive proportional-integral-derivative control algorithm.

[0132] In one embodiment of this application, the valve control module 24 is specifically used for: Determine the target field valve station corresponding to the valve control command, and include the target opening value corresponding to the valve opening adjustment amount in the valve control command; The valve control command is sent to the target field valve station via a wireless communication link, so that the target field valve station drives the valve actuator to perform the corresponding valve action according to the target opening value. In the process of driving the valve actuator to perform the corresponding valve action, the valve position status signal uploaded by the target site valve station is received. The valve position status signal includes the actual opening value of the valve actuator. The actual opening value is compared with the target opening value to calculate the position deviation value; When the absolute value of the position deviation exceeds the preset position deviation threshold, a correction control command is generated. The correction control command is a supplementary command to the valve control command. The correction control command is sent to the target field valve station via a wireless communication link to drive the valve actuator to perform position correction, thereby enabling the valve actuator to perform the corresponding valve action.

[0133] In one embodiment of this application, the valve control module 24 is further configured to: The correction control command is sent to the target field valve station via a wireless communication link, and the preset correction count counter is incremented by one; Receive the corrected actual opening value uploaded by the target field valve station in response to the corrected control command; The difference between the corrected actual opening value and the target opening value is calculated to obtain the corrected position deviation value; When the absolute value of the corrected position deviation is less than or equal to the position deviation threshold, it is determined that the valve actuator has reached the target position corresponding to the target opening value, and the valve actuator performs the corresponding valve action. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter is less than the preset maximum correction count, the correction control command is regenerated based on the corrected position deviation value, and the step of sending the correction control command to the target field valve station through the wireless communication link is repeated. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter reaches the maximum number of corrections, a valve actuator fault alarm signal is generated, and the corresponding target field valve station is marked as an actuator fault state.

[0134] In one embodiment of this application, the gas pipeline valve remote control system 20 further includes: a correction module, used for: Obtain the current valve opening value of the corresponding field valve station; Add the current valve opening value to the valve opening adjustment amount to obtain the target opening value; The target opening value is compared with the preset upper opening value and the preset lower opening value respectively. When the target opening value is greater than the upper opening value, the valve opening adjustment is corrected to the difference between the upper opening value and the current valve opening value. When the target opening value is less than the lower opening value, the valve opening adjustment is corrected to the difference between the lower opening value and the current valve opening value. The absolute value of the corrected valve opening adjustment is compared with the preset maximum opening change in a single cycle. When the absolute value of the corrected valve opening adjustment is greater than the maximum opening change in a single cycle, the absolute value of the corrected valve opening adjustment is truncated to the maximum opening change in a single cycle, while keeping the sign of the corrected valve opening adjustment unchanged, thus obtaining the valve opening adjustment after safety constraints.

[0135] In one embodiment of this application, the gas pipeline valve remote control system 20 further includes: a communication detection module, used for: Send handshake commands to each field valve station and receive response frames returned by each field valve station; If a response frame is received and the signal strength of the response frame meets the preset signal strength requirements, it is determined that the communication link of the corresponding field valve station has been successfully established. According to the preset heartbeat cycle, a heartbeat request frame is sent to each field valve station, and the response frame of the corresponding field valve station is checked within the preset timeout window. If no response frame is received from a certain field valve station for a preset number of consecutive times, the communication link of the field valve station is determined to be faulty.

[0136] In one embodiment of this application, the gas pipeline valve remote control system 20 further includes: a fault diagnosis module, used for: According to the preset reconnection interval, a reconnection request frame is sent to the field valve station where the communication link fails. If a response frame is received from the field valve station after sending a preset number of reconnection request frames, it is determined that the communication link of the field valve station has been restored to normal, and valve control commands are resumed to be sent to the field valve station. If no response frame is received from the field valve station after sending reconnection request frames for a specified number of reconnection attempts, the field valve station will be marked as offline, and the following emergency procedures will be performed: Obtain pipeline operation parameters uploaded by at least one adjacent field valve station that is adjacent to the offline field valve station; Based on the pipeline operation parameters uploaded by the adjacent field valve stations, adjust the pressure setpoint of the corresponding adjacent field valve stations to obtain the adjusted pressure setpoint to compensate for the lack of pipeline pressure regulation caused by the offline field valve stations leaving the control. Generate communication link fault alarm information, which includes the site identifier of the field valve station marked as offline, the fault determination time, and the adjusted pressure setpoint.

[0137] It should be noted that the specific limitations of the above-described embodiments of the gas pipeline valve remote control system 20 can be found in the limitations of the gas pipeline valve remote control method described above, and will not be repeated here. Each module of the above system can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in the processor of the electronic device in hardware form or independent of the processor, or it can be stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0138] This application provides an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any optional embodiment of this application.

[0139] In one alternative embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may further include a transceiver 304, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0140] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0141] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0142] The memory 303 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0143] The memory 303 is used to store computer programs that execute the embodiments of this application, and the execution is controlled by the processor 301. The processor 301 is used to execute the computer programs stored in the memory 303 to implement the steps shown in the foregoing method embodiments.

[0144] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described methods for remote control of gas pipeline valves.

[0145] In one possible implementation, the aforementioned computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a solid-state drive (SSD), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc. The random access memory can include resistive random access memory (ReRAM) and dynamic random access memory (DRAM).

[0146] In an exemplary embodiment, a computer program or computer program product is also provided, which includes computer instructions loaded and executed by a processor to enable the computer to implement any of the above-described gas pipeline valve remote control methods.

[0147] In other words, the data collection and processing in this application should strictly comply with the requirements of relevant national laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0148] It should be further noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The implementation methods described in the above exemplary embodiments do not represent all implementation methods consistent with this application. Rather, they are merely examples of systems and methods consistent with some aspects of this application.

[0149] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0150] Furthermore, the step numbers described herein are merely illustrative of one possible execution order between steps. In some other embodiments, the steps may not be executed in the order of their numbers, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0151] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. Optionally, the program is stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0152] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for remote control of gas pipeline valves, characterized in that, It is applied to a monitoring center, which communicates with each field valve station via a wireless communication link, including: Receive pipeline operation parameters uploaded by each of the field valve stations through the wireless communication link, the pipeline operation parameters including pipeline pressure values; The current deviation value is calculated based on the preset pressure setpoint and the pipeline pressure value. The absolute value of the current deviation value is compared with a preset large deviation threshold and a preset dead zone threshold. When the absolute value of the current deviation value is greater than the large deviation threshold, the current control mode is determined to be a fast response mode. When the absolute value of the current deviation value is greater than the dead zone threshold but less than or equal to the large deviation threshold, the current control mode is determined to be a standard proportional-integral control mode. When the absolute value of the current deviation value is less than or equal to the dead zone threshold, the current control mode is determined to be a dead zone control mode. The dead zone threshold is less than the large deviation threshold. If the current control mode is not the dead zone control mode, the valve opening adjustment amount is calculated based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode, and through an adaptive proportional-integral-derivative control algorithm; if the current control mode is the dead zone control mode, the valve opening adjustment amount is determined to be zero. Based on the valve opening adjustment amount, a valve control command is generated, and the valve control command is sent to the corresponding field valve station through the wireless communication link, so that the field valve station drives the valve actuator to perform the corresponding valve action. The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, the integral coefficient, and the derivative coefficient according to the range of the absolute value of the current deviation value. The integral saturation suppression strategy is used to perform integral amplitude limiting processing on the cumulative integral value of the deviation during the calculation process.

2. The remote control method for gas pipeline valves as described in claim 1, characterized in that, The valve opening adjustment amount is calculated using an adaptive proportional-integral-derivative (PID) control algorithm based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode, including: When the current control mode is the fast response mode, the proportional coefficient is set to the preset maximum proportional coefficient, the integral coefficient is set to zero, and the derivative coefficient is set to the preset increased derivative coefficient. Based on the maximum proportional coefficient, zero, and the increased derivative coefficient, the valve opening adjustment amount is calculated using the adaptive proportional-integral-derivative control algorithm. When the current control mode is the standard proportional-integral control mode, the proportional coefficient is set to a preset standard proportional coefficient, the integral coefficient is set to a preset standard integral coefficient, and the derivative coefficient is set to a preset reduced derivative coefficient. The valve opening adjustment amount is calculated based on the standard proportional coefficient, the standard integral coefficient, and the reduced derivative coefficient, using the adaptive proportional-integral-derivative control algorithm.

3. The remote control method for gas pipeline valves as described in claim 1, characterized in that, The step of generating a valve control command based on the valve opening adjustment amount and transmitting the valve control command to the corresponding field valve station via the wireless communication link, so that the field valve station drives the valve actuator to perform the corresponding valve action, includes: Determine the target field valve station corresponding to the valve control command, and carry the target opening value corresponding to the valve opening adjustment amount in the valve control command; The valve control command is transmitted to the target field valve station via the wireless communication link, so that the target field valve station drives the valve actuator to perform the corresponding valve action according to the target opening value; In the process of driving the valve actuator to perform the corresponding valve action, the valve position status signal uploaded by the target field valve station is received, and the valve position status signal includes the actual opening value of the valve actuator. The actual opening value is compared with the target opening value to calculate the position deviation value; When the absolute value of the position deviation exceeds a preset position deviation threshold, a correction control command is generated, which is a supplementary command to the valve control command. The correction control command is sent to the target field valve station via the wireless communication link to drive the valve actuator to perform position correction, thereby enabling the valve actuator to perform the corresponding valve action.

4. The remote control method for gas pipeline valves as described in claim 3, characterized in that, The step of sending the correction control command to the target field valve station via the wireless communication link to drive the valve actuator to perform position correction, thereby enabling the valve actuator to perform the corresponding valve action, includes: The correction control command is sent to the target field valve station via the wireless communication link, and the preset correction count counter is incremented by one; Receive the corrected actual opening value uploaded by the target field valve station in response to the corrected control command; Calculate the difference between the corrected actual opening value and the target opening value to obtain the corrected position deviation value; When the absolute value of the corrected position deviation is less than or equal to the position deviation threshold, it is determined that the valve actuator has reached the target position corresponding to the target opening value, and the valve actuator performs the corresponding valve action. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter is less than the preset maximum correction count, a correction control command is regenerated based on the corrected position deviation value, and the step of sending the correction control command to the target field valve station through the wireless communication link is repeated. When the absolute value of the corrected position deviation is greater than the position deviation threshold and the correction count counter reaches the maximum correction count, a valve actuator fault alarm signal is generated, and the corresponding target field valve station is marked as an actuator fault state.

5. The remote control method for gas pipeline valves as described in claim 1, characterized in that, Before generating the valve control command based on the valve opening adjustment amount, the method further includes: Obtain the current valve opening value of the corresponding field valve station; Add the current valve opening value to the valve opening adjustment amount to obtain the target opening value; The estimated target opening value is compared with a preset upper opening value and a preset lower opening value, respectively. When the estimated target opening value is greater than the upper opening value, the valve opening adjustment amount is corrected to the difference between the upper opening value and the current valve opening value. When the estimated target opening value is less than the lower opening value, the valve opening adjustment amount is corrected to the difference between the lower opening value and the current valve opening value. The absolute value of the corrected valve opening adjustment amount is compared with the preset maximum opening change amount in a single cycle. When the absolute value of the corrected valve opening adjustment amount is greater than the maximum opening change amount in a single cycle, the absolute value of the corrected valve opening adjustment amount is truncated to the maximum opening change amount in a single cycle, while keeping the sign of the corrected valve opening adjustment amount unchanged, to obtain the valve opening adjustment amount after safety constraints.

6. The remote control method for gas pipeline valves as described in claim 1, characterized in that, Also includes: Send a handshake command to each of the field valve stations and receive response frames returned by each of the field valve stations; If the response frame is received and the signal strength of the response frame meets the preset signal strength requirement, then it is determined that the communication link of the corresponding field valve station has been successfully established. According to the preset heartbeat cycle, a heartbeat request frame is sent to each of the field valve stations, and it is detected whether the corresponding response frame of the field valve station is received within the preset timeout window. If no response frame is received from a certain field valve station for a preset number of consecutive times, the communication link of the field valve station is determined to be faulty.

7. The remote control method for gas pipeline valves as described in claim 6, characterized in that, After determining that the communication link at the field valve station is faulty, the method further includes: According to the preset reconnection interval, a reconnection request frame is sent to the field valve station where the communication link is faulty. If a response frame is received from the field valve station after sending the reconnection request frame for a preset number of reconnection attempts, it is determined that the communication link of the field valve station has returned to normal, and the valve control command is resumed to be sent to the field valve station. If no response frame is received from the field valve station after sending the reconnection request frames for the specified number of reconnection attempts, the field valve station is marked as offline, and the following emergency handling steps are performed: Obtain pipeline operation parameters uploaded by at least one adjacent field valve station that is adjacent to the offline field valve station; Based on the pipeline operation parameters uploaded by the adjacent field valve stations, the pressure setting value of the corresponding adjacent field valve stations is adjusted to obtain the adjusted pressure setting value to compensate for the lack of pipeline pressure regulation caused by the offline field valve stations exiting control. A communication link failure alarm is generated, which includes the site identifier of the field valve station marked as offline, the fault determination time, and the adjusted pressure setting value.

8. A remote control system for gas pipeline valves, characterized in that, It is applied to a monitoring center, which communicates with each field valve station via a wireless communication link, including: The parameter acquisition module is used to receive pipeline operation parameters uploaded by each of the field valve stations through the wireless communication link, the pipeline operation parameters including pipeline pressure values; The control mode determination module is used to calculate the current deviation value based on a preset pressure setpoint and the pipeline pressure value, and compare the absolute value of the current deviation value with a preset large deviation threshold and a preset dead zone threshold, respectively; when the absolute value of the current deviation value is greater than the large deviation threshold, the current control mode is determined to be a fast response mode; when the absolute value of the current deviation value is greater than the dead zone threshold and less than or equal to the large deviation threshold, the current control mode is determined to be a standard proportional-integral control mode; when the absolute value of the current deviation value is less than or equal to the dead zone threshold, the current control mode is determined to be a dead zone control mode; the dead zone threshold is less than the large deviation threshold. The adjustment amount calculation module is used to calculate the valve opening adjustment amount based on the proportional coefficient, integral coefficient, and derivative coefficient corresponding to the current control mode and through an adaptive proportional-integral-derivative control algorithm if the current control mode is not the dead zone control mode; if the current control mode is the dead zone control mode, the valve opening adjustment amount is determined to be zero. The valve control module is used to generate a valve control command based on the valve opening adjustment amount, and to send the valve control command to the corresponding field valve station through the wireless communication link, so that the field valve station drives the valve actuator to perform the corresponding valve action. The adaptive proportional-integral-derivative control algorithm includes a parameter adaptive adjustment strategy based on the deviation amplitude and an integral saturation suppression strategy. The parameter adaptive adjustment strategy is used to dynamically adjust the proportional coefficient, the integral coefficient, and the derivative coefficient according to the range of the absolute value of the current deviation value. The integral saturation suppression strategy is used to perform integral amplitude limiting processing on the cumulative integral value of the deviation during the calculation process.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing a computer program, which is loaded and executed by the processor to implement the remote control method for gas pipeline valves as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the remote control method for gas pipeline valves as described in any one of claims 1 to 7.

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