A sand pot head and a booster pump cooperative adaptive control method and device

Abstract

The application discloses a sand cylinder head and booster pump cooperative adaptive control method and device, the method comprises the following steps: collecting the pressure value of the inlet and outlet of the booster pump and the running electric parameter of the motor in real time, calculating the current pressure difference according to the pressure value; calculating the power factor according to the current pressure difference and the running electric parameter; according to the power factor, matching the corresponding target acceleration curve from the preset multiple acceleration curves, and controlling the running frequency of the motor to adjust to the first target frequency according to the target acceleration curve; matching the current pressure difference and the power factor with the preset multiple load characteristic intervals, identifying the current working mode of the sand cylinder head; according to the identified current working mode, calling the corresponding second target frequency from the preset frequency mapping strategy, and controlling the motor to adjust the running frequency to the second target frequency. The application realizes the adaptive cooperative frequency conversion of the booster pump and the sand cylinder head based on the pipeline load characteristic perception, reduces the energy consumption noise, and improves the working condition adaptation accuracy.

Description

Technical Field

[0001] This application relates to the field of pool water treatment equipment control technology, and in particular to a method and device for coordinated adaptive control of a sand cylinder head and a booster pump. Background Technology

[0002] Swimming pool water treatment systems typically consist of two core components: a booster pump and a sand filter. The sand filter comprises a tank and a multi-way valve mounted on top of the tank head. The booster pump delivers pool water to the sand filter for filtration, and the treated water is then returned to the pool. The multi-way valve on the sand head is usually a six-way valve, allowing switching between six operating modes—filtration, backwashing, forward washing, circulation, evacuation, and shutdown—to meet the system's operational needs under various conditions. As the power source for the entire system, the booster pump's operation directly impacts the sand filter's filtration efficiency, system energy consumption, and equipment lifespan. With the increasing intelligence and energy efficiency of swimming pool water treatment systems, the coordinated control between the booster pump and the sand head is receiving growing attention.

[0003] Currently, most booster pumps used in swimming pool water treatment systems operate in a fixed-frequency mode, meaning the motor runs at a constant speed and frequency, unable to adjust its speed according to actual operating conditions. Furthermore, while some variable-frequency booster pumps are available on the market, their control methods are mostly independent constant pressure or constant speed control. This means users manually set a target pressure or speed, and the inverter maintains that setting, without adapting to the different operating modes of the sand filter head. Specifically, when the sand filter head switches between filtration, backwashing, forward washing, circulation, and evacuation modes, the hydraulic resistance characteristics of the pipeline change drastically. For example, in backwashing mode, the water flows backward through the filter layer, resulting in drastically different resistance characteristics compared to filtration mode, and there is a significant initial impact. In circulation mode, the water flows directly back around the sand filter, with minimal pipeline resistance. Existing control methods cannot sense these changes in operating conditions and adaptively adjust the pump's output characteristics, typically relying solely on manual switching or maintaining a single operating parameter, resulting in low levels of intelligence. Meanwhile, booster pumps are often installed in residential courtyards or swimming pool equipment rooms, which are close to residents' living areas. The noise from their operation has a significant impact on the surrounding environment, especially at night, disturbing residents' sleep.

[0004] The aforementioned existing technologies have at least the following drawbacks: First, the fixed-frequency pump has a large instantaneous torque at startup, and the violent impact of the water flow in the pipeline generates a water hammer effect, which not only produces huge noise but also easily loosens pipe joints. Moreover, the pump runs at full speed regardless of whether the pool is being cleaned or just undergoing daily circulation. During daily circulation, the excessive water flow leads to wasted energy and unnecessary noise. Second, when the sand filter head switches between modes such as filtration, backwashing, forward washing, and circulation, the pipeline resistance characteristics change drastically. Traditional water pumps cannot sense the load changes brought about by mode switching, nor can they adaptively adjust their output characteristics to match the hydraulic requirements of different working conditions. This easily leads to a series of problems such as excessively fast water flow in filtration mode reducing the retention rate, insufficient water pressure during backwashing causing filter sand to clump and be lost, and high-pressure operation in circulation mode causing energy waste. Third, the control logic of the existing variable frequency booster pump relies solely on a single target value set by the user for closed-loop regulation. When the sand cylinder head mode switching causes a sudden change in pipeline resistance, the frequency converter can only passively respond to the pressure difference change and make lag adjustments. It cannot actively identify the current working mode of the sand cylinder head and adjust the control strategy in advance, resulting in dynamic response mismatch problems such as pressure overshoot or insufficient flow during mode switching. Summary of the Invention

[0005] Based on the above problems, this application provides a method and device for coordinated adaptive control of the sand cylinder head and the booster pump. By sensing the pipeline load characteristics in real time and adaptively matching the acceleration curve and the operating frequency corresponding to the sand cylinder head working condition, coordinated control of the booster pump and the sand cylinder head under all working conditions is realized.

[0006] In a first aspect, embodiments of this application provide a coordinated adaptive control method for a sand cylinder head and a booster pump, the method comprising:

[0007] The pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor are collected in real time, and the current pressure difference is calculated based on the pressure values.

[0008] The power factor is calculated based on the current pressure difference and operating electrical parameters; the power factor is used to characterize the current pipeline load resistance and work efficiency.

[0009] Based on the power factor, the corresponding target acceleration curve is matched from multiple preset acceleration curves, and the operating frequency of the motor is controlled to be adjusted to the first target frequency according to the target acceleration curve.

[0010] The current differential pressure and power factor are matched with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head;

[0011] Based on the identified current operating mode, the corresponding second target frequency is retrieved from the preset frequency mapping strategy, and the motor is controlled to adjust its operating frequency to the second target frequency.

[0012] In one possible implementation, before real-time acquisition of the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor, and before calculating the current pressure difference based on the pressure values, the method further includes:

[0013] In response to the start command, the motor of the booster pump is controlled to start running at a preset initial frequency.

[0014] Based on the above method, using a preset initial frequency for soft starting during the startup phase can suppress the current surge and mechanical shock at the moment of startup, eliminate the water hammer effect, prevent pipe joints from loosening due to the impact, and reduce startup noise.

[0015] In one possible implementation, the operating electrical parameters include motor speed and motor power, and the method further includes:

[0016] If the high-frequency fluctuation amplitude of the current pressure difference is detected to exceed the first preset threshold, and the ratio of the motor power to the theoretical power at the motor speed is lower than the second preset threshold, then air resistance is determined to have occurred.

[0017] In response to the detection of gas resistance, the motor is controlled to perform periodic frequency conversion oscillation according to a sinusoidal modulation signal within a preset low-frequency range in order to discharge the gas in the pipeline.

[0018] When the high-frequency fluctuation amplitude of the differential pressure is lower than the third preset threshold and the power ratio is higher than the fourth preset threshold, the exhaust is determined to be complete, and the motor is controlled to return to the operating frequency before the air resistance state occurred.

[0019] Based on the above method, the air resistance status is determined by simultaneously monitoring two indicators: the high-frequency fluctuation amplitude of the differential pressure and the ratio of motor power to theoretical power. Compared with the single-parameter detection method, this improves the accuracy of air resistance determination and avoids misjudgment caused by fluctuations in normal operating conditions such as valve operation. A sinusoidal wave modulation signal is used for periodic frequency-converting oscillation venting. The pulse water flow generated by the low-frequency oscillation tears the air mass in the pipeline into tiny bubbles and pushes them towards the outlet, realizing automatic venting without human intervention and avoiding motor burnout due to air resistance.

[0020] In one possible implementation, after matching a corresponding target acceleration curve from a set of preset acceleration curves based on the power factor, and adjusting the motor's operating frequency to a first target frequency according to the target acceleration curve, the method further includes:

[0021] Obtain the current time information. If it is determined that the current time is within the first preset time period, limit the maximum operating frequency of the motor to below the preset frequency threshold.

[0022] If it is determined that the current time is within the second preset time period, the restriction on the maximum operating frequency of the motor will be lifted.

[0023] Based on the above method, the maximum operating frequency of the motor is automatically limited during preset periods (e.g., at night) to replace full-speed operation during the day with low-speed operation, thus suppressing the operating noise to the ambient noise level; when entering unrestricted periods (e.g., during the day), the frequency limit is automatically lifted and the full-frequency operation capability is restored, realizing automated silent scheduling at different times.

[0024] In one possible implementation, the power factor is calculated based on the current pressure differential and operating electrical parameters, including:

[0025] Calculate the pipeline damping coefficient based on the current pressure difference and motor speed;

[0026] Calculate the work efficiency based on the current pressure difference and motor power;

[0027] The pipeline damping coefficient and work efficiency are used as power factors.

[0028] In one possible implementation, the preset multiple acceleration curves are a library of S-shaped acceleration curves;

[0029] Based on the power factor, a target acceleration curve is matched from a set of preset acceleration curves, including:

[0030] Obtain the numerical range of the pipeline damping coefficient, and determine the corresponding acceleration slope based on the numerical range.

[0031] When accelerating from the initial frequency to the lower limit of the preset resonant frequency band with an acceleration slope, the acceleration slope is switched to a second acceleration slope that is less than the initial acceleration slope to cross the preset resonant frequency band.

[0032] After crossing to the upper limit of the preset resonance frequency band, it resumes acceleration to the first target frequency at a third acceleration slope greater than the second acceleration slope.

[0033] Based on the above method, modal coupling resonance between the pump body structure and the impeller is suppressed by extending the time through the resonance zone; at the same time, the acceleration curve maintains a relatively fast acceleration before and after the resonance frequency band, which achieves silent start-up without affecting the user's waiting time, thus balancing the silent effect and response speed.

[0034] In one possible implementation, the current pressure differential and power factor are matched with multiple preset load characteristic ranges to identify the current operating mode of the sand cylinder head, including:

[0035] Obtain the current differential pressure and power factor corresponding to multiple sampling points within a preset time window;

[0036] Calculate the average pressure difference and average power factor within the time window based on the current pressure difference and power factor corresponding to multiple sampling points;

[0037] The average pressure difference and average power factor are compared with the distances of multiple preset load characteristic intervals one by one;

[0038] The operating mode corresponding to the load characteristic range with the smallest distance from the average pressure difference and average power factor is identified as the current operating mode of the sand cylinder head.

[0039] Based on the above method, multiple sampling points are collected through a sliding time window and the average pressure difference and average power factor are calculated, avoiding single-point sampling deviation caused by instantaneous water flow fluctuations; the current operating condition is inferred from the hydraulic parameters, which improves the reliability of the system; at the same time, the anti-shaking mechanism of the sliding window ensures that the mode switching is confirmed only when the load state remains stable within multiple consecutive sampling periods, effectively preventing frequent jumps at the boundary of the load characteristic interval.

[0040] Secondly, embodiments of this application provide a collaborative adaptive control device for a sand cylinder head and a booster pump. This device includes: a data acquisition module, a calculation module, an acceleration matching module, a pattern recognition module, and a control module, wherein:

[0041] The data acquisition module is used to collect the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor in real time, and to calculate the current pressure difference based on the pressure values.

[0042] The calculation module is used to calculate the power factor based on the current pressure difference and operating electrical parameters; the power factor is used to characterize the current pipeline load resistance and work efficiency.

[0043] The acceleration matching module is used to match the corresponding target acceleration curve from a set of preset acceleration curves based on the power factor, and control the motor's operating frequency to be adjusted to the first target frequency according to the target acceleration curve.

[0044] The pattern recognition module is used to match the current differential pressure and power factor with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head.

[0045] The control module is used to retrieve the corresponding second target frequency from the preset frequency mapping strategy according to the identified current working mode, and control the motor to adjust the operating frequency to the second target frequency.

[0046] Thirdly, embodiments of this application provide a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps of the method described above.

[0047] Fourthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being adapted to be loaded by the processor and to execute the steps of the above-described method.

[0048] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following: by real-time acquisition of the pressure values ​​at the inlet and outlet of the booster pump and the electrical parameters of the motor operation, a power factor that can simultaneously characterize the mapping relationship between pipeline load resistance and work efficiency is calculated; thereby enabling the power factor to play a dual decision-making role in the control process. In the start-up / speed regulation stage, the power factor is used to match the preset acceleration curve, so that the motor smoothly rises to the target frequency with a slope that adapts to the current pipeline state, eliminating water hammer impact; in the steady-state operation stage, the power factor and the current pressure difference are used as inputs to match with multiple preset load characteristic intervals, thereby identifying the current working mode of the sand cylinder head, and finally, according to the identified working mode, the corresponding target frequency is retrieved from the frequency mapping strategy for frequency conversion control. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0050] Figure 1 An exemplary system architecture diagram of the collaborative adaptive control method for the sand cylinder head and booster pump provided in the embodiments of this application;

[0051] Figure 2 A schematic flowchart illustrating the collaborative adaptive control method for the sand cylinder head and booster pump provided in this application embodiment;

[0052] Figure 3 A structural block diagram of the collaborative adaptive control device for the sand cylinder head and the booster pump provided in the embodiments of this application;

[0053] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0054] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0056] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" 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 existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0057] As mentioned earlier, in a swimming pool water treatment system, the booster pump, as the power source, directly determines the system's hydraulic output characteristics through its operating state; the sand head, as the flow control hub, exhibits drastically different pipeline resistance characteristics depending on its operating mode. However, as described in the background section, in existing technologies, the booster pump and sand head operate independently, lacking information interaction and coordinated control. On the one hand, traditional fixed-frequency pumps cannot detect load changes caused by sand head mode switching, operating at full speed at a single rotational speed regardless of whether they are in filtration, backwashing, or circulation mode, resulting in energy waste and noise pollution. On the other hand, while existing variable-frequency pumps on the market possess speed regulation capabilities, their control logic relies solely on a single target value set by the user for closed-loop adjustment. When sand head mode switching causes a sudden change in pipeline resistance, the inverter can only passively respond to pressure difference changes and make lag adjustments, unable to proactively identify the current operating mode of the sand head and pre-adjust the control strategy, leading to dynamic response mismatch problems such as pressure overshoot or insufficient flow during mode switching. Furthermore, issues such as the impact during the start-up phase of the booster pump, the automatic identification and elimination of air resistance in the pipeline, and noise control at different times have not been systematically resolved in the existing technology.

[0058] In view of this, this application provides a collaborative adaptive control method and device for a sand cylinder head and a booster pump. The aim is to construct a power factor characterizing the pipeline load state by real-time acquisition of the pressure values ​​at the inlet and outlet of the booster pump and the electrical parameters of the motor. Based on this power factor, silent start control, active identification of the sand cylinder head's operating mode, and adaptive frequency conversion control are simultaneously achieved. This method enables the booster pump to actively sense changes in the sand cylinder head's operating conditions and pre-adjust the output frequency during mode switching, solving technical problems in existing technologies such as start-up shock, dynamic mismatch during mode switching, and lack of adaptive operating conditions.

[0059] Please see Figure 1 , Figure 1 This is an exemplary system architecture diagram of the collaborative adaptive control method for the sand cylinder head and booster pump provided in the embodiments of this application.

[0060] like Figure 1 As shown, the system architecture may include a terminal 101, a network 102, and a server 103. The network 102 serves as the medium for providing a communication link between the terminal 101 and the server 103. The network 102 may include various types of wired or wireless communication links, such as wired communication links including fiber optic cables, twisted-pair cables, or coaxial cables, and wireless communication links including Bluetooth communication links, Wireless-Fidelity (Wi-Fi) communication links, or microwave communication links, etc.

[0061] Terminal 101 can interact with server 103 via network 102 to receive messages from or send messages to server 103. Alternatively, terminal 101 can interact with server 103 via network 102 to receive messages or data sent to server 103 by other users. Terminal 101 can be hardware or software. When terminal 101 is hardware, it can be various electronic devices, including but not limited to smartwatches, smartphones, tablets, laptops, and desktop computers. When terminal 101 is software, it can be installed in the aforementioned electronic devices and can be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module; no specific limitation is made here.

[0062] In this embodiment, terminal 101 can collect the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor in real time, calculate the current pressure difference based on the pressure value, calculate the power factor based on the current pressure difference and operating electrical parameters, wherein the power factor is used to characterize the current pipeline load resistance and work efficiency; based on the power factor, match the corresponding target acceleration curve from a set of preset acceleration curves, and control the motor's operating frequency to adjust to the first target frequency according to the target acceleration curve; match the current pressure difference and power factor with a set of preset load characteristic intervals to identify the current working mode of the sand cylinder head; based on the identified current working mode, retrieve the corresponding second target frequency from a preset frequency mapping strategy, and control the motor to adjust its operating frequency to the second target frequency.

[0063] Server 103 can be a business server providing various services. It should be noted that server 103 can be either hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 103 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide distributed services), or as a single software program or software module; no specific limitations are made here.

[0064] Alternatively, the system architecture may not include server 103. In other words, server 103 may be an optional device in the embodiments of this specification. That is, the method provided in the embodiments of this specification can be applied to a system structure that only includes terminal 101. The embodiments of this application do not limit this.

[0065] It should be understood that Figure 1 The number of terminals, networks, and servers shown is only illustrative; the number can be any number of terminals, networks, and servers depending on the implementation requirements.

[0066] Please see Figure 2 , Figure 2 This is a flowchart illustrating the coordinated adaptive control method for the sand cylinder head and booster pump provided in an embodiment of this application. Figure 2 As shown, the coordinated adaptive control method for the sand cylinder head and the booster pump can include at least the following:

[0067] S201: Real-time acquisition of pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor; calculation of the current pressure difference based on the pressure values.

[0068] Specifically, pressure sensors are installed on the inlet and outlet pipes of the booster pump, respectively, and both pressure sensors are connected to the signal input terminal of the microcontroller. The motor drive board integrates a current sampling circuit and a bus voltage sampling circuit to acquire the phase current and bus voltage of the motor in real time. Simultaneously, a Hall sensor or a sensorless FOC observer is installed inside the motor or on the drive board to acquire the real-time speed of the motor. The microcontroller has a pre-set control algorithm program and a sampling period T, which is preferably 100 milliseconds in this embodiment, meaning data acquisition is performed every 100 milliseconds. Simultaneously, the microcontroller reads the voltage signals output by the inlet and outlet pressure sensors through its analog-to-digital converter interface and converts them into the corresponding inlet pressure value P. in and outlet pressure value P out Then calculate the current pressure difference ΔP = P. out -P inThis pressure difference reflects the resistance encountered by the water flow through the sand cylinder head and pipeline. A larger pressure difference indicates greater pipeline resistance, while a smaller pressure difference indicates smoother pipeline flow. Simultaneously, the microcontroller acquires the real-time phase current of the motor through the current sampling circuit on the driver board, the bus voltage through the bus voltage sampling circuit, and the real-time speed N of the motor through a Hall sensor or a sensorless FOC observer. The real-time shaft power W of the motor is then calculated from the acquired current and voltage values. It should be noted that the motor shaft power W can be calculated from the bus voltage U and the bus current I, specifically... This value reflects the actual output power of the motor. The pressure sensor is preferably a diffused silicon piezoresistive pressure sensor or a ceramic capacitive pressure sensor, with a range of 0 to 0.6 MPa and an accuracy class of not less than 0.5.

[0069] In this embodiment, real-time data acquisition with a sampling period of 100 milliseconds is employed because the pipeline status of the pool water treatment system changes dynamically during operation, including sand head mode switching, changes in filter layer dirt holding capacity, air resistance generation and elimination, and the connection and removal of external equipment. Only continuous real-time monitoring can capture these changes and respond promptly. If the sampling period is too long, such as greater than 500 milliseconds, it may miss pressure spikes during mode switching or high-frequency fluctuations under air resistance conditions, leading to control decision lag. If the sampling period is too short, such as less than 10 milliseconds, it places excessive demands on the microcontroller's computing power and introduces high-frequency noise. Therefore, a 100-millisecond sampling period achieves a reasonable balance between response speed and computational load, ensuring that the control system possesses both sufficient real-time performance and engineering feasibility.

[0070] In one possible implementation, during the startup phase, i.e., before the first execution of S201, if the system is currently in a stopped state, when the user issues a startup command via the control panel or remote terminal, the system responds to the startup command by first controlling the booster pump motor to start running at a preset initial frequency. Specifically, the microcontroller outputs an extremely low initial frequency signal to the motor through the driver board. In this embodiment, the initial frequency is preferably 5Hz. The motor begins to rotate slowly at this frequency, establishing the initial pipeline water pressure. 5Hz is chosen as the initial frequency because it is far lower than the motor's rated operating frequency, typically 50Hz or 60Hz, resulting in extremely low starting torque and avoiding water hammer and mechanical shocks caused when a fixed-frequency pump starts at full speed. Simultaneously, 5Hz provides sufficient starting torque to overcome the motor's static friction, allowing the motor to start rotating smoothly and avoiding the humming sound caused by insufficient torque at extremely low frequencies such as 1 to 2Hz. During the soft start of the motor at 5Hz, the system simultaneously executes the acquisition step of S201, acquiring inlet and outlet pressure values ​​and motor operating electrical parameters in real time. This embodiment achieves a smooth transition from standstill to the target speed by matching soft start with subsequent acceleration curve, eliminating the water hammer effect and mechanical impact noise at the moment of start-up of traditional fixed-frequency pumps.

[0071] S202. Calculate the power factor based on the current pressure difference and operating electrical parameters.

[0072] Specifically, in this application, the power factor is a custom comprehensive characteristic parameter. Its physical meaning lies in integrating information from two dimensions—the resistance characteristics and the work efficiency of the current pipeline—into a quantitative indicator that can be used for control decisions.

[0073] In this embodiment, the power factor preferably consists of two components: the pipeline damping coefficient λ and the work efficiency η. Specifically, the pipeline damping coefficient λ is calculated as λ = ΔP / N². The theoretical basis of this formula is that the head of the centrifugal pump, i.e., the pressure difference generated, is proportional to the square of the rotational speed. Under a specific pipeline configuration, ΔP / N² approaches a constant, which represents the inherent resistance characteristics of the pipeline under the current state. For example, when the pipeline is in circulation mode, i.e., the water flows directly back around the sand filter, the pipeline resistance is minimal, and the corresponding pressure difference at a certain rotational speed is small, thus the λ value is low. When the pipeline is in filtration mode and the filter layer is saturated with dirt, the resistance of the water flow penetrating the filter layer increases, and the corresponding pressure difference at the same rotational speed increases significantly, thus the λ value increases significantly. When the pipeline is in backwashing mode, at the moment of startup, the water flow impacts the compacted filter media in the opposite direction, and the pressure difference will show a transient peak, causing the λ value to rise sharply. Therefore, the magnitude of the λ value directly reflects the physical state of whether the pipeline is blocked and is one of the important bases for identifying the working mode of the sand filter head. In this embodiment, the microcontroller substitutes the acquired ΔP and N into λ=ΔP / N² to directly calculate the current λ value. It should be noted that the dimension of λ is pressure divided by the square of the rotational speed; in this invention, it is used only as a relative comparison value, and its absolute value depends on the unit system used.

[0074] The work efficiency η is calculated as η = ΔP / W. The physical meaning of this formula is that η reflects how much pressure difference the motor can generate per unit shaft power, i.e., the efficiency of converting electrical energy into effective water pressure. Under the same pressure difference, a larger shaft power indicates that the motor does more work but does not generate higher water pressure. This extra power may be consumed in pipe internal losses such as eddy currents, friction, or the motor's own losses. A two-dimensional feature space is pre-defined in the microcontroller, with λ as the horizontal axis and η as the vertical axis, and the space is divided into different regions to form a standard "fingerprint library," as shown in the table below:

[0075] fingerprint area Damping coefficient λ Efficiency η State determination ZoneA Low (<0.1) High (>0.8) Low-resistance direct-through state ZoneB High (>0.6) (0.4−0.8) High-resistance boost state Zone C (0.1−0.6) Extremely low (<0.2) Internal friction blockage state ZoneD violent oscillations Unstable Vapor resistance / dry transition state

[0076] For example, when the pipeline is in a smooth circulation mode, a relatively small power output can maintain a large water flow rate, resulting in a low λ value and a high η value (see Zone A). When a user connects a high-pressure cleaning robot or suction port, the outlet is forcibly narrowed to generate high pressure, and the pipeline exhibits high damping and low flow characteristics, resulting in a high λ value and a medium η value (see Zone B). When the pipeline is severely blocked, water cannot flow normally, and the pump is in a pressurized state. At this time, although the pressure difference is large, the water flow is almost stagnant, and the motor continuously outputs power but does not produce an effective water flow rate, resulting in an extremely low η value (see Zone C). When the inlet leaks air or the water level is too low, air is drawn in, and both the λ and η values ​​do not change linearly, exhibiting an unstable state (see Zone D).

[0077] Therefore, the value of η reflects the effectiveness of the pump's work and is a key indicator for determining whether the pipeline is in an abnormal state such as blockage or cavitation. In this embodiment, the microcontroller substitutes the collected ΔP and W into η=ΔP / W to directly calculate the current η value. The power factor is formed by combining the two dimensions λ and η because a single pressure difference value cannot distinguish between high-resistance low-speed and low-resistance high-speed operating conditions, and a single power value cannot reflect the pipeline resistance characteristics. Through the dual-dimensional description of λ and η, each pipeline state can be mapped to a unique point in the λ-η two-dimensional space, thus providing a precise quantitative basis for subsequent pattern recognition. For example, the filtration mode has medium λ and medium η, the circulation mode has low λ and high η, and the backwashing mode has λ jumping from extremely high to extremely low and η jumping from extremely low to extremely high. These modes each have their own unique distribution area in the λ-η space and can be clearly distinguished from each other.

[0078] S203. Based on the power factor, match the corresponding target acceleration curve from multiple preset acceleration curves, and control the motor's operating frequency to adjust to the first target frequency according to the target acceleration curve.

[0079] Specifically, after obtaining the power factor, the microcontroller matches the corresponding target acceleration curve from a set of preset acceleration curves based on the pipeline damping coefficient λ in the power factor. In this embodiment, a "silent acceleration curve library" is pre-stored in the microcontroller's internal memory. This library contains multiple acceleration curves designed for different pipeline conditions. The matching logic for the acceleration curves is as follows: Within a sliding time window, the average damping coefficient is calculated. and average work efficiency Get the current real-time fingerprint point F t ( , The sliding time window can be 2 seconds, containing 20 sampling points. Calculate the real-time fingerprint point F. t Find the nearest target zone by calculating the Mahalanobis distance to the center point Ci of each zone in the fingerprint database:

[0080]

[0081] in, The center point of the i-th load feature interval in the fingerprint database; The pipe damping coefficient value at the center point of the i-th load characteristic interval; Let be the work efficiency value at the center point of the i-th load characteristic interval; The standard deviation is the pipeline damping coefficient λ, reflecting the degree of dispersion of the data in this dimension. The standard deviation corresponding to the work efficiency η reflects the dispersion of the data in this dimension. The purpose of introducing the standard deviation into the denominator is to normalize the data in each dimension, eliminate the influence of dimensional differences on distance calculation, and make the matching results more accurate.

[0082] Find the smallest C in DM match Meanwhile, to prevent frequent jumps at Zone boundaries, hysteresis logic is introduced: only when the real-time fingerprint point falls within Zone C for K consecutive times, for example, 3 consecutive time windows (6 seconds), will it be considered valid. match Within the designated area, a state transition is confirmed. Once the transition is confirmed, the corresponding variable frequency strategy is triggered, controlling the motor's operating frequency to adjust to the corresponding first target frequency. Specifically, when Zone A is identified, the booster pump is in its normal circulation state, executing ultra-quiet frequency reduction to slowly reduce the target speed to N. min It can be 30Hz, the first target frequency. Where p is the number of pole pairs of the motor, determined by the number of motor poles. In low-resistance mode, low speed is sufficient to meet high flow rate requirements; at this time, the water flow is silent, and the motor is in its high-efficiency, quiet zone. When Zone B is detected, the booster pump is in clean boosting mode, executing constant pressure and frequency increase. Upon detecting high-resistance connection, the target pressure is automatically set to P. set It can be 0.2MPa, and the frequency can be increased to N through a PID closed loop. max It can be 60Hz; at this time, the first target frequency is... Generally, this scenario requires strong output, ensuring the booster pump has sufficient water pressure to drive the tracks or suction system. When Zone C is identified, the booster pump is blocked or needs backflushing, triggering a warning and variable-pulse flushing. The system first sends an application notification; if automatic backflushing is set, it executes a pulsating frequency curve of "3 seconds forward, 1 second reverse" to attempt to clear the blockage using water jets. When Zone D is identified, the booster pump is in a state of air resistance, and the microcontroller immediately executes micro-oscillation venting. If venting fails, a soft shutdown protection is implemented to prevent dry burning.

[0083] Furthermore, during pool piping maintenance, water changes, or when the water level is too low, air can easily accumulate at high points in the piping, forming air pockets, i.e., air resistance. This causes the pump impeller to hit the air pockets, preventing it from generating sufficient centrifugal force and resulting in idling. This not only produces a harsh, dry-grinding noise but can also cause the mechanical seal to burn out due to lack of water. When ZoneD is detected, the microcontroller performs air resistance detection and micro-oscillation exhaust control. Specifically, the microcontroller continuously monitors the high-frequency fluctuations of the current pressure differential and the changes in motor power during operation. Specifically, the microcontroller synchronously acquires the outlet pressure P(t) and the motor active power W(t) at a frequency of 100Hz and calculates two judgment indicators, namely the pressure oscillation intensity I. osc Power stall index I stall Among them, Iosc The calculation method is I osc =(P max -P min ) / (P average +ε), where P max and P min These represent the maximum and minimum values ​​of the pressure samples within a sliding window of 2 seconds, respectively. aerage Let be the average value, and ε be the constant for preventing the zero local minimum. osc This reflects the degree of high-frequency fluctuation in pipeline pressure. stall The calculation method is I stall =W actual / W theoretical_at_N This is the ratio of the actual current power to the theoretical power at the current speed, where the theoretical power W theoretical_at_N This is obtained by referring to a pre-stored theoretical power-speed curve. When the pipeline is normally filled with water, the pressure is stable, and I... osc At a relatively low level, the actual power is close to the theoretical power, I stall Approaching 1.0. When air resistance exists in the pipeline, the impeller periodically strikes the air-water interface, causing high-frequency, large-amplitude pressure fluctuations. osc The temperature rises sharply, and at the same time, the motor's actual power is far lower than the theoretical power because it cannot do work on the water. stall A sharp decline.

[0084] Based on the above principle, the air resistance determination logic is as follows: when the high-frequency fluctuation amplitude of the current pressure difference exceeds the first preset threshold, i.e., I... osc >Th osc In this embodiment, Th osc The preferred value is 0.15, and the ratio of motor power to theoretical power at the current speed is lower than the second preset threshold, i.e., I. stall <Th stall In this embodiment, Th stall The preferred value is 0.3, and both of the above conditions are maintained continuously for more than the confirmation time T. confirm In this embodiment, the microcontroller determines that an air blockage has occurred in the pipeline after 1.5 seconds.

[0085] In response to the detection of air resistance, the microcontroller does not execute a direct shutdown, but instead initiates a micro-oscillation exhaust program, which includes the following three stages.

[0086] Phase one involves low-frequency residence and air mass stripping, lasting approximately 3 to 5 seconds. The microcontroller rapidly reduces the motor frequency to the fundamental frequency f. base At a frequency of 10 to 15 Hz, the impeller rotates slowly. At this time, the water flow in the pipe is very small, the scouring force of the water flow is weakened, and the air masses that were originally flattened and stuck to the pipe wall by the high-speed water flow will detach from the pipe wall under the action of buoyancy and resuspend in the center of the pipe.

[0087] Phase two involves sinusoidal micro-oscillation tearing and mixing, lasting approximately 5 to 10 seconds, and is the core phase of air resistance self-healing control. The microcontroller operates at the fundamental frequency f... base A low-frequency sinusoidal modulation signal is superimposed on the motor, controlling the motor frequency to oscillate according to the following formula: f(t) = f base +A osc ·sin(2π·f osc ·t), where A osc The oscillation amplitude is preferably 5 to 8 Hz in this embodiment. osc The oscillation frequency is preferably 2 to 5 Hz in this embodiment. The physical effect of this sinusoidal oscillation is as follows: when the frequency increases (i.e., during the positive half-cycle), the water flow accelerates and propels the air mass forward; when the frequency drops sharply (i.e., during the negative half-cycle), the water flow decelerates, but the air mass continues to move forward due to inertia, resulting in a local negative pressure zone behind the air mass. This periodic pulling at 2 to 5 Hz causes the internal forces of the large air mass to be extremely uneven, resulting in volume expansion and rupture, tearing it into countless tiny bubbles. Due to the increased surface area, these tiny bubbles are easily enveloped by the water flow, forming an air-water mixture.

[0088] Phase three involves a stepped acceleration transport, lasting approximately 5 to 8 seconds. After the micro-oscillation ends, the microcontroller does not immediately increase the speed to full capacity, but instead uses a stepped acceleration method: N target =N current +ΔN step Every interval T step The flow rate is increased once per second. Since the density of the air-water mixture is still lower than that of pure water, a sudden increase in speed at full throttle can easily cause air pockets to form again, meaning the air bubbles will re-aggregate. A stepped increase in speed ensures that the water flow rate is always greater than the speed at which the air bubbles rise, gradually forcing the air-water mixture into the pool outlet and completely draining it from the pipes.

[0089] After the micro-oscillation venting is complete, the microcontroller needs to determine whether the venting was successful. The determination condition is: when the high-frequency fluctuation amplitude of the pressure difference is lower than the third preset threshold, i.e., I... osc <Th osc_low In this embodiment, Th osc_low Preferably, it is 0.05, and the power ratio is higher than the fourth preset threshold, i.e., I stall >Th stallhigh In this embodiment, Th stallhigh Preferably, when the time is 0.7, the microcontroller determines that the exhaust is complete and controls the motor to smoothly return to the operating frequency before the air resistance state occurred. If the above exhaust conditions are not met within the maximum time limit T... maxIn this embodiment, it is preferred to achieve this within 30 seconds, indicating that the pipeline is not simply blocked by air but is severely short of water or the inlet is leaking air. The microcontroller immediately executes the shutdown protection and sends an alarm message to the user terminal, such as a mobile application, through the communication module, requesting that the water level and inlet valve be checked to prevent the motor from burning out due to prolonged dry running.

[0090] Optionally, the aforementioned preset acceleration curves constitute a library of S-shaped acceleration curves. The S-shaped acceleration curve represents the entire acceleration process from the initial frequency F... start to target frequency F target The process is divided into three logical phases. Phase A is the rapid start-up zone, where the controller rapidly increases the frequency from the stop state to the base speed, such as quickly climbing from 0Hz to 15Hz. The purpose is to quickly overcome the static friction of the motor and avoid the humming sound caused by insufficient torque when the motor is stationary or at extremely low speeds. The acceleration slope in this phase is denoted as α1. Phase B is the damped ramp-up zone, where the controller significantly reduces the acceleration slope within a preset resonant danger frequency band, crossing this band with a second acceleration slope α2 (α2 < α1). The resonant danger frequency band needs to be determined experimentally based on the natural frequency of the pump casing-pipeline system, for example, 25Hz to 35Hz. Phase C is the rapid sprint zone, where, after the frequency crosses the upper limit of the resonant frequency band, the controller restores the acceleration slope to α3 (α3 > α2), rapidly climbing to the target operating frequency and stabilizing. It should be noted that the acceleration curve matching based on Zone identification and the S-shaped acceleration curve parameter selection based on the λ value range are different expressions of the same decision-making process. The microcontroller first determines the current pipeline operating condition based on the Zone type matched by real-time fingerprint points. Then, it selects a combination of pre-stored acceleration parameters from the S-curve acceleration curve library based on the corresponding λ value range. For example, when Zone A (low-resistance straight-through state) is identified, the corresponding low acceleration parameter is λ < 0.05; when Zone B (high-resistance boosting state) is identified, the corresponding high acceleration parameter is λ > 0.6; and when Zone C (internal friction blockage state) is identified, the corresponding medium acceleration parameter is 0.05 ≤ λ ≤ 0.6. This mapping relationship is pre-set in the microcontroller's acceleration curve library during the factory calibration stage.

[0091] S204. Match the current differential pressure and power factor with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head.

[0092] Specifically, after the motor enters a stable operating state, the system enters the precise identification stage of the six-way valve operating mode. Unlike the coarse-grained operating condition classification based on acceleration curve selection in S203, this step uses the sliding window averaging method to perform fine-grained matching of the current differential pressure and power factor with the load characteristic intervals corresponding to the six valve position modes preset during the factory calibration stage. The system continuously executes the acquisition step in S201 and the calculation step in S202 to obtain the real-time current differential pressure ΔP and power factor, where the power factor includes the pipeline damping coefficient λ and the work efficiency η. Subsequently, the microcontroller matches the current differential pressure and power factor with multiple preset load characteristic intervals to identify the current six-way valve operating mode of the sand cylinder head.

[0093] The core technical idea of ​​this step is to avoid relying on the mechanical position switch on the sand filter head, which is easily damaged and prone to switching errors. Instead, it uses the differential hydraulic characteristics of the pipeline under different operating modes to infer the current valve position of the sand filter head, achieving soft identification. The sand filter head six-way valve includes six operating modes: filtration, backwashing, forward washing, circulation, evacuation, and shut-off. In each mode, the water flow path inside and outside the sand filter is different, resulting in different pipeline load fingerprint characteristics. In this embodiment, the microcontroller pre-stores a load characteristic interval library, i.e., a fingerprint library. This fingerprint library is formed during the factory calibration stage by measuring and recording the typical pressure difference ΔP, the pipeline damping coefficient λ in the power factor, and the working efficiency η under the six operating modes of the sand filter head. The load fingerprint vector is defined as F={λ,η,I} load}, where λ is the pipeline damping coefficient, η is the work efficiency, and I load The motor current is represented by ΔP. For ease of description, the following symbols are defined: ΔP represents the inlet and outlet water pressure difference. It should be noted that in this embodiment, the load fingerprint may contain information in multiple dimensions, including but not limited to the pipeline damping coefficient λ, the work efficiency η, and the motor current I. load In the core embodiment of this application, the microcontroller uses the current pressure difference ΔP, the pipeline damping coefficient λ, and the work efficiency η as the main matching dimensions for pattern recognition; wherein, the motor current I... load It can be used as an auxiliary judgment dimension for verification or anomaly detection under specific working conditions.

[0094] Each of the six working modes has a unique load fingerprint characteristic, as detailed below.

[0095] When the sand filter head is in filtration mode, water flows from top to bottom through the filter layer. As the dirt accumulation in the filter layer increases, the resistance rises slowly, and the flow rate decreases. Its load fingerprint quantification characteristics are: working efficiency η is between 0.75 and 0.90, ΔP is between 0.02 MPa and 0.06 MPa, and I... load The pressure rises slowly and linearly with ΔP. This model is characterized by a normal energy efficiency ratio and a gradually increasing pressure differential over time.

[0096] When the sand cylinder head is in circulation mode, the water bypasses the sand cylinder, minimizing pipeline resistance and only overcoming frictional resistance, resulting in maximum flow rate. Its load fingerprint quantification characteristics are: work efficiency η > 0.90, ΔP < 0.01 MPa, I load It can be maintained at low frequencies. This mode is characterized by low pressure drop and high energy efficiency, and serves as a fingerprint for detecting pipeline short circuits.

[0097] When the filter head is in backwash mode, the water flow fluidizes the filter media from bottom to top. Initially, the transient resistance is extremely high, i.e., the filter media is compacted, then the resistance drops sharply, resulting in suspension, and the back pressure is almost zero. Its load fingerprint quantification characteristics are: the working efficiency η is initially extremely low, less than 0.5, then rapidly jumps to 0.95; ΔP exhibits a transient peak value greater than 0.08 MPa, then stabilizes at 0.01 MPa; I load A current spike occurs at startup, followed by stabilization at a moderate value. This mode is characterized by a distinct zero-crossing feature, where the differential pressure initially rises and then falls.

[0098] When the sand filter head is in forward washing mode, after backwashing, the forward flush drain pipe is in a compacted transition state, and the resistance is between circulation and filtration. Its load fingerprint quantification characteristics are: working efficiency η is between 0.85 and 0.95, and ΔP is between 0.01 MPa and 0.02 MPa. load Stable, without transient shocks. This mode is characterized by low pressure drop but normal energy efficiency, and short duration.

[0099] When the sand filter head is in venting mode, water does not enter the sand filter but flows directly to the drain outlet. The back pressure is extremely low, close to atmospheric pressure, typically requiring a large flow rate for drainage. Its load fingerprint quantification characteristics are: work efficiency η greater than 0.95, ΔP approximately equal to 0 MPa, I... load It is strongly correlated with frequency and has no resistance loss. This mode is characterized by a pressure differential close to zero, and unlike the circulation mode, it does not require a protective sand layer.

[0100] When the sand cylinder head is in closed mode, it is fully enclosed or dead-end, and the pump impeller spins at high speed in the water with no flow, resulting in extremely high resistance. Its load fingerprint quantification characteristics are: working efficiency η less than 0.3, ΔP greater than 0.10 MPa, I... load Extremely low, even below no-load. This mode is characterized by high voltage differential, extremely low energy efficiency, and extremely low current.

[0101] Finally, the microcontroller identifies the operating mode corresponding to the load characteristic range with the smallest distance as the current operating mode of the sand cylinder head. For example, if the real-time fingerprint point has the smallest Mahalanobis distance from the filtration mode range, it is identified as the filtration mode. If it has the smallest distance from the cyclic mode range, it is identified as the cyclic mode.

[0102] Meanwhile, to prevent frequent jumps at the boundaries of the load feature interval, hysteresis logic is introduced: only when the real-time fingerprint point falls within the same load feature interval for K consecutive times, for example, three consecutive time windows (6 seconds), is a state transition confirmed and a recognition result output. If it only falls within the new interval once and then returns to the original interval in subsequent windows, the original recognition result remains unchanged.

[0103] Furthermore, the system also utilizes the aforementioned load fingerprint recognition results to confirm the switching status of the sand cylinder head and detect faults. When the system is running in filtration mode, if the working efficiency η gradually decreases from 0.90 and ΔP exceeds 0.06 MPa, the algorithm determines that the filter layer is saturated with dirt and issues a backwashing prompt. Subsequently, the controller commands backwashing. Within the first 3 seconds after switching, if the algorithm detects a transient spike in ΔP greater than 0.08 MPa and extremely low working efficiency η, it confirms that the six-way valve has successfully switched to the backwashing position. If this specific zero-crossing fingerprint is not detected within 5 seconds, the switching is deemed a failure, the system automatically resets, and an alarm is triggered. This embodiment achieves accurate soft identification of the six-way valve status and automatic diagnosis of switching faults through the aforementioned quantitative interval matching and zero-crossing fingerprint detection.

[0104] It should be noted that the acceleration curve matching based on Zone identification and the sand cylinder head six-way valve mode identification based on load characteristic intervals in S204 are two independent matching steps with different levels and purposes in this application. Zone matching in S203 is geared towards acceleration curve selection, with a coarser classification granularity. It only needs to classify the pipeline operating conditions into four main categories: low-resistance straight-through state, high-resistance boosting state, internal loss blockage state, and air resistance dry running state, to determine the acceleration parameters during startup and speed regulation. In contrast, load characteristic interval matching in S204 is geared towards precise identification of the sand cylinder head six-way valve's operating mode. Its classification granularity is finer, requiring further classification of the pipeline load state into six specific valve position modes: filtration, backwashing, forward washing, circulation, venting, and shutdown, to determine the target operating frequency during steady-state operation. The two differ fundamentally in their matching objects, classification granularity, and control objectives, together constituting the full-process adaptive control framework of this invention from startup to steady-state operation.

[0105] S205. Based on the identified current working mode, retrieve the corresponding second target frequency from the preset frequency mapping strategy, and control the motor to adjust the operating frequency to the second target frequency.

[0106] Specifically, the microcontroller retrieves the corresponding second target frequency from a preset frequency mapping strategy based on the identification result, and adjusts the motor's operating frequency to this target frequency, achieving precise matching between the sand cylinder head mode and the booster pump output. Specifically, the microcontroller has a pre-stored frequency mapping strategy table, which configures the corresponding optimal operating frequency or frequency control logic for each operating mode of the sand cylinder head. The frequency mapping strategy table is established based on the fact that the sand cylinder head has different requirements for water flow and water pressure under different operating modes.

[0107] Specifically, the contents of the frequency mapping strategy table are as follows.

[0108] When the system is identified as being in filtration mode, it executes either a routine cycle or a variable pressure control strategy. The system dynamically adjusts the frequency based on ΔP: if ΔP is less than 0.02 MPa, the frequency is reduced to 30 Hz for energy saving and quiet operation; if ΔP is greater than 0.06 MPa, the frequency is increased to 45 Hz to enhance penetration. Simultaneously, the system continuously monitors the efficiency η. If the efficiency η remains below 0.75 for more than 2 hours, it is determined to be saturated with dirt and a backwashing prompt is issued. Therefore, the second target frequency retrieved in filtration mode is the variable frequency control frequency dynamically calculated based on the real-time inlet and outlet water pressure difference ΔP and the efficiency η.

[0109] When the system is identified as being in cyclic mode, it executes a minimum speed maintenance or ultra-quiet control strategy. Upon detecting this fingerprint, the system forcibly reduces the frequency to a sleep cycle frequency of 25 to 30 Hz and lowers the pressure target value by 30% to prevent invalid head. Therefore, the second target frequency retrieved in cyclic mode is 25 to 30 Hz.

[0110] When backwashing mode is detected, the system executes a fixed frequency or open-loop forced drive control strategy. The system disables PID closed-loop control, prohibiting further frequency increases due to low pressure differential, and locks the frequency at 48 to 50 Hz, near the power frequency, to ensure sufficient tumbling of the filter sand. Simultaneously, the system monitors the efficiency jump time η; if no jump occurs within 3 seconds, filter media caking is deemed failed, and an alarm is issued. Therefore, the second target frequency retrieved in backwashing mode is locked at 48 to 50 Hz.

[0111] When the system detects a forward wash mode, it executes a medium-speed rinsing control strategy. Upon detecting this fingerprint, the system locks the frequency at 35 to 40 Hz and starts a timer, typically for 3 to 5 minutes, after which it automatically switches back to filtration mode. Therefore, the second target frequency retrieved in forward wash mode is 35 to 40 Hz.

[0112] When the system is identified as being in venting mode, it executes a maximum flow or rapid venting control strategy. Upon detecting this fingerprint, the system operates at the highest safe frequency, such as 52Hz, and continuously monitors the current to prevent prolonged no-load operation. Therefore, the second target frequency retrieved in venting mode is 52Hz. When the system is identified as being in shutdown mode, it executes an emergency stop protection strategy. If this fingerprint is detected during the non-backflushing preparation period, it is determined to be a misoperation or valve jamming. The system executes an emergency stop within 2 seconds and outputs a six-way valve not switched to the correct position alarm. Therefore, the second target frequency retrieved in shutdown mode is zero, i.e., a shutdown command is executed.

[0113] After the microcontroller retrieves the corresponding second target frequency, it outputs the corresponding frequency signal to the motor through the driver board, controlling the motor to gradually adjust to that frequency. During the frequency adjustment process, the system continuously executes the acquisition steps of S201, monitoring the changes in pressure difference and power factor in real time. If any abnormal situation is detected, such as a sudden mode switch or air resistance, the adjustment is immediately interrupted and the corresponding abnormal handling process is initiated.

[0114] The specific frequency values ​​in the above frequency mapping strategy, such as 30Hz, 45Hz, 25 to 30Hz, 48 to 50Hz, 35 to 40Hz, and 52Hz, are all based on a 3kW variable frequency booster pump with a reference rated frequency of 50Hz. Those skilled in the art will understand that the above values ​​are adjusted according to the specific pump type and rated frequency, and should not be construed as limiting the scope of protection of this application.

[0115] Optionally, the system also implements day / night silent adaptive scheduling control. Specifically, the microcontroller has a built-in RTC real-time clock module to obtain current time information. The system has a first preset time period, i.e., the nighttime period, such as 22:00 to 08:00 the next day, and a second preset time period, i.e., the daytime period, such as 08:00 to 22:00. When it is determined that the current time period is the first preset time period, the system implements the night mode strategy. The microcontroller forcibly limits the maximum operating frequency of the motor to below a preset frequency threshold. In this embodiment, this threshold is preferably 35Hz, meaning that the motor must not operate above 35Hz at night under any circumstances. Based on this, the system replaces the high-speed, short-duration strategy of the daytime with a low-speed, long-duration strategy. That is, during the nighttime period, the target operating frequency of the motor is set below the preset frequency threshold. By extending the operating time, the flow reduction caused by the low speed is compensated for, ensuring that the total filtered water volume during the entire nighttime period is not lower than the preset target value. When it is determined that the current time period is the second preset time period, the system removes the restriction on the maximum operating frequency of the motor, restores the full-frequency operating permission, and prioritizes high-noise tasks such as high-pressure cleaning and sand filter backwashing during the daytime. Describing a real-world scenario, during nighttime hours, the system sets the motor's target operating frequency below a preset frequency threshold. This extended operating time compensates for the reduced flow rate caused by the lower speed, ensuring that the total filtered water volume throughout the nighttime period is not less than the preset target value. Specifically, the daytime target equivalent V is first calculated. day = , where V day The daytime effective filtration equivalent represents the total amount of effective filtration completed during the daytime period. This represents the total duration of the daytime mode. The daytime filtration efficiency coefficient reflects the penetration rate of impurities when the water flow is fast at high speeds; its value decreases as the speed increases. This is the pump constant, which reflects the flow characteristics of the pump at a unit speed and is determined by the pump model. The real-time rotational speed varies with time during the daytime period; further calculation of the nighttime target equivalent: V night =V target -V day_actual , Filtering equivalent for nighttime targets; V target The target value for total daily effective filtration equivalent is calculated by multiplying the pool water volume by the required number of daily turnovers, and remains a fixed value throughout the entire control cycle; V day_actual The effective filtration equivalent actually achieved during the day is obtained through real-time monitoring and integral calculation at each hour throughout the day. Let γ be the efficiency coefficient corresponding to low speed at night. night Therefore, the required effective running time at night is:

[0116]

[0117] in, The required effective operating time at night; The nighttime filtration efficiency coefficient reflects the retention rate of impurities when the water flow is slow at low speeds; its value increases as the speed decreases. The operating speed is kept constant at low speed during nighttime. This formula, by dividing the target filtration equivalent at night by the effective filtration flow rate per unit time during nighttime, deduces the required runtime, used to determine whether the available time at night is sufficient to complete the filtration task. If... ≤T night If sufficient time is available, the system will operate in a uniform, low-frequency, silent mode at night, and automatically shut down and enter sleep mode after completing its equivalent load, achieving maximum energy savings. >T night This indicates insufficient available time, meaning too little operation during the day. If a low frequency is forcibly maintained, the total filtration volume will inevitably fall short of the target. This triggers the dynamic frequency ramp-up mechanism. When the remaining available time T at night... night_rem If the time is less than required, the rotation speed must be increased, but this must be done while ensuring that the noise level remains within acceptable limits.

[0118] Recalculate the target rotational speed at night:

[0119]

[0120] in, The target rotational speed for the night represents the operating speed required to complete the remaining filtration task within the remaining available time of the night. This represents the remaining filtration equivalent that needs to be completed at night, i.e., the total amount of effective filtration that still needs to be completed at night after time compensation calculation. This represents the remaining available time at night, i.e., the duration from the current time until the end of night mode. If ≤ If so, the filter will be executed according to the calculated rotation speed, completing the filtration task just before the first preset time ends. > This indicates that even with the nighttime silent mode maxed out, the task could not be completed. The system will run at the maximum preset frequency at night and will carry over any unfinished equivalent accounting to the next day for priority execution.

[0121] In one possible implementation, in real-world scenarios, water quality is dynamic; factors such as nighttime rain and a surge in swimmers can cause water quality to deteriorate. Therefore, a water quality disturbance factor α needs to be introduced:

[0122]

[0123] Wherein, α is the water quality disturbance factor, used to quantify the degree of deviation of the current water quality from the target water quality; The current real-time turbidity value is obtained through an external or internal turbidity sensor. The preset target turbidity value represents the water quality compliance threshold set by the system. This ratio reflects the real-time changes in water quality; α ≥ 1, and the worse the water quality, the larger α becomes. The corrected nighttime actual target equivalent is then calculated: V night_actual =V night α. If α > 1, it indicates that the water quality has deteriorated, then V night_actual Automatically adjust the speed and recalculate the current operating speed or time according to the above logic.

[0124] If α≈1, indicating excellent water quality at night, but with the presence of extremely small floating debris, a conventional low-speed water flow might not be able to carry impurities from the bottom or surface of the pool into the main drain. Therefore, an intermittent pulse flushing method is introduced. It operates at low frequency for 15 minutes, then automatically switches to high frequency (e.g., 85% of rated speed) for 30 seconds, generating a strong water flow to agitate the sediment in the pool water, followed by continued low-frequency silent filtration. This ensures that the total noise level remains within acceptable limits while improving physical cleanliness.

[0125] This application provides a collaborative adaptive control method for a sand cylinder head and a booster pump. By real-time acquisition of differential pressure and motor operating electrical parameters, a power factor is constructed to characterize pipeline load resistance and work efficiency. This characteristic value is used as the core decision variable, achieving full-process adaptive control during both the startup and operation phases. During startup, an S-shaped acceleration curve is matched based on the pipeline damping coefficient. A three-stage control (fast-slow-fast) is employed, and the acceleration slope is reduced in the resonant frequency band, effectively suppressing water hammer impact and structural resonance noise, adapting to different operating conditions such as empty pipe, full pipe, and high resistance. During operation, the differential pressure and power factor are matched with a preset load characteristic range, achieving soft recognition of six operating modes of the sand cylinder head without relying on easily damaged mechanical position switches. The corresponding target frequency is then retrieved based on the recognized mode, allowing the booster pump output to actively adapt to the hydraulic demands of different operating conditions, solving the dynamic response mismatch problem during mode switching. Furthermore, the gas resistance status is accurately determined through dual-factor cross-validation using pressure oscillation intensity and power stall index. Automatic gas removal from the pipeline is achieved through a three-stage micro-oscillation process involving low-frequency dwell, sinusoidal oscillation tearing, and stepped accelerated transport, preventing motor dry burning. Simultaneously, by automatically limiting the highest nighttime operating frequency using a real-time clock and combining this with water volume compensation calculations, operating noise is suppressed to ambient noise levels while ensuring the total daily filtered water volume.

[0126] Please see Figure 3 , Figure 3 This is a structural block diagram of the coordinated adaptive control device for the sand cylinder head and booster pump provided in an embodiment of this application. Figure 3 As shown: The collaborative adaptive control device 300 for the sand cylinder head and booster pump includes: a data acquisition module 310, a calculation module 320, an acceleration matching module 330, a pattern recognition module 340, and a control module 350, wherein:

[0127] The data acquisition module 310 is used to acquire the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor in real time, and to calculate the current pressure difference based on the pressure values.

[0128] The calculation module 320 is used to calculate the power factor based on the current pressure difference and operating electrical parameters; wherein, the power factor is used to characterize the current pipeline load resistance and work efficiency;

[0129] The acceleration matching module 330 is used to match the corresponding target acceleration curve from a set of preset acceleration curves according to the power factor, and control the motor's operating frequency to be adjusted to the first target frequency according to the target acceleration curve.

[0130] The pattern recognition module 340 is used to match the current pressure difference and power factor with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head.

[0131] The control module 350 is used to retrieve the corresponding second target frequency from the preset frequency mapping strategy according to the identified current working mode, and control the motor to adjust the operating frequency to the second target frequency.

[0132] It should be noted that the above-described embodiment of the coordinated adaptive control device for the sand cylinder head and booster pump, when executing the coordinated adaptive control method for the sand cylinder head and booster pump, is only illustrated by the division of the above-described functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the coordinated adaptive control device for the sand cylinder head and booster pump provided in the above-described embodiment and the coordinated adaptive control method embodiment for the sand cylinder head and booster pump belong to the same concept, and their implementation process is detailed in the method embodiment, which will not be repeated here.

[0133] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0134] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 400 may include: at least one processor 401, at least one network interface 404, user interface 403, memory 405, and at least one communication bus 402.

[0135] The communication bus 402 is used to enable communication between these components.

[0136] The user interface 403 may include a display screen, and the optional user interface 403 may include a standard wired interface or a wireless interface.

[0137] The network interface 404 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0138] The processor 401 may include one or more processing cores. The processor 401 connects to various parts within the electronic device 400 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and by calling data stored in the memory 405. Optionally, the processor 401 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 401 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 401.

[0139] The memory 405 may include random access memory (RAM) or read-only memory. Optionally, the memory 405 may include a non-transitory computer-readable storage medium. The memory 405 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 405 may also be at least one storage device located remotely from the aforementioned processor 401. Figure 4 As shown, the memory 405, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a collaborative adaptive control application for the sand cylinder head and the booster pump.

[0140] exist Figure 4 In the illustrated electronic device 400, the user interface 403 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 401 can be used to call the collaborative adaptive control application of the sand cylinder head and booster pump stored in the memory 405, and specifically perform the following operations:

[0141] The pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor are collected in real time, and the current pressure difference is calculated based on the pressure values.

[0142] The power factor is calculated based on the current pressure difference and operating electrical parameters; the power factor is used to characterize the current pipeline load resistance and work efficiency.

[0143] Based on the power factor, the corresponding target acceleration curve is matched from multiple preset acceleration curves, and the operating frequency of the motor is controlled to be adjusted to the first target frequency according to the target acceleration curve.

[0144] The current differential pressure and power factor are matched with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head;

[0145] Based on the identified current operating mode, the corresponding second target frequency is retrieved from the preset frequency mapping strategy, and the motor is controlled to adjust its operating frequency to the second target frequency.

[0146] In some possible embodiments, before the processor 401 performs real-time acquisition of the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor, and before calculating the current pressure difference based on the pressure values, it is also used to perform:

[0147] In response to the start command, the motor of the booster pump is controlled to start running at a preset initial frequency.

[0148] In some possible embodiments, the operating electrical parameters include motor speed and motor power, and the processor 401 is also used to perform:

[0149] If the high-frequency fluctuation amplitude of the current pressure difference is detected to exceed the first preset threshold, and the ratio of the motor power to the theoretical power at the motor speed is lower than the second preset threshold, then air resistance is determined to have occurred.

[0150] In response to the detection of gas resistance, the motor is controlled to perform periodic frequency conversion oscillation according to a sinusoidal modulation signal within a preset low-frequency range in order to discharge the gas in the pipeline.

[0151] When the high-frequency fluctuation amplitude of the differential pressure is lower than the third preset threshold and the power ratio is higher than the fourth preset threshold, the exhaust is determined to be complete, and the motor is controlled to return to the operating frequency before the air resistance state occurred.

[0152] In some possible embodiments, after the processor 401 performs the following actions: matching a corresponding target acceleration curve from a plurality of preset acceleration curves based on the power factor, and controlling the motor's operating frequency to adjust to a first target frequency according to the target acceleration curve, the processor 401 is further configured to perform:

[0153] Obtain the current time information. If it is determined that the current time is within the first preset time period, limit the maximum operating frequency of the motor to below the preset frequency threshold.

[0154] If it is determined that the current time is within the second preset time period, the restriction on the maximum operating frequency of the motor will be lifted.

[0155] In some possible embodiments, processor 401 performs a power factor calculation based on the current voltage drop and operating electrical parameters, specifically for the following purposes:

[0156] Calculate the pipeline damping coefficient based on the current pressure difference and motor speed;

[0157] Calculate the work efficiency based on the current pressure difference and motor power;

[0158] The pipeline damping coefficient and work efficiency are used as power factors.

[0159] In some possible embodiments, the preset multiple acceleration curves are a library of S-shaped acceleration curves;

[0160] Processor 401 performs a process based on the power factor, matching a target acceleration curve from a set of preset acceleration curves, specifically for the following:

[0161] Obtain the numerical range of the pipeline damping coefficient, and determine the corresponding acceleration slope based on the numerical range.

[0162] When accelerating from the initial frequency to the lower limit of the preset resonant frequency band with an acceleration slope, the acceleration slope is switched to a second acceleration slope that is less than the initial acceleration slope to cross the preset resonant frequency band.

[0163] After crossing to the upper limit of the preset resonance frequency band, it resumes acceleration to the first target frequency at a third acceleration slope greater than the second acceleration slope.

[0164] In some possible embodiments, the processor 401 performs the following: matching the current differential pressure and power factor with a plurality of preset load characteristic ranges to identify the current operating mode of the sand cylinder head, specifically for performing:

[0165] Obtain the current differential pressure and power factor corresponding to multiple sampling points within a preset time window;

[0166] Calculate the average pressure difference and average power factor within the time window based on the current pressure difference and power factor corresponding to multiple sampling points;

[0167] The average pressure difference and average power factor are compared with the distances of multiple preset load characteristic intervals one by one;

[0168] The operating mode corresponding to the load characteristic range with the smallest distance from the average pressure difference and average power factor is identified as the current operating mode of the sand cylinder head.

[0169] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the above-described instructions. Figure 2 One or more steps in the illustrated embodiment. If the constituent modules of the above-described coordinated adaptive control device for the sand cylinder head and booster pump are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0170] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0171] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation schemes can be combined arbitrarily.

[0172] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A coordinated adaptive control method for a sand cylinder head and a booster pump, characterized in that, The method includes: The pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor are collected in real time, and the current pressure difference is calculated based on the pressure values. The power factor is calculated based on the current pressure difference and the operating electrical parameters; wherein the power factor is used to characterize the current pipeline load resistance and work efficiency. Based on the power factor, a corresponding target acceleration curve is matched from a plurality of preset acceleration curves, and the operating frequency of the motor is controlled to be adjusted to the first target frequency according to the target acceleration curve. The current pressure difference and the power factor are matched with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head; Based on the identified current operating mode, the corresponding second target frequency is retrieved from the preset frequency mapping strategy, and the motor is controlled to adjust its operating frequency to the second target frequency.

2. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 1, characterized in that, Before the method of real-time acquisition of the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor, and before calculating the current pressure difference based on the pressure values, the method further includes: In response to the start command, the motor of the booster pump is controlled to start running at a preset initial frequency.

3. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 1, characterized in that, The operating electrical parameters include motor speed and motor power, and the method further includes: If the high-frequency fluctuation amplitude of the current pressure difference is detected to exceed the first preset threshold, and the ratio of the motor power to the theoretical power at the motor speed is lower than the second preset threshold, then air resistance is determined to have occurred. In response to the determination of gas resistance, the motor is controlled to perform periodic frequency conversion oscillation according to a sinusoidal modulation signal within a preset low frequency range in order to discharge the gas in the pipeline. When the high-frequency fluctuation amplitude of the pressure difference is lower than the third preset threshold and the power ratio is higher than the fourth preset threshold, the exhaust is determined to be complete, and the motor is controlled to return to the operating frequency before the air resistance state occurred.

4. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 1, characterized in that, After matching a corresponding target acceleration curve from a set of preset acceleration curves based on the power factor, and controlling the operating frequency of the motor to be adjusted to a first target frequency according to the target acceleration curve, the method further includes: Obtain the current time information; if it is determined that the current time is within a first preset time period, then limit the maximum operating frequency of the motor to below a preset frequency threshold. If it is determined that the current time is within the second preset time period, the restriction on the maximum operating frequency of the motor is lifted.

5. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 3, characterized in that, The calculation of the power factor based on the current pressure difference and the operating electrical parameters includes: Calculate the pipeline damping coefficient based on the current pressure difference and the motor speed; Calculate the work efficiency based on the current pressure difference and the motor power; The pipeline damping coefficient and the work efficiency are used as the power factor.

6. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 5, characterized in that, The preset multiple acceleration curves are an S-shaped acceleration curve library; The step of matching a corresponding target acceleration curve from a preset plurality of acceleration curves based on the power factor includes: Obtain the numerical range of the pipeline damping coefficient, and determine the corresponding acceleration slope based on the numerical range; When accelerating from the starting frequency to the lower limit of the preset resonant frequency band with the acceleration slope, the acceleration slope is switched to a second acceleration slope less than the acceleration slope to cross the preset resonant frequency band. After crossing to the upper limit of the preset resonance frequency band, it resumes acceleration to the first target frequency at a third acceleration slope greater than the second acceleration slope.

7. The coordinated adaptive control method for the sand cylinder head and the booster pump according to claim 1, characterized in that, The step of matching the current pressure difference and the power factor with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head includes: Obtain the current differential pressure and power factor corresponding to multiple sampling points within a preset time window; Based on the current pressure difference and power factor corresponding to the multiple sampling points, calculate the average pressure difference and average power factor within the time window; The average pressure difference and the average power factor are compared with the distances of a plurality of preset load characteristic intervals one by one; The operating mode corresponding to the load characteristic range that is closest to the average pressure difference and the average power factor is identified as the current operating mode of the sand cylinder head.

8. A coordinated adaptive control device for a sand cylinder head and a booster pump, characterized in that, The device includes: The data acquisition module is used to collect the pressure values ​​at the inlet and outlet of the booster pump and the operating electrical parameters of the motor in real time, and calculate the current pressure difference based on the pressure values. The calculation module is used to calculate the power factor based on the current pressure difference and the operating electrical parameters; wherein the power factor is used to characterize the current pipeline load resistance and work efficiency; An acceleration matching module is used to match a corresponding target acceleration curve from a plurality of preset acceleration curves according to the power factor, and control the operating frequency of the motor to be adjusted to a first target frequency according to the target acceleration curve. The pattern recognition module is used to match the current pressure difference and the power factor with multiple preset load characteristic ranges to identify the current working mode of the sand cylinder head; The control module is used to retrieve the corresponding second target frequency from the preset frequency mapping strategy according to the identified current working mode, and control the motor to adjust the operating frequency to the second target frequency.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor and performing the steps of the method as claimed in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described in any one of claims 1 to 7.

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