Most likely it won’t damage OSPi. Remember, 24VAC’s peak voltage is much higher (1.414 times) than 24VDC, so if the circuit can handle 24VAC, it can handle 24VDC. What would be more of concern though, is your solenoid valves — because of the way solenoid valves work, the current running through them will be way higher under DC than under AC of the same rated RMS voltage. This is explained in my article here:
https://rayshobby.net/wordpress/understanding-24vac-sprinkler-valves/
So the short story is: don’t use 24DC on 24VAC valves, otherwise the valves may burn out prematurely.
As to why the valves would only open but not close: that has to do with how triac (AC transistor) works. To turn off, they need a zero-crossing, which happens quickly with AC. On the contrary, with DC, there is no zero-crossing, so once on, a triac will not be able to turn off, even if the gate current is removed.