CN102563185B - Be provided for the method and apparatus of the pressure nominal value of the correction of pilot proportional valve - Google Patents
Be provided for the method and apparatus of the pressure nominal value of the correction of pilot proportional valve Download PDFInfo
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- CN102563185B CN102563185B CN201110404324.8A CN201110404324A CN102563185B CN 102563185 B CN102563185 B CN 102563185B CN 201110404324 A CN201110404324 A CN 201110404324A CN 102563185 B CN102563185 B CN 102563185B
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- correction
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- 238000012937 correction Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000012530 fluid Substances 0.000 claims abstract description 11
- 239000003921 oil Substances 0.000 description 29
- 230000001105 regulatory effect Effects 0.000 description 15
- 230000003111 delayed effect Effects 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000009711 regulatory function Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 239000010721 machine oil Substances 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2093—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power
- G05D16/2097—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power using pistons within the main valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/52—Pressure control characterised by the type of actuation
- F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/575—Pilot pressure control
- F15B2211/5753—Pilot pressure control for closing a valve
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Fluid Pressure (AREA)
Abstract
The present invention relates to the pressure nominal value of the correction being provided for pilot proportional valve
a kind of method and a kind of device, described pilot proportional valve comprises pilot valve (0200) and has the main valve (0202) of control chamber, described control chamber is connected with pilot fluid, by pilot valve by the pilot pressure (p in control chamber
x) control bound, by electrical input signal (U
d) control pilot valve, detect the pilot pressure actual value (p of pilot pressure
x), and determine described electrical input signal when using the pressure nominal value of pilot pressure actual value and correction, described device has following characteristics: determine the pressure nominal value (p preset
soll) the device (2010) of correction value, determine described correction value when using electrical input signal and pilot pressure actual value; And for the device (2020) of the pressure nominal value that generates described correction, generate the pressure nominal value of described correction when using the pressure nominal value and correction value that preset.
Description
Technical field
The present invention relates to a kind of be provided for the pressure nominal value of the correction of pilot proportional valve method, a kind of control pilot proportional valve method, be a kind ofly provided for the device of the pressure nominal value of the correction of pilot proportional valve and a kind of corresponding computer program.
Background technique
Common pilot proportional valve has a pilot valve and a main valve, and pilot valve is connected with main valve by pressure piping.Pilot valve can respond electrical input signal and control the pressure in pressure piping.Utilize the mensuration pressure in pressure piping to regulate pressure nominal value, thus produce the input signal of pilot valve, pilot pressure so just can be made to realize linearization with the ratio of the main volume flow through main valve.But the limiting pressure set by pressure nominal value can be increased along with the rising of main volume flow, therefore the forerunner pressure valve of main piston backside pressure can be regulated all to have in isobaric characteristic curve " remaining adjusting deviation ", this mainly mobilization force cause, and final (if situation is really like this) can only intervene it in the mode of change structure.
Summary of the invention
Therefore task of the present invention is to provide a kind of to improving one's methods of regulating pressure to intervene with the ratio of the main volume flow through main valve.
Described in independent claims, adopt a kind of be provided for the pressure nominal value of the correction of pilot proportional valve method, a kind of control pilot proportional valve method, be a kind ofly provided for the device of the pressure nominal value of the correction of pilot proportional valve and a kind of computer program, this task can be solved.
The present invention is based on such understanding: in the main valve of leading type ratio adjusting valve, between the piston front of main valve and the piston back side, there is pressure difference.Treat that pressure regulation masterpiece is for piston front, the pilot pressure that the pilot valve being subject to pilot proportional valve controls acts on the piston back side.Pressure difference increases gradually along with the volume flowrate through main valve and becomes large.Therefore along with the increase of volume flowrate, treat that pressure regulation power will increase with the deviation of the pressure nominal value being set to pilot valve thereupon.Adopt in not additional measured variable and/or do not regulate the mode eliminating remaining adjusting deviation when limiting pressure, just can realize the characteristic curve that can mate when needed, thus realize fairly simple Proportional valve mode of execution.
Be suitable for using the correction value of pressure nominal value as the input variable being used for controlling pilot valve, so just can realize in piston front can carrying out independent of volume flowrate the pressure that regulates.In addition another correction value of pressure nominal value can also intervene the pressure of piston front with volume changes in flow rate.
The invention provides a kind of method being provided for the pressure nominal value of the correction of pilot proportional valve, described pilot proportional valve comprises pilot valve and has the main valve of control chamber, described control chamber is connected with pilot fluid, by pilot valve by the pilot pressure control bound in control chamber, pilot valve is controlled by electrical input signal, detect the pilot pressure actual value of pilot pressure, then determining described electrical input signal when using pilot pressure actual value and amended pressure nominal value, said method comprising the steps of:
Determining the step of the correction value of the pressure nominal value preset, wherein determining described correction value when using electrical input signal and pilot pressure actual value; And
Generating the step of the pressure nominal value of described correction, namely generating the pressure nominal value of described correction when using the pressure nominal value and correction value that preset.
In addition the present invention also comprises a kind of method controlling pilot proportional valve, described pilot proportional valve comprises pilot valve and has the main valve of control chamber, described control chamber is connected with pilot fluid, by pilot valve by the pilot pressure control bound in control chamber, detect the pilot pressure actual value of pilot pressure, comprise the following steps:
Being controlled the step of pilot valve by electrical input signal, determining described electrical input signal when using the pressure nominal value of pilot pressure actual value and correction; And
Method step described in said method.
The present invention also comprises a kind of device being provided for the pressure nominal value of the correction of pilot proportional valve, described pilot proportional valve comprises pilot valve and has the main valve of control chamber, described control chamber is connected with pilot fluid, by pilot valve by the pilot pressure control bound in control chamber, pilot valve is controlled by electrical input signal, detect the pilot pressure actual value of pilot pressure, then determine described electrical input signal when using pilot pressure actual value and amended pressure nominal value, described device has following characteristics:
For determining the device of the correction value of the pressure nominal value preset, determine described correction value when using electrical input signal and pilot pressure actual value; And
For generating the device of the pressure nominal value of described correction, generate the pressure nominal value of described correction when using the pressure nominal value and correction value that preset.
Pilot proportional valve can be the pilot proportional pressure valve that can regulate main piston surface pressure, such as proportional pressure control valve.Pilot proportional valve can have for regulating the main valve of main volume flow and being used for the pilot valve of regulable control oil volumetric flow rates.Adopt the mode (such as in time using machine oil to transmit fluid as pressure) of regulable control oil volumetric flow rates, can set up in control chamber or removal pilot pressure.Pilot pressure in control chamber can act on the main piston of main valve.Spring in control chamber can support the effect of pilot pressure.Pilot valve can be controlled by electrical input signal.Electrical input signal can be voltage and/or electric current.Electrical input signal can and the opens wide of pilot valve between there is direct relation.The opens wide of pilot valve and can control to there is direct relation between oil volumetric flow rates.Electrical input signal can be provided by the corresponding pressure nominal value revised.The pressure nominal value that correction value and the pressure nominal value that presets generate described correction can be combined.
According to another embodiment of the invention, in the step determining described correction value, correction value at least can comprise the information about the pressure difference between pilot pressure and described limiting pressure, limiting pressure described in main valve limits, according to electrical input signal and pilot pressure actual value determination pressure difference information.Correction value can represent the pressure difference in main valve between piston front and the piston back side.Correction value can represent the pressure difference between described limiting pressure and pilot pressure.The pressure remained steady that presets so just can be made constant independent of the main volume flow through main valve.
In other embodiments, in determining step, correction value at least can comprise the information about the pressure difference between pilot pressure and described limiting pressure, according to the control oil volumetric flow rates determination pressure difference information through pilot valve, determine to control oil volumetric flow rates according to electrical input signal and pilot pressure actual value.Estimation control oil volumetric flow rates can be adopted and the mode of estimated pressure difference subsequently, change the characteristic of main valve under different subjects amasss flow according to required setting value.
Described in another embodiment of the invention, in determining step, correction value can comprise at least one at least one characteristic Gradient correction coefficient for main valve, described characteristic curve represents described limiting pressure and the relation between the main volume flow of main valve, according to electrical input signal and pilot pressure actual value and the slope value determination Gradient correction coefficient that can preset.Gradient correction coefficient can be power gain or damping coefficient.Gradient correction coefficient can be relevant with the slope value that can preset.Gradient correction coefficient can improve according to main volume flow or reduce the pressure regulated.So just independent of the volume flowrate through main valve, limiting pressure can be intervened.
Described in another embodiment of the invention, the estimated value of the main volume flow through main valve is provided in determining step, and/or the estimated value of the control oil volumetric flow rates through control valve is provided, and/or provide the estimated value of the pressure difference between pilot pressure and described limiting pressure, and/or provide the estimated value of described limiting pressure.Estimated value can be the value drawn according to direct measurable variable.Estimated value can be the value drawn according to one or more estimated value.Main volume stream can flow through main valve from feeding mechanism.Control oil volume stream and from feeding mechanism ramp metering chamber, then can flow through pilot valve.Pressure difference can be there is between feeding mechanism and control chamber.Limiting pressure can be present in before main valve at flow direction.The system connected all can access provided additional parameter value.Such as SC system controller can monitor the performance of Proportional valve.
Also be suitable for adopting a kind of computer program comprising program-code, described code is kept in the Machine-readable medium of semiconductor memory and so on, hard disk or optical memory, perform this program on the controller, the method according to any one of above-mentioned mode of execution can be performed.
Accompanying drawing explanation
Below according to illustrated example, the present invention will be explained in detail.Correlogram is as follows:
The flow chart of method described in Fig. 1 an embodiment of the present invention;
The schematic diagram of Fig. 2 proportional pressure control valve, comprises connected electronic equipment;
The pressure versus flow graph of relation of Fig. 3 a pilot valve;
The voltage of Fig. 3 b pilot valve and pressure relationship plot figure;
The voltage of pilot proportional valve shown in Fig. 4 Fig. 2 and pressure relationship plot figure;
The pressure versus flow graph of relation of pilot proportional valve shown in Fig. 5 a Fig. 2;
The volume flowrate of pilot proportional valve shown in Fig. 5 b Fig. 2 and pressure relationship plot figure;
Volume flowrate and the oily discharge relation plotted curve of control of pilot proportional valve shown in Fig. 5 c Fig. 2;
The volume flowrate of pilot proportional valve shown in Fig. 5 d Fig. 2 and pressure difference graph of relation;
The schematic diagram of Fig. 6 proportional pressure control valve, comprises connected electronic equipment and pilot pressure is measured and controlling device;
The voltage of pilot proportional valve shown in Fig. 7 Fig. 6 and pressure relationship plot figure;
The pressure versus flow graph of relation of pilot proportional valve shown in Fig. 8 a Fig. 6;
The volume flowrate of pilot proportional valve shown in Fig. 8 b Fig. 6 and pressure relationship plot figure;
Volume flowrate and the oily discharge relation plotted curve of control of pilot proportional valve shown in Fig. 8 c Fig. 6;
The volume flowrate of pilot proportional valve shown in Fig. 8 d Fig. 6 and pressure difference graph of relation;
The pressure of pilot proportional valve shown in Fig. 9 Fig. 6 and pressure difference graph of relation;
The schematic diagram of Figure 10 proportional pressure control valve, comprises connected electronic equipment and pilot pressure is measured and controlling device, and comprises described in an embodiment of the present invention for providing the device of revised pressure nominal value;
The pressure versus flow graph of relation of pilot proportional valve shown in Figure 11 a Figure 10, comprises and revise pressure nominal value described in a kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 11 b Figure 10 and pressure relationship plot figure, comprise and revise pressure nominal value described in a kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 11 c Figure 10 and pressure difference graph of relation, comprise and revise pressure nominal value described in a kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 11 d Figure 10 and pressure nominal value graph of relation, comprise and revise pressure nominal value described in a kind of embodiment of the present invention;
The pressure of pilot proportional valve shown in Figure 12 Figure 10 and volume flowrate graph of relation, comprise and revise pressure nominal value described in a kind of embodiment of the present invention;
The schematic diagram of Figure 13 proportional pressure control valve, comprises connected electronic equipment and pilot pressure is measured and controlling device, and comprises described in the another kind of embodiment of the present invention for providing the device of revised pressure nominal value;
The pressure versus flow graph of relation of pilot proportional valve shown in Figure 14 a Figure 13, comprises and revise pressure nominal value described in another kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 14 b Figure 13 and pressure difference graph of relation, comprise and revise pressure nominal value described in another kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 14 c Figure 13 and pressure nominal value graph of relation, comprise and revise pressure nominal value described in another kind of embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 14 d Figure 13 and volume flowrate graph of relation, comprise and revise pressure nominal value described in another kind of embodiment of the present invention;
The pressure versus flow graph of relation of pilot proportional valve shown in Figure 15 a Figure 13, comprises and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 15 b Figure 13 and pressure difference graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 15 c Figure 13 and pressure nominal value graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 15 d Figure 13 and volume flowrate graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The schematic diagram of Figure 16 proportional pressure control valve, comprises connected electronic equipment and pilot pressure is measured and controlling device, and comprises described in the another kind of embodiment of the present invention for providing the device of revised pressure nominal value;
Pressure and the oily discharge relation plotted curve of control of pilot proportional valve shown in Figure 17 Figure 16, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The control oil flow of pilot proportional valve shown in Figure 18 Figure 16 and pressure difference graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The pressure versus flow graph of relation of pilot proportional valve shown in Figure 19 a Figure 16, comprises and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 19 b Figure 16 and pressure difference graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
The volume flowrate of pilot proportional valve shown in Figure 19 c Figure 16 and pressure nominal value graph of relation, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention;
Volume flowrate and the oily discharge relation plotted curve of control of pilot proportional valve shown in Figure 19 d Figure 16, comprise and revise pressure nominal value described in a kind of additional embodiment of the present invention; And
The schematic diagram of Figure 20 proportional pressure control valve, comprises connected electronic equipment and pilot pressure is measured and controlling device, and comprises described in a kind of additional embodiment of the present invention for providing the device of revised pressure nominal value.
Icon invoice
0100 method
0110 determining step
0120 generation step
0200 pilot valve/front pilot valve
0202 main valve/main
0204 controls oil nozzle
0206 system
0208 backflow resistance
0210 electronic equipment
P
xpilot pressure/main piston backside pressure
P
yback pressure in pilot valve
P
bback pressure in reflow pipe
P
apressure/main piston the positive pressure regulated
Q
hthrough the main volume flow of main valve
Q
stthrough the control oil volumetric flow rates of pilot valve
U
delectric control signal
0302 set of curves
0304 curve
0402 curve
0502 set of curves
0504 set of curves
0506 set of curves
0508 set of curves
P
sollpressure nominal value
0702 curve
0802 set of curves
0804 set of curves
0806 set of curves
0806 set of curves
0902 set of curves
the pressure nominal value revised
Δ p pressure difference
F
aX(...) pressure difference relation
1102 set of curves
1104 set of curves
1106 set of curves
1108 set of curves
1110 set of curves
M
gDV* f
x -1(...) for revising the element of slope
1302 set of curves
1402 set of curves
1404 set of curves
1406 set of curves
1408 set of curves
1410 set of curves
1502 set of curves
1504 set of curves
1506 set of curves
1508 set of curves
1510 set of curves
Δ p
aXpressure difference
F
pil -1(...) estimation 1
F
st -1(...) estimation 2
1702 set of curves
1802 curves
1902 set of curves
1904 set of curves
1906 set of curves
1908 set of curves
1910 set of curves
2010 devices for determining
2020 devices for generating
F
soll(...) needed for change curve
Embodiment
All mark with same or similar figure in the figure of the following stated and represent same or similar element.These figure and explanation thereof and accompanying claims also comprise a large amount of assemblage characteristics.Apparent for professional person, also can observe separately these features, or also can be combined into other combination clearly do not described here.Also use different sizes and dimension to make an explanation to the present invention in these external following declaratives, but the present invention should be interpreted as and be only limitted to these sizes and dimension.Can repeat in addition and perform method step of the present invention according to the order different from described order.If a certain embodiment comprises between the first features/steps and the second features/steps " and/or " relation, the embodiment that then can be understood as wherein described in a kind of mode of execution not only comprises the first feature/the first step, and comprise the second feature/second step, embodiment described in another kind of mode of execution then or only have the first features/steps, or only has the second features/steps.
Figure 1 shows that the flow chart of the method 100 of the amended pressure nominal value being provided for pilot proportional valve described in an embodiment of the present invention.Determine the correction value of the pressure nominal value preset when using electrical input signal and pilot pressure actual value in determining step 0110.Electrical input signal activates the pilot valve of pilot proportional valve.Described electrical input signal is determined when using the pressure nominal value of pilot pressure actual value and correction.In the control chamber of the main valve for controlling pilot proportional valve, measure pilot pressure actual value, described control chamber is connected with pilot fluid.Generate the pressure nominal value of described correction when using the pressure nominal value and correction value that preset in generation step 0120.Here shown in is utilize the characteristic curve of X-pressure regulator and electronic match to carry out the principle of electronic compensation to the remaining adjusting deviation left in the isobaric characteristic curve of pilot proportional valve, this principle can be applied to all pilot proportional pressure valve being regulated main piston backside pressure by voltage limiter and decompressor.In order to for simplicity, be a kind of pilot proportional pressure-limit valve shown in figure.
Figure 2 shows that a kind of pilot proportional pressure-limit valve.This valve has a pilot valve 0200 and a main or main valve 0202.Pilot valve 0200 is connected with the control chamber fluid of main valve 0202.Pilot pressure p is there is in control chamber
x.Have a spring in control chamber, this spring supports pilot pressure p by its spring force
xpressure act on the piston back side in main valve 0202.Hole such as through piston can make volume flow Q
stenter among control chamber.Control oil nozzle 0204 in hole makes the transverse section in hole narrow, and controls possible volume flow Q
st.Pressure p is after adjustment deposited in the piston side on control chamber opposite
a.Pressure p after adjustment
abe present in lead to oil recovery system 0206 pipeline among, set up this pressure by pump.The unwanted machine oil of system 0206 is as main volume flow Q
hflow among return flow line via piston.Backflow resistance 0208 is by the main volume flow Q in return flow line
hrestraining is to pressure p
b.Pilot valve 0200 couple of pilot pressure p
xadjust.Pilot valve 0200 is such as a kind of electromagnetic proportional valve.The electromagnetic coil of the current activation pilot valve 0200 of power electric device 0210.Power electric device obtains electrical signal U
d, this signal pre-determines pilot pressure p
xdesirable value or the desired location of pilot valve.Control oil volume stream Q
stto be substantially equal to the pressure p of external pressure
yflow among oil conservator from pilot valve 0200, main volume flow Q
halso flow among this oil conservator.Machine oil is sent among system 0206 from oil conservator by pump again.If pilot proportional pressure-limit valve, usually utilize a kind of directly actuated proportional pressure control valve 0200, so that the pressure p to the main piston back side
xregulate, make it with send to valve electric control device 0210 with curtage U
dthe rating value of form be directly proportional.In addition without loss of generality, with voltage setting value be starting point all the time.This pressure and spring force produce the closing force acting on main piston jointly, and this closing force balances each other with the static pressure in piston front and the mobilization force that produced by the fluid that may flow through main in steady operation point.The frictional force acted in addition on piston also can participate among this equilibrium of forces.
Fig. 3 a is depicted as the plotted curve of the characteristic curve 0302 of the control oil flow of pilot valve and the isobaric characteristic of pressure dependence.
Fig. 3 b is depicted as rating value and the pressure relationship plot figure of pilot valve.The characteristic of pilot valve depends on that its working principle is usually to have the isobaric characteristic curve 0302p of precipitous rising
x=f
pil(Q
st, U
d=constant) and nonlinear rating value and pressure dependence 0304p
x=f
pil(Q
st=constant, U
d).If do not implement characteristic curve linearization in electric control device, so this conclusion will be set up.In addition these characteristic curves are delayed in addition.
Can utilize according to incoming pressure p
awith main volume flow Q
hpressure difference relationship delta p
aX=p
a-p
x=f
aX(p
a, Q
h) characteristic of main is described.Can will have Flow characteristics Q
st=f
st(p
a-p
x) control oil nozzle be understood as " coupling element " between main and front pilot valve.So just can obtain such as with the characteristic curve of the pilot proportional pressure-limit valve shown in figure below.
Figure 4 shows that rating value and the pressure relationship plot figure of pilot proportional pressure-limit valve.As expected, a whole set of valve has nonlinear rating value and pressure dependence characteristic curve 0402p
a=f
ges(Q
h=constant, U
d).
Fig. 5 a is depicted as a kind ofly has the isobaric characteristic curve 0502p of delayed rising
a=f
ges(Q
h, U
d=constant).Equally also have expressed the clear relation of parameter shown in figure and main volume flow with set of curves 0504,0506 and 0508 in Fig. 5 b, 5c and 5d.Limiting pressure p can be utilized
ameasurement and adjustment deal with these (disadvantageous) characteristics.If but a certain equipment " when dispatching from the factory " just should be equipped with such regulatory function, so preferably can ensure that this regulatory function plays a role under all service conditions.If to consider between various application that and parts suppliers greatly different for the system volume of main connection that boosts usually and do not know, then especially true.
Figure 6 shows that a kind of pilot proportional pressure-limit valve with pilot pressure measurement and regulatory function.Regulator pole is according to pressure nominal value p
sollwith pilot pressure p
xmeasured value export electrical signal U
d.If to plunger backer surface pressure p
xregulate, can be just starting point from a complete known controlled system, design of Regulator be matched with this ideally.
Figure 7 shows that the plotted curve of rating value and pressure dependence 0702, can find out, regulate pilot pressure just can eliminate characteristic curve delayed (except the friction effect in main), and the linearization of rating value and pressure characteristic can be realized.
Fig. 8 a is depicted as has multiple volume flowrate of pilot pressure regulatory function and the plotted curve of pressure dependence 0802.But still have remaining slope in isobaric characteristic curve, this remaining slope is equivalent to the pressure difference 0808 Δ p on main piston shown in Fig. 8 d in principle
aX=p
a-p
x=f
aX(p
a, Q
h), and mainly mobilization force causes.As can be seen from Fig. 8 b, regulate pilot pressure that the curve 0804 of pilot pressure can be made to remain unchanged.Set of curves 0806 in Fig. 8 c has almost no change compared with the set of curves 0506 in Fig. 5 c.
Figure 9 shows that pressure and pressure difference graph of relation.If observe the set of curves shown in Fig. 8 a ~ 8d, the curve being strictly monotone and rising just can be found out.Therefore clear and definite steady state relation Δ p can be determined accordingly
aX=f
aX(p
a, Q
h)=f
aX(p
a=f
ges(Q
h, U
d) Q
h=f
x -1(p
x, U
d)), can be converted into
wherein p
x=f
x(Q
h, U
d) be the relation of the plunger backer surface pressure shown in Fig. 8 b and main volume flow and rating value.
Ignore delayed for characteristic curve, then the characterisitic family 0902 of subordinate has the form shown in Fig. 9.Now above-mentioned relation can be utilized, according to the valve rating value U preset
dwith plunger backer surface pressure p
xmeasured load be similar to the pressure difference Δ p of the approximate existence drawn under stable situation on main piston
aX.Its coupling can be utilized for pressure controlled rating value, thus be not such p as shown in Figure 8 b under steady state conditions
xremain unchanged, but make it be applicable to p
a.
Figure 10 shows that having pilot pressure measures and a kind of pilot proportional pressure regulator valve of regulatory function, and described in an embodiment of the present invention, be used for the device of correction pressure nominal value.As shown in Figure 10, a pressure difference Δ p based on above-mentioned relation formula is added to regulating loop
aXestimating device, now can according to above-mentioned relation formula, by the rating value p preset
sollsubtract each other with this pressure difference and draw revised rating value
Figure 11 a is depicted as volume flowrate and pressure relationship plot figure.The same as is expected, isobaric characteristic curve 1102p
a=f
ges(Q
h, p
soll=constant) there is the curve of level now, this is plunger backer surface pressure p
x1104 with volume flow Q
hincrease and reduce to realize.By from rating value p
solldeduct the pressure difference estimated value Δ p on main piston
aX1108 revise pressure nominal value p
soll1106 realize above-mentioned reduction.The effective regulator rating value so obtained is represented with thick line
the novel solution of the isobaric characteristic of a kind of level that pilot proportional pressure-limit valve can be made to have approximate ideal can be obtained by this way.The pressure at the main piston back side can be regulated for this reason, and according to the pressure difference estimated value correction pressure nominal value on main piston.The relation (see on) that between the variable that should consider, strictly monotone rises is the condition clearly estimating this pressure difference.Pressure really interesting on main piston front need not be detected on the one hand with technological means, on the other hand need not be adjusted.Why this mode is beneficial to, and is because valve MANUFACTURER does not in most of the cases understand connected system 0206.But this but determines the dynamically boosted characteristic that must take in for regulating loop design in system.There will not be this problem when regulating piston backside pressure, because determine that the volume of dynamically boosted characteristic is exactly the machine oil volume that the main piston back side connects here, this is completely known.
Figure 12 shows that having pilot pressure measures and a kind of pilot proportional pressure regulator valve of regulatory function, and described in an embodiment of the present invention, be used for the device of correction pressure nominal value.As supplementing Figure 10, be used for revising the device of pressure nominal value and also there is element m for expurgated bound pressing pressure and main volume discharge relation slope of a curve
gDV* f
x -1(p
x, U
d).
This add ons for revising the device of pressure nominal value suitably expands foregoing solutions, thus can adjust the slope in isobaric characteristic curve in certain lit range.Its starting point is exactly the relation p between pressure on the described main piston back side and volume flowrate and rating value
x=f
x(Q
h, U
d), this relation is also that strictly monotone rises, and therefore can carry out uniqueness inverting Q to this relation
h=f
x -1(p
x, U
d), thus the current main volume flow of deduction can be stablized according to plunger backer surface pressure and valve rating value.Figure 13 shows that the exemplary graph of respective volume flow and pressure dependence.
In isobaric characteristic curve, known current volume flow can be used for adjusting the slope that such as can preset
Well imagine, by presetting a suitable m
gDV=m
gDY(Q
h, p
soll), thus (almost) can preset arbitrarily individual with volume flow Q
hrating value U if desired
dthe pressure p of change
athe curve p of any desired
a, Soll=f
soll(Q
h, p
soll).Again can draw an amended rating value for this reason
the relation used is equivalent to aforesaid equation, wherein also contemplates slope term:
Be exactly the structure 1202 drawn shown in Figure 12, considered the pressure nominal value correction value according to aforesaid equation.Can derive from this structure, can only within certain limit for volume flowrate and rating value change pressure diagram, be exactly for m in this example
gDVpreset.Pressure difference
and volume flow Q
h=f
x -1(p
x, U
d) estimating device plunger backer surface pressure p the most at last
xadditional feedback amount join among regulating loop.Therefore slope m is being preset
gDVtime to notice that regulating loop can become unstable.
Figure 14 a ~ 14d and 15a ~ 15d is depicted as m
gDVthe plotted curve of two kinds of different set results.The slope in Figure 14 a ~ 14d is set as the every 100l/min of 10bar." first " poor by estimated pressure
1404 are modified to horizontal line.By being multiplied by m
gDVvolume flowrate estimated value Q
h=f
x -1(p
x, U
d) 1410 matching pressure rating value 1406,1408, thus required slope is produced in isobaric characteristic curve 1402.Although also can find out and regulate, pressure diagram 1402 still has delayed, this is because ignore delayed when derivation with volume flowrate estimated value relation.Therefore must to have (larger) that can find out in Figure 14 b delayed for the estimated value of volume flowrate, it can be made visible in isobaric characteristic curve by correction pressure nominal value again after it." fluctuation " reason of smaller size smaller flow is the realization too inaccuracy of volume flowrate estimation function, and this equally also shows in Figure 14 b: the estimated value curve within the scope of less value obviously departs from desirable diagonal.The slope in Figure 15 a ~ 15d is set as the every 100l/min of-2bar.Can find out and also in isobaric characteristic curve 1502, create the slope preset here.But compared with situation before, here delayed obviously less.Its reason is m on the one hand
gDVsetting value smaller, therefore with " less reduction factor ", the delayed of estimated value curve 1510 will be transferred to Q
h; M on the other hand
gDVbe here negative value, therefore can not amplify " remaining delayed " that be present in isobaric characteristic curve, but its (part) is compensated.If observe the signal curve being different from 50bar curve (black) in Figure 15 a ~ 15d, the fluctuation of pressure diagram will be seen in higher volumetric flow rates.Selected m
gDVsetting value will make regulating loop in this operating range close to stability limit (see on).If m
gDVsetting value less, this characteristic will be amplified, until regulating loop unstability (not reflecting this characteristic in the graph).
Therefore shown method is supplementing the first recommended solution.Here within certain limit, isobaric characteristic slope can be set arbitrarily.Well imagine, equally also can setting pressure and volume flowrate and the relation if desired between rating value arbitrarily.The described embodiment first illustrated to be included among the second solution (: m here as special circumstances
gDV=0).Can (almost any) setting relation p
a, Soll=f
soll(Q
h, p
soll), therefore just can the pressure loss in the system with due regard between pressure source and load etc., thus can in any (stable state) operation point, all have required pressure to be present in load at any time (not to be on pressure source).
Figure 16 shows that having pilot pressure measures and a kind of pilot proportional pressure regulator valve of regulatory function, and described in an embodiment of the present invention, be used for the device of correction pressure nominal value.Here be used for revising the device of pressure nominal value by the estimation Q of two optional one
st=f
pil -1(p
x, U
d) and Δ p
aX=f
st -1(Q
st) form.
Figure 17 shows that pressure and the plotted curve controlling oil volumetric flow rates relation 1702.Figure 18 shows that the plotted curve controlling oil volumetric flow rates and pressure difference relation 1802.Described the parameter rating value U based on existing before
dwith plunger backer surface pressure p
xpressure difference estimated value Δ p
aXrevise characteristic method.The steady state flow characteristic p of pilot valve can be utilized
x=f
pil(Q
st, U
d) (see Fig. 3 a and b) and control the Flow characteristics Q of oil nozzle
st=f
st(p
a-p
x)=f
st(Δ p
aX), find a kind of scheme modification of carrying out this estimation easily.Its additional benefit is, except estimating the pressure difference Δ p revised needed for characteristic curve
aXoutside, can also provide and control oily flow Q
st(stable state) estimated value.If the Flow characteristics of pilot valve strictly monotone the same as the example shown in Fig. 3, just can when ignoring delayed the p of inverting characterisitic family clearly
x=f
pil(Q
st, U
d).Obtained characterisitic family 1702Q can be utilized
st=f
pil -1(p
x, U
d) stably infer current control oil flow (see Figure 18) flowing through pilot valve.Because this control oil flow flows through control oil nozzle, the drag characteristic 1802 Δ p that the Flow characteristics of back stepping control oil nozzle therefore can be utilized to draw under steady state conditions equally
aX=f
st -1(Q
st) infer the pressure difference Δ p revised needed for characteristic curve
aX.As shown in figure 16, Figure 19 a ~ 19d is depicted as the result obtained to described structure.These results are equivalent to the curve in Figure 11 a ~ 11d.The difference of the scheme of recommending with the first is, can also provide the estimated value of the oily flow 1910 of current control.In this (part) plotted curve with dotted line draw control oily flow actual curve in contrast.Can find out that comparison of coherence is good, the pressure difference Δ p on main piston can be estimated equally well
aX1904.Can be used for matching pressure rating value 1906 again afterwards.Characteristic curve can being revised in this way, making to also have (stable state) estimated value of the oily flow of current control 1910 available or can for exporting here.
Figure 20 shows that there is pilot pressure p
xmeasure and a kind of pilot proportional pressure regulator valve of regulatory function, and described in an embodiment of the present invention, be used for the device of correction pressure nominal value.Proportional pressure valve is made up of a pilot valve 0200 and a main valve 0202.Main valve 0202 has a piston, controls oil volume stream Q
stoil nozzle 0204 can be controlled by it to flow among the control chamber of piston side of system 0206 dorsad.When piston leaves its valve seat, main volume flow Q
hjust can flow out from system 0206 under backflow resistance 0208 acts on.Valve electric control device 0210 responds electrical input signal U
dhandle pilot valve 0200.Solution described in above-mentioned mode of execution and corresponding flexible program are all based on having main piston backside pressure p
xthe pilot proportional pressure regulator valve of regulatory function, can revise in isobaric characteristic curve the remaining slope left.In addition also illustrate and how within certain limit, to adjust required relation p as starting point
a, Soll=f
soll(Q
h, p
soll).Generally, described system can be mated for the pressure controlled rating value p of X
soll, thus the relation p needed for producing
a, Soll=f
soll(Q
h, p
soll), and have main piston volume flow Q
h, control oily flow Q
st, pressure difference Δ p on main piston
aXand limiting pressure p
a(based on p
xmeasured value and Δ p
aXestimated value) (stable state) estimated value available.First should by pressure nominal value p
sollbe understood as and determine volume flow Q
h, pSolllower effective rating value.Then basis is from required relation p
a, Soll=f
soll(Q
h, p
soll) draw all volume flow Q
hrating value.The structure of this system as shown in figure 20.The input variable of the system that can preset is pressure nominal value p
sollwith limiting pressure needed for change curve p
a, Soll=f
soll(Q
h, p
soll).Other input variable is current valve rating value U
dand plunger backer surface pressure p
xmeasured value.Output variable is the revised rating value for regulating main piston backside pressure
main volume flow Q
hestimated value, control oily flow Q
st, pressure difference Δ p on main piston
aXwith limiting pressure p
aand p
xmeasured value.Result described before can drawing according to the feature of this normal attribute curve amendment afterwards.
Described characteristic curve correction may need all relations that can be used for inferring desirable value according to existing measured variable.This relates to the pressure difference on estimation main piston
or Δ p
aX=f
st -1(Q
st), estimation main piston volume flow Q
h=f
x -1(p
x, U
d) and estimation control oil flow Q
st=f
pil -1(p
x, U
d).The realization not specializing in these estimating devices set forth herein, because this is unimportant for our ratio juris effect.The mode and the method that how to realize these estimating devices can affect the characteristic curve correction quality that can reach at the most.Well imagine, all ways of realization fully accurately can estimating required variable according to existing parameter value can be adopted in principle, such as characterisitic family, characteristic curve, look-up table or mathematics (function) relation approximate data.
Claims (7)
1. be provided for the pressure nominal value of the correction of pilot proportional valve
method (0100), described pilot proportional valve comprises pilot valve (0200) and has the main valve (0202) of control chamber, and described control chamber is connected with pilot fluid, and pilot valve is by the pilot pressure (p in control chamber
x) control bound, wherein by electrical input signal (U
d) control pilot valve, and detect the pilot pressure actual value (p of pilot pressure
x), and determine described electrical input signal when using the pressure nominal value of pilot pressure actual value and correction, said method comprising the steps of:
Determine (0110) pressure nominal value (p for presetting
soll) correction value, wherein when use electrical input signal and pilot pressure actual value determine described correction value; And
Generating the pressure nominal value that (0120) is revised, wherein generating the pressure nominal value of described correction when using the pressure nominal value and correction value that preset.
2. method according to claim 1, in determining step (0110), described correction value (△ p
aX) at least comprise about pilot pressure (p
x) and limiting pressure (p
a) between pressure difference (△ p
aX) information, wherein limit described limiting pressure, wherein according to electrical input signal (U by main valve (0202)
d) and pilot pressure actual value (p
x) determine about described pressure difference information.
3. method according to claim 2, in determining step (0110), described correction value at least comprises about pilot pressure (p
x) and described limiting pressure (p
a) between pressure difference (△ p
aX) information, wherein according to the control oil volumetric flow rates (Q through pilot valve (0200)
st) determine about described pressure difference information, according to electrical input signal (U
d) and pilot pressure actual value (p
x) determine to control oil volumetric flow rates.
4., according to the method in claim 2 or 3, in determining step (0110), described correction value comprises at least one at least one characteristic Gradient correction coefficient for main valve, and described characteristic curve represents described limiting pressure (p
a) with through the main volume flow (Q of main valve (0202)
h) between relation, wherein according to electrical input signal (U
d) and pilot pressure actual value (p
x) and the slope value (m that can preset
gDV) determine Gradient correction coefficient.
5., according to the method in claim 2 or 3, in determining step (0110), provide the main volume flow (Q through main valve (0202)
h) estimated value, and/or provide the estimated value of the control oil volumetric flow rates (QSt) through pilot valve (0200), and/or pilot pressure and described limiting pressure (p be provided
a) between pressure difference (△ p
aX) estimated value, and/or provide described limiting pressure (p
a) estimated value.
6. control the method for pilot proportional valve, described pilot proportional valve comprises pilot valve (0200) and has the main valve (0202) of control chamber, and wherein said control chamber is connected with pilot fluid, and by pilot valve by the pilot pressure (p in control chamber
x) control bound, and wherein detect the pilot pressure actual value (p of pilot pressure
x), comprise the following steps:
By electrical input signal (U
d) control pilot valve, using the pressure nominal value of pilot pressure actual value and correction
when determine described electrical input signal; And
The step of method according to any one of Claims 1 to 5 (0100).
7. be provided for the pressure nominal value of the correction of pilot proportional valve
device, described pilot proportional valve comprises pilot valve (0200) and has the main valve (0202) of control chamber, and described control chamber is connected with pilot fluid, by pilot valve by the pilot pressure (p in control chamber
x) control bound, wherein by electrical input signal (U
d) control pilot valve, and wherein detect the pilot pressure actual value (p of pilot pressure
x), and determine described electrical input signal when using the pressure nominal value of pilot pressure actual value and correction, described device has following characteristics:
For determining the pressure nominal value (p preset
soll) the device (2010) of correction value, wherein determine described correction value when using electrical input signal and pilot pressure actual value; And
For generating the device (2020) of the pressure nominal value of described correction, generate the pressure nominal value of described correction when using the pressure nominal value and correction value that preset.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010049442.9 | 2010-10-23 | ||
| DE102010049442A DE102010049442A1 (en) | 2010-10-23 | 2010-10-23 | Method for providing corrected pressure reference value for servo-controlled proportional valve, involves generating corrected pressure reference value using pressure reference value and correction value for given pressure reference value |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102563185A CN102563185A (en) | 2012-07-11 |
| CN102563185B true CN102563185B (en) | 2015-12-16 |
Family
ID=45923185
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110404324.8A Active CN102563185B (en) | 2010-10-23 | 2011-10-21 | Be provided for the method and apparatus of the pressure nominal value of the correction of pilot proportional valve |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN102563185B (en) |
| DE (1) | DE102010049442A1 (en) |
| IT (1) | ITMI20111887A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012021498A1 (en) * | 2012-11-02 | 2014-05-08 | Robert Bosch Gmbh | Adjustment device for a hydrostatic displacement unit |
| EP3176667B1 (en) * | 2015-12-04 | 2019-05-15 | Asco Numatics GmbH | Pilot valve unit, valve assembly and method for the controlled provision of a fluid |
| CN110319074B (en) * | 2019-07-10 | 2024-02-27 | 武汉科技大学 | Device and method for testing cut-off flow characteristics of cut-off valve |
| CN116068949B (en) * | 2023-03-30 | 2023-06-16 | 江苏恒立液压科技有限公司 | Self-calibration method, self-calibration device and storage medium for main valve of full electric control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1053111A (en) * | 1989-12-31 | 1991-07-17 | 太原工业大学 | Combined overflowing and speed-changing valve by hydroelectric proportion |
| US5417402A (en) * | 1994-02-10 | 1995-05-23 | Alliedsignal Inc. | Shutoff and pressure regulating valve |
| JP2001153105A (en) * | 1999-11-25 | 2001-06-08 | Tokimec Inc | Hydraulic remote flow control valve |
| CN1918377A (en) * | 2004-10-13 | 2007-02-21 | 日立建机株式会社 | Hydraulic construction machine control device |
| CN201344272Y (en) * | 2009-03-15 | 2009-11-11 | 蒋可贞 | Piston type pilot-operated solenoid valve |
-
2010
- 2010-10-23 DE DE102010049442A patent/DE102010049442A1/en active Pending
-
2011
- 2011-10-18 IT IT001887A patent/ITMI20111887A1/en unknown
- 2011-10-21 CN CN201110404324.8A patent/CN102563185B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1053111A (en) * | 1989-12-31 | 1991-07-17 | 太原工业大学 | Combined overflowing and speed-changing valve by hydroelectric proportion |
| US5417402A (en) * | 1994-02-10 | 1995-05-23 | Alliedsignal Inc. | Shutoff and pressure regulating valve |
| JP2001153105A (en) * | 1999-11-25 | 2001-06-08 | Tokimec Inc | Hydraulic remote flow control valve |
| CN1918377A (en) * | 2004-10-13 | 2007-02-21 | 日立建机株式会社 | Hydraulic construction machine control device |
| CN201344272Y (en) * | 2009-03-15 | 2009-11-11 | 蒋可贞 | Piston type pilot-operated solenoid valve |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102563185A (en) | 2012-07-11 |
| DE102010049442A1 (en) | 2012-04-26 |
| ITMI20111887A1 (en) | 2012-04-24 |
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