CN102606801A - Intelligent hydraulic valve - Google Patents
Intelligent hydraulic valve Download PDFInfo
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- CN102606801A CN102606801A CN2012100913947A CN201210091394A CN102606801A CN 102606801 A CN102606801 A CN 102606801A CN 2012100913947 A CN2012100913947 A CN 2012100913947A CN 201210091394 A CN201210091394 A CN 201210091394A CN 102606801 A CN102606801 A CN 102606801A
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Abstract
The invention relates to an intelligent hydraulic valve, which comprises an electro-hydraulic proportional valve, an ultrasonic generator, an ultrasonic transducer and an intelligent controller. The electro-hydraulic proportional valve consists of a valve body, a valve spool, a valve cavity and a proportional electromagnet, the valve spool is placed in the valve cavity, and the intelligent controller can detects jamming and chucking failures of the electro-hydraulic proportional valve and controls operation of the ultrasonic generator. The ultrasonic generator and the ultrasonic transducer are arranged in pair, and the intelligent controller consists of a dithering signal generating module, a system control signal module, a stabilized voltage supply module, a PID (proportion, integration and differentiation) control module, a power amplifying module, a sampling module, a signal processing module, a negative feedback module, a jamming and chucking judging module and an ultrasonic generator control module. By the aid of the intelligent hydraulic valve, the jamming and chucking failures can be detected in real time in an online manner, and the jamming and chucking failures caused by pollution and imbalance radial force can be repaired by the aid of ultrasonic vibration.
Description
Technical field
The present invention relates to a kind of hydrovalve, particularly a kind of can detect in real time, judge and instruct carry out to repair valve core of the spool valve bite chucking fault and utilize the ultrasonic vibration reparation by polluting and the radial force imbalance causes the intelligent hydraulic valve of bite chucking fault.
Background technique
Slide-valve gear is to adopt maximum a kind of structural type in all kinds of hydrovalves, and guiding valve is made up of valve body, spool and three critical pieces of valve pocket, and through changing the position of spool in the valve body valve pocket, guiding valve can be realized the change and the break-make of direction of flow.Guiding valve bite even chucking fault are one of common faults and failure modes the most in the hydraulic system, generally can be divided into hydraulic pressure bite, chucking and mechanical bite chucking two big classes.Popular saying, bite are meant the intermediateness between nominal situation and the chucking, and chucking is exactly that spool is inactive, and bite is meant that spool moves difficulty, and be smooth and easy when the proper functioning, is the omen of chucking, and solution in time can be avoided the generation that tightens.
Wherein, Mainly unbalanced pressure causes because machining causes spool error in geometrical form and coaxiality error to produce radially for hydraulic pressure bite, chucking, and mechanical bite, chucking then mainly are to cause owing to the on-the-spot particulate pollutant of operation deposits in the guiding valve gap gradually.There is constant pressure reduction at radial clearance two ends in spool and valve body formation; When hydraulic oil is brought contamination particle into gap; Because of the surface of gap runner hole wall also has the ability of catching contamination particle---degree of depth type filtering effect is constantly caught contamination particle; And contamination particle takes place hold back, pollute clamping force thereby produce.Say that simply promptly pollute the main type that chucking is the machinery chucking, the radial force imbalance is to cause the main cause of hydraulic lock.And bite is often caused by slight pollution chucking or radial force imbalance, and resistance is less.
In the existing technology; The method of getting rid of above-mentioned two kinds of faults mainly contains two kinds: the one, in processing and on-the-spot running, take measures; Reduce the probability that breaks down, rationally offer balancing slit, strict processing and assembling quality etc. on fine filter, the spool such as in system, installing; Another kind method is exactly that online in real time fault diagnosis and fault are got rid of.At present, still there is not sensitive, online in real time trouble-shooter accurately, though similar device complex structure, with high costs is perhaps arranged.
To the problems referred to above, a kind of solenoid directional control valve that HERION company manufactures and designs except its work spool, also has " hammer " spool.During proper functioning, " hammer " spool is failure to actuate, and when spool can't playback because of chucking, " hammer " spool knocked the work spool under the spring force effect, make its return.The narrow limitation of this scheme is, owing to be to lean on that the compressed machinery spring obtains to knock energy when powering on, " hammer " spool is hammer action for once, and is unidirectional, can't guarantee the fault eliminating, also can't be applied to servo, proportional valve control system.
The imagination that professor Li Wei of Zhejiang University has proposed in view of the above a kind of " electric shock hammer "; When confirming that the chucking fault takes place; Output signal that will " electric shock hammer " circuit inserts and corresponding amplifier, makes it to produce AC signal significantly, " knocks " spool that tightens repeatedly two-wayly.The narrow limitation of this thinking is, only depends on the electromagnetic force of valve body self sometimes can't overcome clamping force, and the rapid change of electrical signal also can produce interference to the proper functioning of system.
In view of this, the inventor combines to be engaged in hydrovalve area research work experience for many years, and the defective of above-mentioned technical field is studied for a long period of time, and this case produces thus.
Summary of the invention
The object of the present invention is to provide a kind of intelligent hydraulic valve, can detect the valve core of the spool valve bite in real time, tighten fault and utilize the ultrasonic vibration reparation by the bite that pollutes and the radial force imbalance causes, chucking fault, and simple in structure, with low cost.
To achieve these goals, technological scheme of the present invention is following:
A kind of intelligent hydraulic valve comprises electro-hydraulic proportional valve, and electro-hydraulic proportional valve comprises the valve pocket and the proportion electro-magnet of valve body, spool, placement spool.Also comprise ultrasonic generator, supersonic transducer and can detect the electro-hydraulic proportional valve bite, tighten fault and control the intelligent controller of ultrasonic generator work.Ultrasonic generator and supersonic transducer are provided with in pairs; The output terminal of ultrasonic generator is connected with two electrode electricity of supersonic transducer; Totally 4 of supersonic transducers; Be fixedly installed in four sides up and down of electric-hydraulic proportion valve body with respect to the medial axis symmetry of electro-hydraulic proportional valve valve pocket, the medial axis of the shaft axis of supersonic transducer and electro-hydraulic proportional valve valve pocket intersects vertically and four shaft axiss are in same plane.Intelligent controller is electrically connected with ultrasonic generator and electro-hydraulic proportional valve respectively.
Further, said intelligent controller comprises vibrating signal generating module 16, system control signal module 14, power module of voltage regulation 15, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 and ultrasonic generator control module 23;
Wherein, power module of voltage regulation 15 links to each other with ultrasonic generator control module 23 with vibrating signal generating module 16, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 respectively; Vibrating signal generating module 16 links to each other with pid control module 17, power amplifier module 18 respectively; System control signal module 14 links to each other with reverse feedback module 21, pid control module 17 respectively; Pid control module 17 links to each other with system control signal module 14, reverse feedback module 21, vibrating signal generating module 16, power amplifier module 18 respectively; Reverse feedback module 21 links to each other with system control signal module 14, pid control module 17, signal processing module 20 respectively; Power amplifier module 18 respectively with pid control module 17, vibrating signal generating module 16, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Sampling module 19 respectively with signal processing module 20, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Signal processing module 20 links to each other with sampling module 19, bite chucking judging module 22, reverse feedback module 21 respectively; Bite chucking judging module 22 links to each other with signal processing module 20, ultrasonic generator control module 23 respectively; Ultrasonic generator control module 23 links to each other with four ultrasonic generators;
Vibrating signal generating module 16 generates the vibrating signal of CF, amplitude and waveform; After being used to of system control signal module 14 control the signal of electro-hydraulic proportional valve spool travel and subtract each other from the feedback signal of reverse feedback module 21; Offer pid control module 17 as input; After the output signal of pid control module 17 and the vibrating signal addition from vibrating signal generating module 16;, power amplifier module 18 removes to drive proportion electro-magnet 24 after amplifying; Vibrating signal waveform on the proportion electro-magnet 24 that sampling module 19 is gathered in real time with spool 4 is connected, and waveform offered signal processing module 20, signal processing module 20 separates control signal with the flutter waveform; Control signal is offered reverse feedback module 21 as input; Average value information and vibrating signal with control signal offers bite chucking judging module 22 as input simultaneously, and bite chucking judging module 22 provides the degree of membership judgement of bite, chucking according to the average value information of frequency, peak-to-peak value, wave distortion and the control signal of input vibrating signal through the fuzzy mutticriteria decision-making technique; And this information outputed to ultrasonic generator control module 23, by 23 control ultrasonic generator and the supersonic transducer work of ultrasonic generator control module.Thereby in detection, judgement and the instruction execution reparation of bite chucking fault, have high accuracy, sensitivity and reliability; Such as utilizing specific vibrating signal generating module and signal processing module, can guarantee monotonicity, validity and the sensitivity of bite chucking testing signal.
Further, said bite chucking judging module 22 provides the degree of membership judgement of bite, chucking and this information is outputed to ultrasonic generator control module 23 through the fuzzy mutticriteria decision-making technique and is meant: at first, adopt scoring function
Δ, accurate function
HAnd departure function
PCarry out multifactorial evaluation, establish
A=
A 1 ,
A 2 ,
,
A m Be scheme set,
G=(
Δ,
H,
D)
TBe attribute vector,
For
GIn each attribute weight vector,
∈ [0,1],
, then estimate matrix and be:
Three kinds of schemes among the scheme set A are three kinds of operating modes of electro-hydraulic proportional valve; Be respectively nominal situation, bite operating mode and chucking operating mode; Frequency, peak-to-peak value, wave distortion and mean value that four kinds of attributes among the property set G are vibrating signal, these four kinds of signals are provided by signal processing module 20; 12 bits serial A/D transducer TLV2453 of 22 becomes 4 tunnel signal conversion digital quantity signal and passes to data processing chip TMS320VC5402 in the bite chucking judging module; The weight vectors of index does
ω=(0.1,0.5,0.2,0.2)
TThe weight of the peak-to-peak value attribute of vibrating signal is maximum; These four weights supply data processing chip TMS320VC5402 to call by among the FLASHROM of software solidification in bite chucking judging module 22, can also revise through network remote through the RS485 communication interface simultaneously; With attribute weight vector ω with estimate matrix J and multiply each other and obtain the multifactorial evaluation vector:
, sort according to the size of B element, and press maximum subjection principle and select optimum scheme; Secondly, following based on the interval intuitionistic fuzzy decision-making concrete steps of this ranking method: the first step, utilize weighting arithmetic to estimate the capable all elements of i in the integrated decision matrix of operator (1), thereby obtain corresponding to intuitionistic fuzzy value between the complex zone of option A i; In second step, utilize scoring function, accurate function and the departure function functional value that counts the score respectively
(Ai), accurate functional value H (Ai) and departure function value P (Ai) (i=1,2 ..., m), make up and estimate matrix J; In the 3rd step, select the attribute weight vector
, calculate multifactorial evaluation vector B, sort according to the size of B element, and press maximum subjection principle selection optimum scheme; The 3rd; After data processing chip TMS320VC5402 handles, provide the multifactorial evaluation information of electro-hydraulic proportional valve operating mode, after this information offers ultrasonic generator control module 23; According to different working conditions, go to control whether ultrasonic generator and supersonic transducer work or not all work.Thereby further improve monotonicity, validity and the sensitivity of bite chucking testing signal, improve in the faut detection of bite chucking, judgement and instruction and carry out accuracy, sensitivity and reliability on repairing.
Further, it is 95Hz that said vibrating signal generating module 16 produces frequency, and amplitude is 85% rated current, and waveform is the vibrating signal of normal distribution curve.The different validity and the sensitivity for this detecting method of waveform, frequency and the amplitude of the vibrating signal that the vibrating signal generating module generates are most important; The inventor finds that under study for action the vibrating signal frequency is at 95Hz, and amplitude is 85% rated current; When waveform is normal distribution curve; It is dull that vibrating signal changes, and highly sensitive, best to the detection effect of fault.
Further, when bite chucking judging module provides the bite judgement, then start the bite fault and solve pattern, promptly simultaneously work up and down by the two pairs of ultrasonic generators and the supersonic transducer of side for ultrasonic generator control module control valve body; When bite chucking judging module provides the chucking judgement, then start the chucking fault and solve pattern, promptly four pairs of ultrasonic generators of ultrasonic generator control module control valve body four sides and supersonic transducer are worked simultaneously.Thereby can provide the starting time and startup number of ultrasonic generator and supersonic transducer according to the fault order of severity, energy saving has reduced the damage of ultrasonic cavitation corrosion to hydrovalve, has improved the reliability and the life-span of hydrovalve.
Further; Intelligent controller also comprises and receives ultrasonic generator control module control, limits ultrasonic generator and/or the timing device of supersonic transducer operating time; When after the operating time regularly; Vibrating signal waveform on sampling module 19 continuous acquisition and the proportion electro-magnet 24 that spool 4 is connected, and waveform offered signal processing module 20 is given to be out of order through bite chucking judging module 22 and is got rid of effect and judge information and make the follow-up work instruction.Thereby further save energy and reduce the cost and increase work efficiency.
Further, said bite chucking judging module 22 is given to be out of order and is got rid of effect and judge information and make the follow-up work instruction and be meant: get rid of and judge that then instruction returns nominal situation when bite chucking judging module 22 provides bite or chucking fault; Alleviate judgement when bite chucking judging module 22 provides the bite fault, then instruction starts bite fault solution pattern once more; Alleviate judgement when bite chucking judging module 22 provides the chucking fault, then instructing once more, startup chucking fault solves pattern.Thereby further save energy and reduce the cost and increase work efficiency.
Further; Said bite chucking judging module 22 is given to be out of order to get rid of effect judgement information and make the follow-up work instruction and is also comprised: solve pattern when starting twice above bite fault; Bite chucking judging module 22 still provides the bite fault and alleviates judgement; Think that then this bite fault cause is the chucking fault, instruction starts the chucking fault and solves pattern.Thereby further save energy and reduce the cost and increase work efficiency.
Further, said supersonic transducer is installed on the fuel-displaced oral-lateral of power supply Proportional valve valve body side.Because generally low pressure one side alluvial in valve body of contamination particle, corresponding supersonic transducer is installed in the valve body side near oil outlet one end, and its effect of repairing mechanical bite, chucking fault is better.
Further, said supersonic transducer is installed on the zone of the corresponding spool in power supply Proportional valve valve body side.Because radially the generation of unbalanced pressure is mainly in spool and the contacted zone of valve pocket, corresponding supersonic transducer is installed in the corresponding region of the corresponding spool in valve body side, and its effect of repairing hydraulic pressure bite, chucking fault is better.
The working principle that the present invention solves mechanical bite, chucking fault is following:
When electro-hydraulic proportional valve produces mechanical bite, chucking fault; With the approaching contamination particle of the gap size of valve body spool because of valve body and uneven big the contamination particle of formation that be detained of spool face; Be trapped between large particle than granule simultaneously; Constitute the dirty grain of dynamic growth cake, both actings in conjunction form common pollution chucking.The high-frequency oscillation signal that sends by ultrasonic generator; Converting the high frequency mechanical oscillation to through transducer propagates in the hydraulic oil; Ultrasound in hydraulic oil density interphase to previous irradiation; Make flow of fluid and produce the micro-bubble that ten hundreds of diameters is 50-500 μ m, the micro-bubble that is present in the liquid vibrates under the effect of sound field.These bubbles form at the negative pressuren zone of ultrasound longitudinal propagation, growth, and at zone of positive pressure, when acoustic pressure reached certain value, bubble increased rapidly, and are closed suddenly then.And when bubble is closed, produce shock wave; Produce thousands of barometric pressure around it, destroys a big contamination particle and a dirty cake, and make them be dispersed into granule to be melted in the hydraulic oil; And with fluid circulation by band from slide-valve gear, thereby reach cleaning fluid and the purpose of removing the chucking fault.When being the lighter mechanical bite of the order of severity,,, then can start the supersonic transducer of two pairs of correspondences when be the heavier machinery of the order of severity when tightening then as long as start the supersonic transducer of a pair of correspondence.
The working principle that the present invention solves hydraulic pressure bite, chucking is following:
The reason that electro-hydraulic proportional valve produces hydraulic pressure bite, chucking fault is to produce radially unbalanced pressure because of machining causes how much proterties sum of errors of spool coaxiality error, makes spool press to the valve body wall, finally produces hydraulic pressure bite, chucking.When having serious hydraulic lock, the present invention arranges four supersonic transducers symmetrically and evenly in four sides of valve body, applies same ultrasound drive signal to them, will produce vibration at valve interior surface, thereby spool is formed uniform suspending power.Because it is eccentric that the hydraulic lock meeting causes spool, presses to a certain side wall surface, the gap smaller between this side and the spool, and the gap between opposite one side and the spool becomes big.At this moment; Side in gap smaller; Because the effect of ultrasound radiation pressure strengthens, will become greatly the active force of spool, and opposite one side ultrasound radiation pressure will diminish to the active force of spool; The active force that on same axis, will produce twice becomes a big thruster with spool towards the gap, till two side clearance approximately equals.Four sides arrange that symmetrically and evenly four supersonic transducers can guarantee that spool is basically on the medial axis; Friction factor between valve interior surface and the spool significantly reduces; Can avoid spool to be crushed on the valve interior wall can't move, thereby reaches the purpose that solves hydraulic lock.The principle that solves the hydraulic pressure bite is the same, just because the order of severity of hydraulic pressure bite is light than hydraulic lock, so as long as start the supersonic transducer of a pair of correspondence.
Ultrasonic generator and supersonic transducer in the intelligent hydraulic valve that the present invention proposes belong to intermittent duty, and ultrasonic generator and supersonic transducer are in halted state under the nominal situation, just start when having only bite chucking fault to be detected.The faut detection of bite chucking is accomplished by intelligent controller.
The present invention judges that the intelligent controller working principle of bite chucking fault is following:
Be generally and avoid spool bite chucking, on spool, generally being superimposed with the low frequency vibrating signal, to make spool be the radial vibration that keeps slight axially moving.Bite, when the chucking fault takes place, must cause spool radial vibration damping to increase, be reacted to thus vibrating signal is changed, intelligent controller can judge through the variation that detects vibrating signal whether spool is in fault state.Because feedback module has the obvious suppression effect to the variation effect of vibrating signal in the Common Controller, makes that this wave form varies ratio is less relatively.Signal processing module in the intelligent controller is separated vibrating signal from control signal, handle through bite chucking judging module, and detection sensitivity is significantly improved.
Bite chucking judging module goes to control the ultrasonic generator control module according to court verdict.When detecting the bite fault, ultrasonic generator control module control valve body is a pair of ultrasonic generator and the transducer work of side up and down; When detecting the chucking fault, ultrasonic generator control module control valve body four ultrasonic generators facing each other and transducer are worked simultaneously.
Adopt the present technique scheme, the present invention obtains following useful technique effect: 1, utilize hyperacoustic pneumatics effect to pulverize big contamination particle and dirty grain cake, thereby effectively get rid of mechanical bite, chucking fault; 2, utilize the ultrasound radiation pressure to reduce the friction factor between valve interior surface and the spool and spool is suspended near the valve pocket medial axis, thereby effectively get rid of hydraulic pressure bite, chucking fault; 3, adopt supersonic treatment bite, chucking fault, thereby also save energy and reduce the cost working life of improving equipment greatly easy to use, effective; 4, adopt intelligent control to judge to when starting ultrasonic processing apparatus; Realize intermittent duty; Ultrasonic generator and supersonic transducer are in halted state under the nominal situation, just start when having only bite chucking fault to be detected, thereby the working life of improving equipment greatly are also energy-saving and cost-reducing; 5, compare with existing similar functions device, simple in structure, with low cost and using effect is good.
In order further to explain technological scheme of the present invention, the present invention is done further detailed description below in conjunction with accompanying drawing and embodiment.
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Fig. 2 axial sectional view that to be ultrasonic generator be connected with slide-valve gear with supersonic transducer;
Fig. 3 radial cross-section that to be ultrasonic generator be connected with slide-valve gear with supersonic transducer;
Fig. 4 is the structured flowchart of intelligent controller.
Embodiment
Below in conjunction with accompanying drawing to enforcement further detailed description of the present invention.
In following embodiment, that ultrasonic generator adopts is KMD-1000, the Ke Meida of production firm Shenzhen ultrasonic equipment Co., Ltd; That supersonic transducer adopts is YP-7015-4Z, Hangzhou Success Ultrasonic Equipment Co., Ltd of production firm, and that electro-hydraulic proportional valve adopts is QVKZOR; The ATOS of production firm, elder generation of factorage Shanghai section International Trade Corporation, intelligent controller is the complete circuit board of a monoblock; Each module is the functional circuit on it, is inventor's self-control.
Embodiment 1: bite faut detection and self repair
With reference to Fig. 1, Fig. 2 and Fig. 4, a kind of intelligent hydraulic valve comprises electro-hydraulic proportional valve 30, and electro-hydraulic proportional valve 30 comprises valve body 35, spool 34, places the valve pocket 33 and the proportion electro-magnet 24 of spool.Also comprise ultrasonic generator 2, supersonic transducer 3 and can detect the intelligent controller 1 that the electro-hydraulic proportional valve bite tightens fault and controls ultrasonic generator work.Intelligent controller 1 is electrically connected with ultrasonic generator 2 and electro-hydraulic proportional valve 30 respectively.
The output terminal of ultrasonic generator 6 is connected with two electrode electricity of supersonic transducer 7, and supersonic transducer 7 is fixedly connected on the upper side of electric-hydraulic proportion valve body 35; Two electrodes of the output terminal of ultrasonic generator 8 and supersonic transducer 9 link to each other, and supersonic transducer 9 is fixedly connected on the downside of electro-hydraulic proportional valve 30 valve bodies 35; The medial axis of the shaft axis of these two supersonic transducers and electro-hydraulic proportional valve 30 valve pockets 33 intersect vertically and with respect to the medial axis symmetrical placement in oil outlet one side, two shaft axiss are in same plane.In the present embodiment, supersonic transducer is by central piezo ceramic element, the front and back metal cover board, and the prestressing force screw rod, electrode slices and insulation tube are formed.Ultrasonic generator adopts the aviation plug of 2 cores or 4 cores to be connected with supersonic transducer.Because the present technique scheme requires the supersonic transducer symmetry to install, if four lateral thickness up and down of the valve body of electro-hydraulic proportional valve are not the medial axis symmetric design with valve pocket, then the thin side of valve body can the supersonic transducer cushioned layer form overcome.The material of bed course does not limit, as long as it does not influence the working principle like aforementioned present technique scheme.
Above-mentioned intelligent controller can adopt other system integrated, as long as it can detect electro-hydraulic proportional valve bite chucking fault and control ultrasonic generator work.In the present embodiment; Inventor's specialized designs one intelligent controller 1, form by vibrating signal generating module 16, system control signal module 14, power module of voltage regulation 15, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 and ultrasonic generator control module 23.Wherein power module of voltage regulation 15 links to each other with ultrasonic generator control module 23 with vibrating signal generating module 16, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 respectively; Vibrating signal generating module 16 links to each other with pid control module 17, power amplifier module 18 respectively; System control signal module 14 links to each other with reverse feedback module 21, pid control module 17 respectively; Pid control module 17 links to each other with system control signal module 14, reverse feedback module 21, vibrating signal generating module 16, power amplifier module 18 respectively; Reverse feedback module 21 links to each other with system control signal module 14, pid control module 17, signal processing module 20 respectively; Power amplifier module 18 respectively with pid control module 17, vibrating signal generating module 16, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Sampling module 19 respectively with signal processing module 20, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Signal processing module 20 links to each other with sampling module 19, bite chucking judging module 22, reverse feedback module 21 respectively; Bite chucking judging module 22 links to each other with signal processing module 20, ultrasonic generator control module 23 respectively; Ultrasonic generator control module 23 links to each other with four ultrasonic generators.
In the present embodiment, specifically, the analog signals of the power amplifier module of intelligent controller output links to each other through the analog quantity input of 7 cores or 12 core plugs and electro-hydraulic proportional valve.The ultrasonic generator control module of intelligent controller is through the start and stop of relay control ultrasonic generator.
In this mode of execution, it is 95Hz that vibrating signal generating module 16 produces frequency, and amplitude is 85% rated current, and waveform is the vibrating signal of normal distribution curve; The different validity and the sensitivity for this detecting method of waveform, frequency and the amplitude of the vibrating signal that the vibrating signal generating module generates are most important; The inventor finds that under study for action the vibrating signal frequency is at 95Hz, and amplitude is 85% rated current; When waveform is normal distribution curve; It is dull that vibrating signal changes, and highly sensitive, best to the detection effect of fault.Being used to of system control signal module 14 offers pid control module 17 as input after controlling the signal of electro-hydraulic proportional valve spool travel and subtracting each other from the feedback signal of reverse feedback module 21; After the output signal of pid control module 17 and the vibrating signal addition,, power amplifier module 18 removes to drive proportion electro-magnet 24 after amplifying from vibrating signal generating module 16; Vibrating signal waveform on the proportion electro-magnet 24 that sampling module 19 is gathered in real time with spool 4 is connected, and waveform offered signal processing module 20; Signal processing module 20 separates control signal with the flutter waveform, control signal is offered reverse feedback module 21 as input, and average value information and the vibrating signal with control signal offers bite chucking judging module 22 as input simultaneously; Bite chucking judging module 22 is according to the average value information of frequency, peak-to-peak value, wave distortion and the control signal of input vibrating signal; Provide the degree of membership judgement of bite, chucking through the fuzzy mutticriteria decision-making technique; And this information outputed to ultrasonic generator control module 23, by 23 control ultrasonic generator and the supersonic transducer work of ultrasonic generator control module.Adopt the intelligent controller of above-mentioned characteristic; In detection, judgement and the instruction execution reparation of bite chucking fault, have high accuracy, sensitivity and reliability; Such as utilizing specific vibrating signal generating module and signal processing module, can guarantee monotonicity, validity and the sensitivity of bite chucking testing signal.Realize each module of above-mentioned functions, structures such as its concrete circuit, components and parts owing to belong to existing technology, just repeat no more here.
When the bite fault took place, when bite chucking judging module provided the bite judgement, ultrasonic generator control module 23 was sent control signal, started ultrasonic generator 6 and ultrasonic generator 8 and started timing device simultaneously; Ultrasonic generator 6 and 8 continues the high-frequency oscillation signal that sends in timing; Converting the high frequency mechanical oscillation to through transducer 7 and 9 respectively propagates in the hydraulic oil; Ultrasound in hydraulic oil density interphase to previous irradiation; Make flow of fluid and produce the micro-bubble that ten hundreds of diameters is 50-500 μ m, the micro-bubble that is present in the liquid vibrates under the effect of sound field.These bubbles form at the negative pressuren zone of ultrasound longitudinal propagation, growth, and at zone of positive pressure, when acoustic pressure reached certain value, bubble increased rapidly, and are closed suddenly then.And when bubble is closed, produce shock wave, and around it, produce thousands of barometric pressure, destroys big contamination particle and dirty grain cake, and make them be dispersed into granule to be melted in the hydraulic oil, and left slide-valve gear by band with the fluid circulation.Because the bite fault causes by polluting chucking usually, two pairs of ultrasonic generators are enough removed contamination particle with the cavitation effect of transducer generation, get rid of mechanical bite fault.Certainly above-mentioned two pairs of ultrasonic generators and supersonic transducer produce uniform suspending power to spool, thereby can get rid of hydraulic pressure bite fault, and its concrete mode can be referring to the analysis among the embodiment 2.Above-mentioned design makes the starting time and startup number that can provide ultrasonic generator and supersonic transducer according to the fault order of severity that energy saving has reduced the damage of ultrasonic cavitation corrosion to hydrovalve, has improved the reliability and the life-span of hydrovalve.
When after the operating time regularly, the vibrating signal waveform on sampling module 19 continuous acquisition and the common proportion electro-magnet 24 that spool 4 is connected, and waveform offered signal processing module 20 tightens judging module 22 to being out of order the eliminating effect information through bite.If the bite fault is got rid of, then instruction returns nominal situation; If the bite fault alleviates, then instruction starts ultrasonic generator 6 once more and also starts timing device simultaneously with ultrasonic generator 8; If the bite fault does not alleviate, think that then this bite fault cause is the chucking fault, instruction starts the chucking fault and solves pattern.Thereby further save energy and reduce the cost and increase work efficiency.
In the present embodiment, select supersonic transducer is installed in the valve body side near fuel-displaced oral-lateral, because generally low pressure one side alluvial in valve body of contamination particle, so its effect of repairing mechanical bite, chucking fault is better.
Embodiment 2: chucking faut detection and self repair
With reference to Fig. 1, Fig. 3 and Fig. 4, a kind of intelligent hydraulic valve comprises electro-hydraulic proportional valve 30, and electro-hydraulic proportional valve 30 comprises valve body 35, spool 34, places the valve pocket 33 and the proportion electro-magnet 24 of spool.Also comprise ultrasonic generator 2, supersonic transducer 3 and can detect the intelligent controller 1 that the electro-hydraulic proportional valve bite tightens fault and controls ultrasonic generator work.Intelligent controller 1 is electrically connected with ultrasonic generator 2 and electro-hydraulic proportional valve 30 respectively.
The output terminal of ultrasonic generator 6 is connected with two electrode electricity of supersonic transducer 7, and supersonic transducer 7 is fixedly connected on the upper side of electric-hydraulic proportion valve body 35; Two electrodes of the output terminal of ultrasonic generator 8 and supersonic transducer 9 link to each other, and supersonic transducer 9 is fixedly connected on the downside of electro-hydraulic proportional valve 30 valve bodies 35; Two electrodes of the output terminal of ultrasonic generator 10 and supersonic transducer 11 link to each other, and supersonic transducer 11 is fixedly connected on the left surface of electro-hydraulic proportional valve 30 valve bodies 35; Two electrodes of the output terminal of ultrasonic generator 12 and supersonic transducer 13 link to each other, and supersonic transducer 13 is fixedly connected on the right flank of electro-hydraulic proportional valve 30 valve bodies 35; These four supersonic transducers are oppositely arranged in twos, and the medial axis of the shaft axis of four supersonic transducers and electro-hydraulic proportional valve 30 valve pockets 33 intersects vertically, and four shaft axiss are in same plane.
In the present embodiment, select supersonic transducer is installed on the zone of the corresponding spool in power supply Proportional valve valve body side.Because radially the generation of unbalanced pressure is mainly in spool and the contacted zone of valve pocket, so its effect of repairing hydraulic pressure bite, chucking fault is better.
In the present embodiment, except that other had statement, the other guide of ultrasonic generator, supersonic transducer and the related content of intelligent controller repeated no more with embodiment 1 here.
When the chucking fault took place, bite chucking judging module provided the bite judgement, and ultrasonic generator control module 23 is sent control signal, starts four ultrasonic generators simultaneously and starts timing device simultaneously.This ultrasonic generator and then the supersonic transducer that passes through separately solve principle and the mode that machinery tightens, and with embodiment 1, repeat no more here.
Four ultrasound drive signals that ultrasonic generator continues to send in timing, the transducer that passes through respectively separately produces vibration at valve interior surface, thereby spool is formed uniform suspending power.Because the chucking fault generally causes that by chucking spool off-centre causes, spool is pressed towards a certain side wall surface, the gap smaller between this side and the spool, and the gap between opposite one side and the spool becomes big.At this moment; Side in gap smaller; Because the effect of ultrasound radiation pressure strengthens, will become greatly the active force of spool, and opposite one side ultrasound radiation pressure will diminish to the active force of spool; The active force that on same axis, will produce twice becomes a big thruster with spool towards the gap, till two side clearance approximately equals.Four sides arrange that symmetrically and evenly four supersonic transducers can guarantee spool basically on the valve pocket medial axis, and the friction factor between valve interior surface and the spool significantly reduces, thereby reaches the purpose that solves hydraulic lock.
When after the operating time regularly, the vibrating signal waveform on sampling module 19 continuous acquisition and the common proportion electro-magnet 24 that spool 4 is connected, and waveform offered signal processing module 20 tightens judging module 22 to being out of order the eliminating effect information through bite.If the chucking fault is got rid of, then instruction returns nominal situation; If the chucking fault alleviates, then instructing once more, startup chucking fault solves pattern.
In above-mentioned two embodiments; Bite chucking judging module 22 is according to the average value information of frequency, peak-to-peak value, wave distortion and the control signal of the vibrating signal of sampling, provides the degree of membership judgement of bite, chucking and this information is outputed to ultrasonic generator control module 23 following through the fuzzy mutticriteria decision-making technique:
Because electro-hydraulic proportional valve is when nominal situation, bite operating mode and chucking operating mode; The value of electrical signal such as its vibrating signal frequency, peak-to-peak value, wave distortion and mean value is not a fixing value; But in certain interval fluctuation; Be difficult to confirm its failure condition, for this reason, adopted the comprehensive foundation of integrated ordered new departure of a kind of interval intuitionistic fuzzy number as the judgement of bite chucking in bite chucking judging module 22 with the method that directly compares.
At first, adopted and used scoring function
Δ, accurate function
HAnd departure function
PCarry out multifactorial evaluation, establish
A=
A 1 ,
A 2 ,
,
A m Be scheme set,
G=(
Δ,
H,
D)
TBe attribute vector,
For
GIn each attribute weight vector,
∈ [0,1],
, then estimate matrix and be:
Three kinds of schemes among the scheme set A are three kinds of operating modes of electro-hydraulic proportional valve; Be respectively nominal situation, bite operating mode and chucking operating mode; Frequency, peak-to-peak value, wave distortion and mean value that four kinds of attributes among the property set G are vibrating signal, these four kinds of signals are provided by signal processing module 20; 12 bits serial A/D transducer TLV2453 of 22 becomes 4 tunnel signal conversion digital quantity signal and passes to data processing chip TMS320VC5402 in the bite chucking judging module; The weight vectors of index does
ω=(0.1,0.5,0.2,0.2)
TThe weight of the peak-to-peak value attribute of vibrating signal is maximum; These four weights supply data processing chip TMS320VC5402 to call by among the FLASHROM of software solidification in bite chucking judging module 22, can also revise through network remote through the RS485 communication interface simultaneously; With attribute weight vector ω with estimate matrix J and multiply each other and obtain the multifactorial evaluation vector:
, sort according to the size of B element, and press maximum subjection principle and select optimum scheme;
Secondly, following based on the interval intuitionistic fuzzy decision-making concrete steps of this ranking method: the first step, utilize weighting arithmetic to estimate the capable all elements of i in the integrated decision matrix of operator (1), thereby obtain corresponding to intuitionistic fuzzy value between the complex zone of option A i; Second step; Utilize scoring function, accurate function and departure function to count the score functional value
(Ai) respectively; Accurate functional value H (Ai) and departure function value P (Ai) (i=1,2 ... M), make up the evaluation matrix J; The 3rd step; Select attribute weight vector
; Calculate multifactorial evaluation vector B; Size according to the B element sorts, and presses maximum subjection principle and select optimum scheme;
The 3rd; After data processing chip TMS320VC5402 handles, provide the multifactorial evaluation information of electro-hydraulic proportional valve operating mode, after this information offers ultrasonic generator control module 23; According to different working conditions, go to control whether ultrasonic generator and supersonic transducer work or not all work.
Said process further improves monotonicity, validity and the sensitivity of bite chucking testing signal, improves in the faut detection of bite chucking, judgement and instruction and carries out accuracy, sensitivity and reliability on repairing.
Adopt technique scheme, at first, utilize hyperacoustic pneumatics effect to pulverize big contamination particle and dirty grain cake, thereby effectively get rid of mechanical bite, chucking fault; Secondly, utilize the friction factor between ultrasound radiation pressure reduction valve interior surface and the spool and spool is suspended near the valve pocket medial axis, thereby effectively get rid of hydraulic pressure bite, chucking fault; The 3rd, adopt supersonic treatment bite, chucking fault, thereby also save energy and reduce the cost working life of improving equipment greatly easy to use, effective; The 4th; To when starting the judgement of ultrasonic processing apparatus employing intelligent control, realize intermittent duty, ultrasonic generator and supersonic transducer are in halted state under the nominal situation; Just start when having only bite chucking fault to be detected, thereby the working life of improving equipment greatly is also energy-saving and cost-reducing; The 5th, compare with existing similar functions device, simple in structure, with low cost and using effect is good.
The above is merely specific embodiment of the present invention, is not the restriction to this case design, and all equivalent variations of doing according to the design key of this case all fall into the protection domain of this case.
Claims (10)
1. intelligent hydraulic valve; Comprise electro-hydraulic proportional valve; Electro-hydraulic proportional valve comprises the valve pocket and the proportion electro-magnet of valve body, spool, placement spool, it is characterized in that: also comprise ultrasonic generator, supersonic transducer and can detect the electro-hydraulic proportional valve bite, tighten fault and control the intelligent controller of ultrasonic generator work; Ultrasonic generator and supersonic transducer are provided with in pairs; The output terminal of ultrasonic generator is connected with two electrode electricity of supersonic transducer; Totally 4 of supersonic transducers; Be fixedly installed in four sides up and down of electric-hydraulic proportion valve body with respect to the medial axis symmetry of electro-hydraulic proportional valve valve pocket, the medial axis of the shaft axis of supersonic transducer and electro-hydraulic proportional valve valve pocket intersects vertically and four shaft axiss are in same plane; Intelligent controller is electrically connected with ultrasonic generator and electro-hydraulic proportional valve respectively.
2. a kind of intelligent hydraulic valve as claimed in claim 1 is characterized in that: said intelligent controller 1 comprises vibrating signal generating module 16, system control signal module 14, power module of voltage regulation 15, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 and ultrasonic generator control module 23;
Wherein, power module of voltage regulation 15 links to each other with ultrasonic generator control module 23 with vibrating signal generating module 16, pid control module 17, power amplifier module 18, sampling module 19, signal processing module 20, reverse feedback module 21, bite chucking judging module 22 respectively; Vibrating signal generating module 16 links to each other with pid control module 17, power amplifier module 18 respectively; System control signal module 14 links to each other with reverse feedback module 21, pid control module 17 respectively; Pid control module 17 links to each other with system control signal module 14, reverse feedback module 21, vibrating signal generating module 16, power amplifier module 18 respectively; Reverse feedback module 21 links to each other with system control signal module 14, pid control module 17, signal processing module 20 respectively; Power amplifier module 18 respectively with pid control module 17, vibrating signal generating module 16, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Sampling module 19 respectively with signal processing module 20, electro-hydraulic proportional valve on proportion electro-magnet 24 link to each other; Signal processing module 20 links to each other with sampling module 19, bite chucking judging module 22, reverse feedback module 21 respectively; Bite chucking judging module 22 links to each other with signal processing module 20, ultrasonic generator control module 23 respectively; Ultrasonic generator control module 23 links to each other with four ultrasonic generators;
Vibrating signal generating module 16 generates the vibrating signal of CF, amplitude and waveform; After being used to of system control signal module 14 control the signal of electro-hydraulic proportional valve spool travel and subtract each other from the feedback signal of reverse feedback module 21; Offer pid control module 17 as input; After the output signal of pid control module 17 and the vibrating signal addition from vibrating signal generating module 16;, power amplifier module 18 removes to drive proportion electro-magnet 24 after amplifying; Vibrating signal waveform on the proportion electro-magnet 24 that sampling module 19 is gathered in real time with spool 4 is connected, and waveform offered signal processing module 20, signal processing module 20 separates control signal with the flutter waveform; Control signal is offered reverse feedback module 21 as input; Average value information and vibrating signal with control signal offers bite chucking judging module 22 as input simultaneously, and bite chucking judging module 22 provides the degree of membership judgement of bite, chucking according to the average value information of frequency, peak-to-peak value, wave distortion and the control signal of input vibrating signal through the fuzzy mutticriteria decision-making technique; And this information outputed to ultrasonic generator control module 23, by 23 control ultrasonic generator and the supersonic transducer work of ultrasonic generator control module.
3. a kind of intelligent hydraulic valve as claimed in claim 2; It is characterized in that: said bite chucking judging module 22 provides the degree of membership judgement of bite, chucking and this information is outputed to ultrasonic generator control module 23 through the fuzzy mutticriteria decision-making technique and is meant: at first, adopt scoring function
Δ, accurate function
HAnd departure function
PCarry out multifactorial evaluation, establish
A=
A 1 ,
A 2 ,
,
A m Be scheme set,
G=(
Δ,
H,
D)
TBe attribute vector,
For
GIn each attribute weight vector,
∈ [0,1],
, then estimate matrix and be:
Three kinds of schemes among the scheme set A are three kinds of operating modes of electro-hydraulic proportional valve; Be respectively nominal situation, bite operating mode and chucking operating mode; Frequency, peak-to-peak value, wave distortion and mean value that four kinds of attributes among the property set G are vibrating signal, these four kinds of signals are provided by signal processing module 20; 12 bits serial A/D transducer TLV2453 of 22 becomes 4 tunnel signal conversion digital quantity signal and passes to data processing chip TMS320VC5402 in the bite chucking judging module; The weight vectors of index does
ω=(0.1,0.5,0.2,0.2)
TThe weight of the peak-to-peak value attribute of vibrating signal is maximum; These four weights supply data processing chip TMS320VC5402 to call by among the FLASHROM of software solidification in bite chucking judging module 22, can also revise through network remote through the RS485 communication interface simultaneously; With attribute weight vector ω with estimate matrix J and multiply each other and obtain the multifactorial evaluation vector:
, sort according to the size of B element, and press maximum subjection principle and select optimum scheme; Secondly, following based on the interval intuitionistic fuzzy decision-making concrete steps of this ranking method: the first step, utilize weighting arithmetic to estimate the capable all elements of i in the integrated decision matrix of operator (1), thereby obtain corresponding to intuitionistic fuzzy value between the complex zone of option A i; In second step, utilize scoring function, accurate function and the departure function functional value that counts the score respectively
(Ai), accurate functional value H (Ai) and departure function value P (Ai) (i=1,2 ..., m), make up and estimate matrix J; In the 3rd step, select the attribute weight vector
, calculate multifactorial evaluation vector B, sort according to the size of B element, and press maximum subjection principle selection optimum scheme; The 3rd; After data processing chip TMS320VC5402 handles, provide the multifactorial evaluation information of electro-hydraulic proportional valve operating mode, after this information offers ultrasonic generator control module 23; According to different working conditions, go to control whether ultrasonic generator and supersonic transducer work or not all work.
4. a kind of intelligent hydraulic valve as claimed in claim 3 is characterized in that: it is 95Hz that said vibrating signal generating module 16 produces frequency, and amplitude is 85% rated current, and waveform is the vibrating signal of normal distribution curve.
5. a kind of intelligent hydraulic valve as claimed in claim 4; It is characterized in that: when bite chucking judging module provides the bite judgement; Then start the bite fault and solve pattern, promptly simultaneously work up and down by the two pairs of ultrasonic generators and the supersonic transducer of side for ultrasonic generator control module control valve body; When bite chucking judging module provides the chucking judgement, then start the chucking fault and solve pattern, promptly four pairs of ultrasonic generators of ultrasonic generator control module control valve body four sides and supersonic transducer are worked simultaneously.
6. a kind of intelligent hydraulic valve as claimed in claim 5 is characterized in that: said intelligent controller also comprises and receives ultrasonic generator control module control, limits ultrasonic generator and/or the timing device of supersonic transducer operating time; When after the operating time regularly; Vibrating signal waveform on sampling module 19 continuous acquisition and the proportion electro-magnet 24 that spool 4 is connected; And waveform offered signal processing module 20, give to be out of order through bite chucking judging module 22 and get rid of effect and judge information and make the follow-up work instruction.
7. a kind of intelligent hydraulic valve as claimed in claim 6; It is characterized in that: said bite chucking judging module 22 is given to be out of order and is got rid of effect and judge information and make the follow-up work instruction and be meant: get rid of and judge that then instruction returns nominal situation when bite chucking judging module 22 provides bite or chucking fault; Alleviate judgement when bite chucking judging module 22 provides the bite fault, then instruction starts bite fault solution pattern once more; Alleviate judgement when bite chucking judging module 22 provides the chucking fault, then instructing once more, startup chucking fault solves pattern.
8. a kind of intelligent hydraulic valve as claimed in claim 7; It is characterized in that: said bite chucking judging module 22 is given to be out of order to get rid of effect judgement information and make the follow-up work instruction and is also comprised: solve pattern when starting twice above bite fault; Bite chucking judging module 22 still provides the bite fault and alleviates judgement; Think that then this bite fault cause is the chucking fault, instruction starts the chucking fault and solves pattern.
9. like the arbitrary described a kind of intelligent hydraulic valve of claim 1 to 8, it is characterized in that: said supersonic transducer is installed on the fuel-displaced oral-lateral of power supply Proportional valve valve body side.
10. like the arbitrary described a kind of intelligent hydraulic valve of claim 1 to 8, it is characterized in that: said supersonic transducer is installed on the zone of the corresponding spool in power supply Proportional valve valve body side.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103004729A (en) * | 2012-12-06 | 2013-04-03 | 安徽工程大学 | Pesticide spraying barrel with full-automatic pressure balance |
| CN105909593A (en) * | 2016-05-12 | 2016-08-31 | 绍兴文理学院 | Abrasion particle monitoring method based on magnetic field centrifugation, electric shock hammer adsorption and adjacent capacitance |
| CN108628249A (en) * | 2018-06-01 | 2018-10-09 | 西安交通大学 | A kind of Milling Process Flutter Control method and system based on auxiliary superpositing vibration |
| CN117167547A (en) * | 2023-09-07 | 2023-12-05 | 广东图为信息技术有限公司 | Intelligent flap valve monitoring and regulating system based on wireless transmission |
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| JPH07108221A (en) * | 1993-10-13 | 1995-04-25 | Shimada Phys & Chem Ind Co Ltd | Ultrasonic generator |
| CN201086075Y (en) * | 2007-08-30 | 2008-07-16 | 大庆市新中瑞环保有限公司 | Electromagnetic ultrasonic antiscaling machine |
| CN102042435A (en) * | 2010-12-29 | 2011-05-04 | 北京中科林重科技有限公司 | Electromagnetic pilot valve driver |
| CN202812386U (en) * | 2012-03-31 | 2013-03-20 | 绍兴文理学院 | Intelligent hydraulic valve |
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|---|---|---|---|---|
| JPH07108221A (en) * | 1993-10-13 | 1995-04-25 | Shimada Phys & Chem Ind Co Ltd | Ultrasonic generator |
| CN201086075Y (en) * | 2007-08-30 | 2008-07-16 | 大庆市新中瑞环保有限公司 | Electromagnetic ultrasonic antiscaling machine |
| CN102042435A (en) * | 2010-12-29 | 2011-05-04 | 北京中科林重科技有限公司 | Electromagnetic pilot valve driver |
| CN202812386U (en) * | 2012-03-31 | 2013-03-20 | 绍兴文理学院 | Intelligent hydraulic valve |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103004729A (en) * | 2012-12-06 | 2013-04-03 | 安徽工程大学 | Pesticide spraying barrel with full-automatic pressure balance |
| CN105909593A (en) * | 2016-05-12 | 2016-08-31 | 绍兴文理学院 | Abrasion particle monitoring method based on magnetic field centrifugation, electric shock hammer adsorption and adjacent capacitance |
| CN108628249A (en) * | 2018-06-01 | 2018-10-09 | 西安交通大学 | A kind of Milling Process Flutter Control method and system based on auxiliary superpositing vibration |
| CN117167547A (en) * | 2023-09-07 | 2023-12-05 | 广东图为信息技术有限公司 | Intelligent flap valve monitoring and regulating system based on wireless transmission |
| CN117167547B (en) * | 2023-09-07 | 2024-02-20 | 广东图为信息技术有限公司 | Intelligent flap valve monitoring and regulating system based on wireless transmission |
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