CN104344055A - Proportional electromagnetic valve driving method and system based on PWM (Pulse Width Modulation) - Google Patents
Proportional electromagnetic valve driving method and system based on PWM (Pulse Width Modulation) Download PDFInfo
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- CN104344055A CN104344055A CN201410473388.7A CN201410473388A CN104344055A CN 104344055 A CN104344055 A CN 104344055A CN 201410473388 A CN201410473388 A CN 201410473388A CN 104344055 A CN104344055 A CN 104344055A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0675—Electromagnet aspects, e.g. electric supply therefor
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- Magnetically Actuated Valves (AREA)
Abstract
The invention discloses a proportional electromagnetic valve driving method and system based on PWM. The method comprises the following steps: presetting the corresponding relation of duty cycles and frequency values, wherein the distribution rule of the frequency values in the corresponding relation is that the frequency value corresponding to a middle duty cycle is larger than the frequency values corresponding to the duty cycles on the two sides; according to the corresponding relation, determining the frequency value corresponding to a target duty cycle; according to the target duty cycle and the frequency value corresponding to the target duty cycle, generating a PWM driving signal, and driving a proportional electromagnetic valve by using the PWM driving signal. The method can enable the electromagnetic valve to output stable secondary pressure, the power loss of the electromagnetic valve is lower, and the slight flutter of the valve element of the electromagnetic valve is retained, so that the valve element is prevented from being clamped.
Description
Technical field
The present invention relates to proportional electromagnetic valve and drive field, particularly a kind of proportional electromagnetic valve method for driving based on PWM and system.
Background technique
The ideal drive singal of proportional electromagnetic valve is the direct current being loaded with small size flutter.But for the consideration of system complexity and cost, the embedded control system of the engineering machinery such as excavator utilizes pulse duration modulation (Pulse Width Modulation usually, PWM) method drives proportional electromagnetic valve, and PWM comprises dutycycle and frequency two kinds of information: adjustment dutycycle can obtain required voltage value; And the stability of the comparative selection example solenoid valve secondary pressure of PWM frequency and oneself power consumption have a significant impact.
Mostly adopting the PWM of fixed frequency to drive proportional electromagnetic valve at present, there is following shortcoming in it:
1) the too low meeting of PWM frequency of proportional electromagnetic valve is driven to cause proportional electromagnetic valve secondary pressure to fluctuate with pwm pulse;
2) drive the pwm signal frequency too high response time will reducing solenoid valve of proportional electromagnetic valve, and too much power loss can be produced, increase hysteresis loss and the eddy current loss of solenoid valve.
Summary of the invention
In view of this, the present invention proposes a kind of proportional electromagnetic valve method for driving based on PWM and the proportional electromagnetic valve drive system based on PWM, to realize frequency with PWM change in duty cycle, and then stable proportional electromagnetic valve secondary pressure, prevent spool clamping stagnation and reduce power consumption.
On the one hand, the invention provides a kind of proportional electromagnetic valve method for driving based on PWM, comprise: the corresponding relation pre-setting dutycycle and frequency values, the regularity of distribution of described corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle; According to described corresponding relation determination target duty than corresponding frequency values; According to the frequency values of described target duty ratio and correspondence thereof, generate PWM drive singal, and utilize described PWM drive singal to drive proportional electromagnetic valve.
Further, the step of described " according to described corresponding relation determination target duty than corresponding frequency values " comprising: first carry out linear interpolation calculating according to described corresponding relation; Then the result calculated according to linear interpolation determines that described target duty is than corresponding frequency values.
Further, the step of described " pre-setting the corresponding relation of dutycycle and frequency values " comprising: pre-set frequency values corresponding when dutycycle is 10%, 50% and 90%, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum.
Further, frequency values corresponding when described dutycycle is 10% and 90% is identical.
Further, the described proportional electromagnetic valve method for driving based on PWM also comprises: the hydraulic oil oil temperature in real time in sensing proportional electromagnetic valve; Also comprise after the step of described " according to described corresponding relation determination target duty than corresponding frequency values ": according to the adjusting method of the frequency values preset with the change of described hydraulic oil oil temperature, adjust described target duty than corresponding frequency values; The adjusting method that described frequency changes with oil temperature comprises: raise with described hydraulic oil oil temperature, increase described frequency values.
On the other hand, the invention provides a kind of proportional electromagnetic valve drive system based on PWM, comprise: correspondence setting unit, for pre-setting the corresponding relation of dutycycle and frequency values, the regularity of distribution of described corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle; Frequency determinative elements, for the frequency values corresponding according to described corresponding relation determination target duty ratio; Driving signal generating unit, for the frequency values according to described target duty ratio and correspondence thereof, generates PWM drive singal; Driver element, drives proportional electromagnetic valve for utilizing described PWM drive singal.
Further, described frequency determinative elements comprises: computation subunit, for carrying out linear interpolation calculating according to described corresponding relation; Determine subelement, the result for calculating according to linear interpolation determines that described target duty is than corresponding frequency values.
Further, described correspondence setting unit comprises storing sub-units, for pre-setting frequency values corresponding when dutycycle is 10%, 50% and 90%, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum.
Further, the described proportional electromagnetic valve drive system based on PWM also comprises: sensing cell, for sensing the hydraulic oil oil temperature in proportional electromagnetic valve in real time; Regulation unit, for according to the adjusting method of the frequency values preset with the change of described hydraulic oil oil temperature, adjusts described target duty than corresponding frequency values; The adjusting method that described frequency changes with oil temperature comprises: raise with described hydraulic oil oil temperature, increase described frequency values
Further, the described proportional electromagnetic valve drive system based on PWM is arranged in dsp chip or universal cpu.
The proportional electromagnetic valve method for driving and the system that the present invention is based on PWM adopt different PWM frequency by the difference of dutycycle needed for proportional solenoid valve control, particularly in both sides dutycycle, adopt lower PWM frequency, and adopt higher frequency in middle dutycycle, realize making proportional electromagnetic valve reach delivery pressure and stablize, prevent spool clamping stagnation and reduce power consumption.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is different duty condition lower coil current fluctuation size dI and current value I variation diagram in the proportional electromagnetic valve method for driving embodiment that the present invention is based on PWM;
The flow chart that Fig. 2 provides for the proportional electromagnetic valve method for driving embodiment that the present invention is based on PWM;
Another flow chart that Fig. 3 provides for the proportional electromagnetic valve method for driving embodiment that the present invention is based on PWM;
The structured flowchart that Fig. 4 provides based on the proportional electromagnetic valve drive system of PWM for second embodiment of the invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
The theoretical foundation of the application is: in view of proportion electro-magnet belongs to excitation-type electromechanical converter part, the control electric current that embedded controller produces produces magnetic flux in proportion electro-magnet coil, promote armature displacement, the electromagnetic force that spool is subject to has the frequency identical with current fluctuation.The mechanical electrical and hydraulic system considering proportional electromagnetic valve is known, and its mechanical system part transfer function can be used as Low-pass second order filter, and electrical system transfers function can be used as low pass first-order filtering.When adopting PWM driving proportional electromagnetic valve, the steady-state current I in coil and current fluctuation dI depends on timeconstantτ and the PWM frequency 1/T and dutycycle D of coil.Steady-state current I and current fluctuation dI size can be derived such as formula shown in (1) according to transient current.
Wherein A=e
-DT/ τ, B=e
-(1-D) T/ τ, U is voltage, and R is resistance; Steady-state current I in the controls as driving current with Controlling solenoid valve secondary pressure, current fluctuation dI can the low amplitude vibrations of holding armature self, prevents the phenomenon of spool clamping stagnation.
Inventor calculates according to formula (1) and finds, different duty condition lower coil current fluctuation size dI and current value I changes as shown in Figure 1, in Fig. 1, left side coordinate is the variation relation of current fluctuation size dI with dutycycle D, and right side coordinate is the variation relation of size of current I with dutycycle D.Can find according to Fig. 1, the secondary pressure that solenoid valve exports under a certain fixing PWM frequency fluctuates the most violent when dutycycle is 50%, and secondary pressure output fluctuation is less when dutycycle is 10% and 90%, and PWM frequency is higher, electric current exports with dutycycle more close to linear relationship.In addition, the secondary pressure wave range of solenoid valve is relatively little, relatively stable when the temperature is low; And when temperature is higher, the secondary pressure fluctuation that solenoid valve exports is comparatively large, by increasing PWM frequency, the secondary pressure that solenoid valve exports fluctuates corresponding reduction.
Based on above-mentioned discovery, inventors herein propose a kind of according to different duty, change the controlling method of pwm signal frequency: in order to reduce the power loss of solenoid valve, two ends dutycycle (as near 10% and 90% time), PWM exports and adopts lower PWM frequency, and middle dutycycle (as near 50% time), PWM exports and adopts higher frequency, and frequency values corresponding to other dutycycles is then by pre-set or the method such as linear interpolation obtains.In addition, generate for the first time except PWM frequency according to dutycycle except above-mentioned, the embodiment of the present invention also considers the impact of ambient temperature, when the temperature increases, PWM frequency is adjusted, during corresponding lower temperature, adopt higher PWM frequency, generate a new PWM frequency, to obtain more stable secondary pressure.Illustrate below in conjunction with accompanying drawing.
embodiment of the method
The flow chart of the proportional electromagnetic valve method for driving based on PWM that Fig. 2 and Fig. 3 provides for the embodiment of the present invention; As shown in Figure 2, a kind of proportional electromagnetic valve method for driving based on PWM, comprising:
Step 11: the corresponding relation pre-setting dutycycle and frequency values, the regularity of distribution of corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle.
Particularly, frequency values corresponding when dutycycle is 10%, 50% and 90% can be pre-set, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum; Use linear interpolation to calculate between 10% to 50% and between 50% to 90%, obtain other dutycycle respective frequencies values; When can also be 10% and 90% by dutycycle certainly, corresponding frequency values be set to identical; As required, the frequency values that other dutycycles are corresponding can also be set, not limit at this.
Step 12: according to corresponding relation determination target duty than corresponding frequency values.
In the corresponding relation that step 11 pre-sets, each dutycycle is close to consecutive hours, can directly according to the frequency values of the corresponding relation determination target duty preset than correspondence; If in the corresponding relation that step 11 sets dutycycle be discrete or for finite number time, linear interpolation can be adopted to determine the frequency that other dutycycle is corresponding based on the corresponding relation set, if not in dutycycle not 10%, 50% and 90% time, carry out linear interpolation according to corresponding relation and calculate and determine that target duty is than corresponding frequency values.
Step 13: after sensing the hydraulic oil oil temperature in proportional electromagnetic valve in real time, according to the adjusting method of the frequency preset with the change of hydraulic oil oil temperature, the frequency values that adjustment aim dutycycle is corresponding, generates new target duty than corresponding frequency values; The adjusting method that frequency values changes with oil temperature comprises: raise with hydraulic oil oil temperature, increases frequency values.
Step 14: according to the frequency values of target duty ratio and correspondence thereof, generates PWM drive singal.
Step 15: utilize PWM drive singal to drive proportional electromagnetic valve.
It should be noted that, above-mentioned steps 13 is preferred steps, by this step, the target duty of generation can be optimized adjustment than corresponding frequency values, to obtain the frequency values of the proportional electromagnetic valve PWM drive singal under condition of different temperatures, temperature height then frequency values is large, reduces the deficiency of the hydraulic oil viscosity change caused because hydraulic fluid temperature height is different and then the response characteristic affecting solenoid valve.
Inventor tests the above-mentioned proportional electromagnetic valve method for driving based on PWM, specific as follows: the proportional electromagnetic valve utilizing KPM-K3V electric control pump to configure is subjects; Timeconstantτ=the Le/R of the pump power limitation control proportional electromagnetic valve internal resistance R of KPM company K3V half electric control pump to be 17.5Ohm, coil inductance Le be 19.5mH, then this electromagnetic valve coil is 0.0011143s, digging machine voltage 24V; The oscillation frequency of the proportional electromagnetic valve of KPM-K3V electric control pump configuration is 80Hz.Utilize the Bode of second-order low-pass filter to scheme known, frequency is greater than to the current fluctuation of 80Hz, the mechanical system of solenoid valve will suppress.And the frequency of electric current is higher, the inhibitory action of mechanical two-order oscillation system is stronger.The electrical system of solenoid valve is equivalent to the lower pass-filter of single order, is 897Hz by the cutoff frequency of the known electrical system of its time constant, and relative to mechanical system, it is less to the inhibitory action of pwm pulse fluctuation signal.Therefore the filter characteristics of mechanical system can be utilized to filter pwm signal and to obtain required stable driving current, but need to retain the small size current fluctuation needed for spool self flutter simultaneously.The proportional electromagnetic valve Frequency PWM that can obtain thus under condition of different temperatures drives strategy, as shown in table 1.
In table 1, when current value is that maximum (namely dutycycle is maximum, as 90%) 513mA and minimum (namely dutycycle is minimum, as 10%) 0mA time, reach the PWM that secondary pressure is stable, frequency values is lower, and when electric current is in meta 327mA, (namely dutycycle is intermediate value, as 50%) time, need to adopt higher frequency, consistent with the result of theory analysis.In addition, during high 36 DEG C of temperature, reach the PWM that secondary pressure is stable, frequency values is higher.
Table 1 proportional electromagnetic valve PWM optimization frequency
The present embodiment adopts different PWM frequency by the difference of dutycycle needed for proportional solenoid valve control, particularly in both sides dutycycle, adopt lower PWM frequency, and adopt higher frequency in middle dutycycle, realize making proportional electromagnetic valve reach delivery pressure and stablize, prevent spool clamping stagnation and reduce power consumption.
system embodiment
The structured flowchart of the proportional electromagnetic valve drive system based on PWM that Fig. 4 provides for the embodiment of the present invention; The explanation of the corresponding embodiment of Fig. 2 and Fig. 3 illustrates and is applicable to the present embodiment, as shown in Figure 4, a kind of proportional electromagnetic valve drive system based on PWM comprises: correspondence setting unit, for pre-setting the corresponding relation of dutycycle and frequency values, the regularity of distribution of corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle; Frequency determinative elements, for the frequency values corresponding according to corresponding relation determination target duty ratio; Driving signal generating unit, for the frequency values according to target duty ratio and correspondence thereof, generates PWM drive singal; Driver element, drives proportional electromagnetic valve for utilizing PWM drive singal.
Particularly, frequency determinative elements can comprise: computation subunit (not shown), calculates frequency values corresponding to other dutycycles for carrying out linear interpolation according to corresponding relation; Determine subelement (not shown), the frequency values that the result determination target duty ratio for calculating according to linear interpolation is corresponding.Correspondence setting unit can comprise storing sub-units (not shown), for pre-setting frequency values corresponding when dutycycle is 10%, 50% and 90%, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum.
Preferably, the proportional electromagnetic valve drive system based on PWM can also comprise: sensing cell, for sensing the hydraulic oil oil temperature in proportional electromagnetic valve in real time; Regulation unit, for according to the frequency preset with the adjusting method of the change of hydraulic oil oil temperature, the frequency values that adjustment aim dutycycle is corresponding; The adjusting method that frequency values changes with oil temperature comprises: raise with hydraulic oil oil temperature, increases frequency values.Different control strategies is adopted, to meet the requirement of variation of ambient temperature when can be implemented in different hydraulic fluid temperature by regulation unit.
The above-mentioned proportional electromagnetic valve drive system based on PWM can be arranged in dsp chip or universal cpu.
The present embodiment can make the small size flutter that is lower and that remain valve core of the electromagnetic valve of the power loss of the secondary pressure of solenoid valve stable output, solenoid valve prevent spool clamping stagnation by utilizing the PWM drive singal of Frequency.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., based on a proportional electromagnetic valve method for driving of PWM, it is characterized in that, comprising:
Pre-set the corresponding relation of dutycycle and frequency values, the regularity of distribution of described corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle;
According to described corresponding relation determination target duty than corresponding frequency values;
According to the frequency values of described target duty ratio and correspondence thereof, generate PWM drive singal, and utilize described PWM drive singal to drive proportional electromagnetic valve.
2. the proportional electromagnetic valve method for driving based on PWM according to claim 1, is characterized in that, the step of described " according to described corresponding relation determination target duty than corresponding frequency values " comprising:
First linear interpolation calculating is carried out according to described corresponding relation;
Then the result calculated according to linear interpolation determines that described target duty is than corresponding frequency values.
3. the proportional electromagnetic valve method for driving based on PWM according to claim 2, is characterized in that, the step of described " pre-setting the corresponding relation of dutycycle and frequency values " comprising:
Pre-set frequency values corresponding when dutycycle is 10%, 50% and 90%, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum.
4. the proportional electromagnetic valve method for driving based on PWM according to claim 3, it is characterized in that, frequency values corresponding when described dutycycle is 10% and 90% is identical.
5. the proportional electromagnetic valve method for driving based on PWM according to any one of claim 1 to 4, is characterized in that, also comprise: the hydraulic oil oil temperature in real time in sensing proportional electromagnetic valve;
Also comprise after the step of described " according to described corresponding relation determination target duty than corresponding frequency values ":
According to the adjusting method of the frequency values preset with the change of described hydraulic oil oil temperature, adjust described target duty than corresponding frequency values;
The adjusting method that described frequency changes with oil temperature comprises: raise with described hydraulic oil oil temperature, increase described frequency values.
6., based on a proportional electromagnetic valve drive system of PWM, it is characterized in that, comprising:
Correspondence setting unit, for pre-setting the corresponding relation of dutycycle and frequency values, the regularity of distribution of described corresponding relation medium frequency value is that frequency values corresponding to middle dutycycle is greater than frequency values corresponding to both sides dutycycle;
Frequency determinative elements, for the frequency values corresponding according to described corresponding relation determination target duty ratio;
Driving signal generating unit, for the frequency values according to described target duty ratio and correspondence thereof, generates PWM drive singal;
Driver element, drives proportional electromagnetic valve for utilizing described PWM drive singal.
7. the proportional electromagnetic valve drive system based on PWM according to claim 6, it is characterized in that, described frequency determinative elements comprises:
Computation subunit, for carrying out linear interpolation calculating according to described corresponding relation;
Determine subelement, the result for calculating according to linear interpolation determines that described target duty is than corresponding frequency values.
8. the proportional electromagnetic valve drive system based on PWM according to claim 7, it is characterized in that, described correspondence setting unit comprises storing sub-units, for pre-setting frequency values corresponding when dutycycle is 10%, 50% and 90%, wherein dutycycle 50% is middle dutycycle, the frequency values of dutycycle 50% correspondence is maximum, and dutycycle is 10% and 90% be respectively minimum duty cycle and maximum duty cycle, and dutycycle is that the frequency values of 10% and/or 90% correspondence is minimum.
9. the proportional electromagnetic valve drive system based on PWM according to any one of claim 6-8, is characterized in that, also comprise:
Sensing cell, for sensing the hydraulic oil oil temperature in proportional electromagnetic valve in real time;
Regulation unit, for according to the adjusting method of the frequency values preset with the change of described hydraulic oil oil temperature, adjusts described target duty than corresponding frequency values; The adjusting method that described frequency changes with oil temperature comprises: raise with described hydraulic oil oil temperature, increase described frequency values.
10. the proportional electromagnetic valve drive system based on PWM according to the claims 9, is characterized in that, the described proportional electromagnetic valve drive system based on PWM is arranged in dsp chip or universal cpu.
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