CN104864170A - Parameter setting method for flutter compensation for pneumatic proportional valve - Google Patents
Parameter setting method for flutter compensation for pneumatic proportional valve Download PDFInfo
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- CN104864170A CN104864170A CN201510333032.8A CN201510333032A CN104864170A CN 104864170 A CN104864170 A CN 104864170A CN 201510333032 A CN201510333032 A CN 201510333032A CN 104864170 A CN104864170 A CN 104864170A
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- proportional valve
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- frequency
- vibrating signal
- compensation
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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
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
- F16K37/0091—For recording or indicating the functioning of a valve in combination with test equipment by measuring fluid parameters
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Fluid-Driven Valves (AREA)
Abstract
The invention relates to a parameter setting method, in particular to a parameter setting method for a flutter compensation signal for a pneumatic proportional valve, and belongs to the field of mechanical and electronic integration. The parameter setting method for the flutter compensation signal for the pneumatic proportional valve includes that calculating the average value of acquired minimum control electric quality (um-un), wherein the amplitude of the flutter signal with the best compensation effect is 4 to 5 times of the average value; using a flow sensor to measure forward and reverse travel output flow curves of the proportional valve, or using a displacement sensor to measure forward and reverse travel displacement curves of a valve core of the proportional valve, and verifying the compensation effect of the flutter signal through observing the overlapping degree of the forward and reverse travel curves; finely adjusting the frequency according to the curves; lowering the frequency of the flutter signal to facilitate overlapping the forward and reverse travel curves; finishing the flutter signal frequency setting. Compared with a traditional trial and error method, the setting time is greatly shortened, and the application value is high; the flutter compensation signal set by the parameter setting method has a good compensation effect for the friction force in the valve.
Description
Technical field
The present invention relates to a kind of parameter tuning method, particularly relate to a kind of parameter tuning method of pneumatic proportional valve Chatter Compensation signal, belong to field of electromechanical integration.
Background technique
In the practical application of pneumatic drive control gear, the nonlinear problem of pneumatic control valve becomes the principal element of restriction control valve control effects.Wherein, the non-linear of pneumatic proportional valve is embodied in its stagnant ring exported and dead band, and, this non-linear control effects that can affect whole valve control system, and cause actuator also to occur corresponding stagnant ring and Dead Zone.
For eliminating the non-linear harmful effect for control effects of pneumatic proportional valve, often adopt the method superposing Chatter Compensation signal on the basis of proportioning valve control signal.Vibrating signal is high frequency and average is the signal of zero, is generally sine wave signal.Though Chatter Compensation signal effectively can eliminate the hysteresis characteristic of Proportional valve, but this signal has amplitude and specific and frequency, must adjust to reach optimal compensation effect to this signal parameter before use.When reality uses, often adopt and try the method for gathering to the frequency of vibrating signal of adjusting and amplitude, but this examination method of gathering is consuming time and be difficult to obtain the vibrating signal with the optimal compensation effect.
Summary of the invention
The object of the invention is to gather method problem consuming time to solve existing examination, a kind of parameter tuning method of pneumatic proportional valve Chatter Compensation signal is provided.
The object of the invention is to be achieved through the following technical solutions.
A parameter tuning method for pneumatic proportional valve Chatter Compensation signal, concrete steps are as follows:
Step one, the amplitude of vibrating signal to be adjusted:
(1) in pneumatic proportional valve control range, choose several working point control electricity u equally spacedly
n(voltage or electric current), operation point choose the dead band and inelastic region that should avoid Proportional valve;
(2) when to pneumatic proportional valve input service point electricity u
nand after valve core movement stops completely, slowly increase and control electricity, utilize displacement transducer record to make the control electricity u of spool setting in motion again
m(voltage or electric current);
(3) by the working point control electricity u of step one (1)
nwith the control electricity u of step one (2)
mminimum control electricity (u can be obtained
m-u
n), to obtained minimum control electricity averaged, because minimum control electricity and spool friction are linear ratio relation, reflect the characteristic of spool friction, then the 4-5 of mean value is doubly the amplitude of the vibrating signal with the optimal compensation effect.
Step 2, the amplitude of the vibrating signal of the optimal compensation effect of step one gained to be tested;
To the method that the amplitude of the vibrating signal of the optimal compensation effect of step one gained is tested be: the frequency of vibrating signal is temporarily set to the cutoff frequency of Proportional valve, the positive revesal output flow curve of use traffic sensor comparative example valve measures, or use displacement transducer to measure the positive and negative travel displacement curve of Proportional valve spool, the compensation effect of vibrating signal is verified by the coincidence degree of observing positive and negative stroke curve.
Step 3, vibrating signal frequency to be adjusted
Be the cutoff frequency of Proportional valve by the set of frequency of vibrating signal, and according to step 2 curve obtained, frequency finely tuned; Reduce the frequency of vibrating signal to make positive and negative stroke curve overlap; Now complete and vibrating signal frequency is adjusted;
The cutoff frequency of step 4, comparative example valve is measured again, and the frequency of vibrating signal is adjusted to now cutoff frequency; Vibrating signal widens effect for the frequency response bandwidth of Proportional valve, and the frequency of vibrating signal is adjusted to now cutoff frequency, and compensation effect can be made better.
The quantity of several operation points described is at least 11;
The main compensation principle of vibrating signal is, the amplitude of vibrating signal is enough high, is enough to, when non-access control signal only has vibrating signal, spool also can be made to overcome maximum static friction force, and make it be in one " high frequency fine motion " state, namely friction is kinetic force of friction always.This state can make proportional servo valve in controlled process, farthest eliminates " switching of sound frictional force " this link, also weakens the nonlinear characteristics of spool friction.
Beneficial effect
1, the parameter tuning method of a kind of pneumatic proportional valve Chatter Compensation signal of the present invention, compares with traditional trial and error method, substantially reduces setting time, have using value;
2, parameter tuning method of the present invention is from the angle of friction compensation power, the Chatter Compensation signal adjusted out have good compensation effect for valve internal friction.
Accompanying drawing explanation
Fig. 1 is the experiment of vibrating signal parameter tuning and compensation effect confirmatory experiment schematic diagram;
Fig. 2 is the minimum control voltage curve making valve core movement;
When Fig. 3 is not for adding vibrating signal, the positive revesal flow curve of Proportional valve;
Fig. 4 for after adding vibrating signal, the positive revesal flow curve of Proportional valve;
When Fig. 5 is not for adding vibrating signal, the positive and negative travel displacement curve of Proportional valve spool;
Fig. 6 for after adding vibrating signal, the positive and negative travel displacement curve of Proportional valve spool.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
Embodiment 1
For the commercially available general pneumatic proportional valve that control voltage signal is 1-9V, concrete introduction is made to this vibrating signal setting method.The experiment of vibrating signal parameter tuning and compensation effect confirmatory experiment schematic diagram are as shown in Figure 1.
Step one, the amplitude of vibrating signal to be adjusted:
(1) in the input voltage range 1-9V of Proportional valve, choose several working point control voltage u
n: 3V, 3.5V, 4V, 4.5V, 5V, 6.5V, 7V, 7.5V, 8V, 8.5V (selection of working point control voltage avoids dead band and inelastic region);
(2) when working point control voltage be have input to valve and spool also static after, control voltage is slowly strengthened in the basis of working point control voltage, (Keyemce laser displacement sensor is selected when setting in motion appears in spool, repeatability is 2 μm, also other displacement transducers can be selected as required), record now magnitude of voltage u
m;
(3) u
m-u
nbe the minimum control voltage that spool is moved in this reference position, to this minimum control voltage averaged, the 4-5 of mean value is doubly the amplitude of vibrating signal.As shown in Figure 2, transverse axis is after working point control voltage to this commercially available minimum control voltage of each position measured by general pneumatic proportional valve, the relative position that spool stops.Be the minimum control voltage curve of Proportional valve under bleed pressure 0.3MPa and 0.5MPa in Fig. 2, under 0.3MPa, the scope of amplitude is under 0.1V to 0.125V, 0.5MPa be 0.256V to 0.32V as can be seen from Figure 2.
Step 2, the amplitude of the vibrating signal of the optimal compensation effect of step one gained to be tested:
Vibrating signal frequency is set to pneumatic proportional valve cutoff frequency, amplitude is set to the amplitude of adjusting in above-mentioned (3) step, after can measure the positive revesal flow curve of pneumatic proportional valve, verified the compensation effect of vibrating signal by the coincidence degree of observing positive and negative stroke curve.
Step 3, vibrating signal frequency to be adjusted:
By the set of frequency of vibrating signal at Proportional valve cutoff frequency, can finely tune frequency according to the positive revesal flow curve of above-mentioned steps two gained, reduce vibrating signal frequency to make positive and negative stroke curve overlap.
Step 4, again can to measure the cutoff frequency of comparative example valve, the frequency of vibrating signal is adjusted to now near cutoff frequency; Vibrating signal widens effect for the frequency response bandwidth of Proportional valve, and the frequency of vibrating signal is adjusted to now cutoff frequency, and compensation effect can be made better.After adding vibrating signal, this Proportional valve after adding vibrating signal cutoff frequency near 50Hz.
Through above-mentioned tuning process, when bleed pressure is 0.3MPa, the Chatter Compensation signal amplitude being applied to this pneumatic proportional valve is 0.1V, and frequency is 50Hz, and when bleed pressure is 0.5MPa, Chatter Compensation signal amplitude is 0.28V, and frequency is 50Hz.
Fig. 3 is the positive revesal flow curve of the pneumatic proportional valve when not adding vibrating signal, can find out that two curve differences are comparatively obvious, have obvious hysteresis characteristic.Fig. 4 is the positive revesal flow curve adding Proportional valve after Chatter Compensation signal, and can find out, hysteresis characteristic is effectively eliminated.Fig. 5 is the positive and negative travel displacement curve of the pneumatic proportional valve core when not adding vibrating signal, and hysteresis characteristic is obvious, and Fig. 6 is the positive and negative travel displacement curve after adding vibrating signal, and hysteresis characteristic is effectively eliminated.
Claims (3)
1. a parameter tuning method for pneumatic proportional valve Chatter Compensation signal, is characterized in that: concrete steps are as follows:
Step one, the amplitude of vibrating signal to be adjusted:
(1) in pneumatic proportional valve control range, choose several working point control electricity u equally spacedly
n(voltage or electric current), operation point choose the dead band and inelastic region that should avoid Proportional valve;
(2) when to pneumatic proportional valve input service point electricity u
nand after valve core movement stops completely, slowly increase and control electricity, utilize displacement transducer record to make the control electricity u of spool setting in motion again
m(voltage or electric current);
(3) by the working point control electricity u of step one (1)
nwith the control electricity u of step one (2)
mminimum control electricity (u can be obtained
m-u
n), to obtained minimum control electricity averaged, because minimum control electricity and spool friction are linear ratio relation, reflect the characteristic of spool friction, then the 4-5 of mean value is doubly the amplitude of the vibrating signal with the optimal compensation effect;
Step 2, the amplitude of the vibrating signal of the optimal compensation effect of step one gained to be tested;
To the method that the amplitude of the vibrating signal of the optimal compensation effect of step one gained is tested be: the frequency of vibrating signal is temporarily set to the cutoff frequency of Proportional valve, the positive revesal output flow curve of use traffic sensor comparative example valve measures, or use displacement transducer to measure the positive and negative travel displacement curve of Proportional valve spool, the compensation effect of vibrating signal is verified by the coincidence degree of observing positive and negative stroke curve;
Step 3, vibrating signal frequency to be adjusted
Be the cutoff frequency of Proportional valve by the set of frequency of vibrating signal, and according to step 2 curve obtained, frequency finely tuned; Reduce the frequency of vibrating signal to make positive and negative stroke curve overlap; Now complete and vibrating signal frequency is adjusted.
2. the parameter tuning method of a kind of pneumatic proportional valve Chatter Compensation signal as claimed in claim 1, it is characterized in that: can also again measure the cutoff frequency of comparative example valve after step 3, the frequency of vibrating signal is adjusted to now cutoff frequency, compensation effect can be made better.
3. the parameter tuning method of a kind of pneumatic proportional valve Chatter Compensation signal as claimed in claim 1, is characterized in that: the quantity of step one (1) described operation point is at least 11.
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| CN201510333032.8A CN104864170B (en) | 2015-06-16 | 2015-06-16 | A kind of parameter tuning method in pneumatic proportional valve Chatter Compensation |
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|---|---|---|---|
| CN201510333032.8A CN104864170B (en) | 2015-06-16 | 2015-06-16 | A kind of parameter tuning method in pneumatic proportional valve Chatter Compensation |
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| CN104864170B CN104864170B (en) | 2017-05-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109348A (en) * | 2019-05-13 | 2019-08-09 | 河南工学院 | A kind of two-way dead-zone compensation method of hydraulic proportion valve based on depth |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
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| JP2005212950A (en) * | 2004-01-29 | 2005-08-11 | Avr:Kk | Controlling method for beam hardness in shaping machine |
| CN101349358A (en) * | 2008-08-22 | 2009-01-21 | 三一重工股份有限公司 | Control method and control system of proportion valve |
| CN101645692A (en) * | 2008-08-07 | 2010-02-10 | 杨帆 | Digital proportional amplifier |
| KR20100040193A (en) * | 2008-10-09 | 2010-04-19 | (주)써니콘트롤스 | Operat0r for controlling valve in fluid |
| CN102117052A (en) * | 2009-12-31 | 2011-07-06 | 北京谊安医疗系统股份有限公司 | Drive control device used for proportional valve |
| CN203322441U (en) * | 2013-06-27 | 2013-12-04 | 哈尔滨理工大学 | Digital amplifier for electro-hydraulic proportional valve |
-
2015
- 2015-06-16 CN CN201510333032.8A patent/CN104864170B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005212950A (en) * | 2004-01-29 | 2005-08-11 | Avr:Kk | Controlling method for beam hardness in shaping machine |
| CN101645692A (en) * | 2008-08-07 | 2010-02-10 | 杨帆 | Digital proportional amplifier |
| CN101349358A (en) * | 2008-08-22 | 2009-01-21 | 三一重工股份有限公司 | Control method and control system of proportion valve |
| KR20100040193A (en) * | 2008-10-09 | 2010-04-19 | (주)써니콘트롤스 | Operat0r for controlling valve in fluid |
| CN102117052A (en) * | 2009-12-31 | 2011-07-06 | 北京谊安医疗系统股份有限公司 | Drive control device used for proportional valve |
| CN203322441U (en) * | 2013-06-27 | 2013-12-04 | 哈尔滨理工大学 | Digital amplifier for electro-hydraulic proportional valve |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109348A (en) * | 2019-05-13 | 2019-08-09 | 河南工学院 | A kind of two-way dead-zone compensation method of hydraulic proportion valve based on depth |
| CN110109348B (en) * | 2019-05-13 | 2023-03-10 | 河南工学院 | Depth-based hydraulic proportional valve bidirectional dead zone compensation method |
| CN112445165A (en) * | 2020-11-06 | 2021-03-05 | 江苏徐工工程机械研究院有限公司 | Proportional solenoid valve control method and control system |
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