CN106246986A - Integrated form vibrating signal self adaptation proportional valve amplifier - Google Patents
Integrated form vibrating signal self adaptation proportional valve amplifier Download PDFInfo
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- CN106246986A CN106246986A CN201610490096.3A CN201610490096A CN106246986A CN 106246986 A CN106246986 A CN 106246986A CN 201610490096 A CN201610490096 A CN 201610490096A CN 106246986 A CN106246986 A CN 106246986A
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- 230000006978 adaptation Effects 0.000 title claims abstract description 19
- 206010044565 Tremor Diseases 0.000 claims abstract description 45
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 43
- 238000006073 displacement reaction Methods 0.000 claims abstract description 32
- 230000003044 adaptive effect Effects 0.000 claims abstract description 14
- 230000009467 reduction Effects 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 230000004044 response Effects 0.000 claims abstract description 5
- 230000005611 electricity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 2
- 241000406668 Loxodonta cyclotis Species 0.000 claims 1
- 238000005070 sampling Methods 0.000 description 5
- 230000003321 amplification Effects 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Magnetically Actuated Valves (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses integrated form vibrating signal self adaptation proportional valve amplifier, this proportional valve amplifier includes Flutter Control closed loop, for obtaining tremor amplitude and the frequency of new adaptation；Control of valve position closed loop, being accurately positioned for spool position；Tremor superposition algorithm unit, its input is connected with the outfan of described Flutter Control closed loop and control of valve position closed loop the impact for improving the stagnant ring of spool displacement；Sample rate current unit, the actual current in Gather and input to electro-hydraulic proportional valve.By intelligent signal processing algorithm, from electric current, accurately extract tremor amplitude and flutter frequency, be input in vibrating signal adaptive closed-loop-control algorithm, calculate make new advances adapt to pressure reduction and the tremor amplitude of flow and frequency before and after spool position, valve.After the result of calculation superposition of above-mentioned double-closed-loop control algorithm, output is to drive circuit and acts on electric magnet, thus realizes the reciprocating total travel of spool minimum stagnant ring, in high precision spool position and high dynamic response characteristic.
Description
Technical field
The present invention relates to a kind of proportional valve amplifier, be specifically related to a kind of integrated form vibrating signal self adaptation proportioning valve and amplify
Device, it is applicable to the valve body of various ratio Control Cooling.
Background technology
Electro-hydraulic proportional control technology in application very flexibly, control the most suitable accurate, there is the biggest big biography simultaneously
Dynamic ratio, becomes closer to servo valve.Control field at heavy mechanical equipment is widely used, such as machining, tunnelling, boat
Empty space flight etc., even some large industry equipment must use hydraulic control system to realize, such as the sluice of Three Gorges Dam.
Proportion electro-magnet is in practical work process, and ferromagnetic material can exist hysteresis characteristic, the moving parts of valve and valve pocket
Relative motion necessarily form frictional force, additionally, be usually present mechanical clearance between the moving parts of valve, these factors all can be led
The steady-state characteristic causing proportioning valve presents stagnant ring phenomenon.Therefore in solenoid actuated signal, the tremor of superposition special parameter is current
Engineering reality is improved the common method of the stagnant ring of spool position.By modeling and simulating and experimental technique, it was demonstrated that superposition tremor width
Value can effectively eliminate viscous force；On the basis of ensureing control of valve position precision, greatly reduce the stagnant ring of proportioning valve, effectively
Improve the step response characteristic of total travel.Conventional feedback control system is disturbed for change and the outside of internal system characteristic
Dynamic impact has certain rejection ability, but owing to controller parameter is fixing, thus when internal system characteristic variations or
When the amplitude of variation of person's external disturbance is the biggest, the performance of system usually can significantly decline, the most stable.And Self Adaptive Control
Device can revise the characteristic of oneself with adaption object and the change of the dynamic characteristic of disturbance, significantly improves normal feedback and controls system
The problem of system.
Accordingly, it is desirable to provide a kind of new technical scheme solves the problems referred to above.
Summary of the invention
The technical issues that need to address of the present invention are to provide a kind of integrated form vibrating signal self adaptation proportional valve amplifier.
For solving the technical problem of the present invention, the technical solution used in the present invention is:
Integrated form vibrating signal self adaptation proportional valve amplifier, as the electro-hydraulic ratio of integrated form proportional controller controlled device
Example valve, its outfan is connected with Flutter Control closed loop, control of valve position closed loop, Flutter Control closed loop and control of valve position closed loop composition
Double loop system, new tremor amplitude that the tremor adaptive closed-loop-control algorithm that is added to by spool position signal obtains and frequency
In, calculating the spool position control signal made new advances, after the result of calculation superposition of above-mentioned double-closed-loop control algorithm, output is to driving
Circuit also acts on electric magnet, thus it is dynamic to realize the reciprocating total travel of spool minimum stagnant ring, in high precision spool position and height
State response characteristic, this proportional valve amplifier includes
Flutter Control closed loop, its first input end obtains spool position that electro-hydraulic proportional valve feeds back, before and after electromagnetic valve
Pressure reduction and the flow flowing through electromagnetic valve, for obtaining tremor amplitude and the frequency of new adaptation；
Control of valve position closed loop, its first input end obtains the valve place value that user formulates, being accurately positioned for spool position；
Tremor superposition algorithm unit, its input and described Flutter Control closed loop and the outfan phase of control of valve position closed loop
It is connected to improve the impact of the stagnant ring of spool displacement；And
Sample rate current unit, its input is connected with the second outfan of tremor superposition algorithm unit, this sample rate current
The outfan of unit is connected with the second input of Flutter Control closed loop, the reality in Gather and input to electro-hydraulic proportional valve
Electric current.
This proportional valve amplifier include displacement setting value, the first comparator, displacement control component, Flutter Control parts,
Two comparators, tremor superposition algorithm unit and current control division part, the first input end of described first comparator obtains input bit
Moving setting value, described displacement control component and the first comparator to connect, described Flutter Control parts and the second comparator connect, institute
The first input end acquisition current control division part stating the second comparator detects the actual current of proportioning valve, described current control division
The input of part is connected with the outfan of tremor superposition algorithm unit, the first outfan of described current control division part and ratio electricity
Magnet connects, and described proportion electro-magnet is as the controlled device of the adaptive proportional valve amplifier of integrated form vibrating signal, and it is defeated
Go out end to be connected with displacement transducer.
The principle that this proportional amplifier uses is accurately to detect pressure reduction before and after the electric current of electric magnet, spool position, electromagnetic valve
With flow through the flow of electromagnetic valve, by intelligent signal processing algorithm, from electric current, accurately extract tremor amplitude and flutter frequency, defeated
Enter in vibrating signal adaptive closed-loop-control algorithm, calculate make new advances adapt to quivering of pressure reduction and flow before and after spool position, valve
Amplitude and frequency, this process constantly revises tremor amplitude and frequency according to real-time parameter, thus it is adaptive to realize tremor
Process.
This algorithm includes pid control algorithm, Multimode Control algorithm, FUZZY ALGORITHMS FOR CONTROL.
Described integrated form proportional controller controlled device is in proportional flow control valve, proportional pressure valve and proportional reversing valve
Kind.
This proportional valve amplifier uses the mode being integrated in electro-hydraulic proportional valve, and the input signal of proportional valve amplifier passes through nothing
The mode of line communication obtains external signal, and input form has simulation input, numeral input, ramp signal input, and output form has
Simulation output, numeral output.
Beneficial effects of the present invention: this proportional valve amplifier uses Flutter Control closed loop and the two close cycles of control of valve position closed loop
In system, new tremor amplitude that the tremor adaptive closed-loop-control algorithm that is added to by spool position signal obtains and frequency, meter
The spool position control signal calculating to make new advances, after the result of calculation superposition of above-mentioned double-closed-loop control algorithm, output to drive circuit
And act on electric magnet, thus realize the reciprocating total travel of spool minimum stagnant ring, in high precision spool position and height and dynamically ring
Answer characteristic.
Accompanying drawing explanation
Fig. 1 is the theory diagram of integrated form vibrating signal self adaptation proportional valve amplifier of the present invention.
Fig. 2 is the theory diagram being embodied as of integrated form vibrating signal self adaptation proportional valve amplifier of the present invention.
101. Flutter Control closed loops, 102. control of valve position closed loops, 103. tremor superposition algorithm unit, 104. sample rate current lists
Unit, 105. electro-hydraulic proportional valves,
1. displacement setting value, 2. the first comparator, 3. displacement control component, 31. Bit andits control advanced PID control unit,
32. displacement transducers, 33. displacement acquisition modules, 34. displacement sampling filtering unit, 4. Flutter Control parts, 41.PID compensates
Device, 43. wave filter, 44. tremor extraction algorithm unit, 5. the second comparator, 6. tremor superposition algorithm unit, 7. current control division
Part, 71. electric current controlling increment formula PID control units, 72.PWM output unit, 73. electric current conversion voltage amplification unit, 74. electricity
Stream sampling filtering unit, 8. proportion electro-magnet.
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.Following example are merely to illustrate this
Bright, it is not limited to protection scope of the present invention.
Shown in Fig. 1, integrated form vibrating signal self adaptation proportional valve amplifier, as integrated form proportional controller controlled device
Electro-hydraulic proportional valve 105, its outfan is connected with Flutter Control closed loop, control of valve position closed loop, Flutter Control closed loop and valve position
Control closed loop composition double loop system, new the quivering that the tremor adaptive closed-loop-control algorithm that is added to by spool position signal obtains
In amplitude and frequency, calculate the spool position control signal made new advances, the result of calculation superposition of above-mentioned double-closed-loop control algorithm
After, output is to drive circuit and acts on electric magnet, thus realizes the reciprocating total travel of spool minimum stagnant ring, high-precision valve
Core position and high dynamic response characteristic, this proportional valve amplifier includes
Flutter Control closed loop 101, its first input end obtains spool position that electro-hydraulic proportional valve feeds back, before electromagnetic valve
Rear pressure reduction and the flow flowing through electromagnetic valve, for obtaining tremor amplitude and the frequency of new adaptation；
Control of valve position closed loop 102, its first input end obtains the valve place value that user formulates, accurately determining for spool position
Position；
Tremor superposition algorithm unit 103, its input and described Flutter Control closed loop and the output of control of valve position closed loop
Hold the impact for improving the stagnant ring of spool displacement that is connected；And
Sample rate current unit 104, its input is connected with the second outfan of tremor superposition algorithm unit, this sampling electricity
The outfan of stream unit is connected with the second input of Flutter Control closed loop, the reality in Gather and input to electro-hydraulic proportional valve
Border electric current.
Controlled device is the one in proportional flow control valve, proportional pressure valve and proportional reversing valve.
This proportional valve amplifier is integrated in electro-hydraulic proportional valve, and input form has simulation input, numeral input, ramp signal
Input, output form has simulation output, numeral output.
As in figure 2 it is shown, controlled right as the adaptive proportional valve amplifier of integrated form vibrating signal of proportion electro-magnet 8
As, the outfan of this mechanism is connected with displacement transducer.This adaptive proportional valve amplifier of integrated form vibrating signal comprises: position
Move setting value the 1, first comparator 2, displacement control component 3, Flutter Control parts the 4, second comparator 5, tremor superposition algorithm list
Unit 6, current control division part 7.
Wherein, the first input end of the first comparator 2 obtains input displacement setting value 1；Displacement control component 3 and the first ratio
Relatively device 2 connects；Being connected with the second comparator 5 of Flutter Control parts 4；The first input end of the second comparator 5 obtains electric current control
Parts 7 processed detect the actual current of proportioning valve；The input of current control division part 7 and the output of tremor superposition algorithm unit 6
End connects, and the first outfan of this current control division part 7 is connected with proportion electro-magnet 8.
Displacement control component 3 comprises: Bit andits control advanced PID control unit 31, displacement transducer 32, displacement acquisition module
33, displacement sampling filtering unit 34.Wherein, the input of Bit andits control advanced PID control unit 31 and the first comparator 2 is defeated
Go out end to connect；First comparator 2 is by obtaining the feedback letter that input displacement setting value sends with displacement sampling filtering unit 34
Number value compares calculating, obtains displacement error ek。
Flutter Control parts 4 comprise: PID compensator 41, displacement transducer 32, wave filter 43, tremor extraction algorithm unit
44.Wherein, the input of PID compensator 41 and the outfan of the second comparator 5 connect；Second comparator 5 is by obtaining electricity
Flow control element 7 detects that the feedback signal value that the actual current of proportioning valve and tremor extraction algorithm unit 44 send compares
Calculate, obtain tremor amplitude error e'k。
In the present invention, the wave filter that PID compensator 41 introduces can effectively filter the interference of input signal；Integration separates
Algorithm saturated with anti-windup can effectively prevent the system stability caused due to integral element to be deteriorated, and reduces the overshoot of system
Amount, it is to avoid integration is saturated, can reduce again the error of controller stability simultaneously, improves the control accuracy of controller displacement；Band is dead
The control algolithm in district calculates can effectively improve the wobble problem that dead band is brought.
The tremor amplitude error e' that PID compensator 41 is obtained by tremor superposition algorithm unit 6kPID is improved with Bit andits control
The displacement error e that control unit 31 obtainskCarry out computing and obtain electric current, send to current control division part 7.
Current control division part 7 comprises: electric current controlling increment formula PID control unit 71, PWM output unit 72, and electric current is changed
Voltage amplification unit 73, current sample filter unit 74.Wherein, the input of electric current controlling increment formula PID control unit 71 with
The outfan of tremor superposition algorithm unit 6 connects, and the outfan of this electric current controlling increment PID formula control unit 71 exports with PWM
The input of unit 72 connects；First outfan of PWM output unit 72 is connected with the input of proportion electro-magnet 8；Electric current turns
Second outfan of the input and described PWM output unit that change voltage amplification unit 73 is connected；Current sample filter unit
The outfan of the input of 74 and described electric current conversion voltage amplification is connected, the outfan of this current sample filter unit and the
The input of two comparators 5 connects.
In the present invention, electric current controlling increment formula PID control unit 71 is according to the electricity obtaining the output of tremor superposition algorithm unit
Stream error error calculates, thus will obtain current loop control output valve uk, after being processed by PWM output unit 72, conveying
To proportion electro-magnet 8, control the work of proportion electro-magnet 8.
Claims (6)
1. integrated form vibrating signal self adaptation proportional valve amplifier, it is characterised in that: controlled right as integrated form proportional controller
The electro-hydraulic proportional valve of elephant, its outfan is connected with Flutter Control closed loop, control of valve position closed loop, Flutter Control closed loop and the control of valve position
Closed loop processed composition double loop system, the new tremor that the tremor adaptive closed-loop-control algorithm that is added to by spool position signal obtains
In amplitude and frequency, calculate the spool position control signal made new advances, after the result of calculation superposition of above-mentioned double-closed-loop control algorithm,
Output is to drive circuit and acts on electric magnet, thus realizes the reciprocating total travel of spool minimum stagnant ring, in high precision spool
Position and high dynamic response characteristic, this proportional valve amplifier includes
Flutter Control closed loop, its first input end obtains spool position that electro-hydraulic proportional valve feeds back, pressure reduction before and after electromagnetic valve
With flow through the flow of electromagnetic valve, for obtaining tremor amplitude and the frequency of new adaptation；
Control of valve position closed loop, its first input end obtains the valve place value that user formulates, being accurately positioned for spool position；
Tremor superposition algorithm unit, its input is connected with the outfan of described Flutter Control closed loop and control of valve position closed loop
For improving the impact of the stagnant ring of spool displacement；And
Sample rate current unit, its input is connected with the second outfan of tremor superposition algorithm unit, this sample rate current unit
Outfan be connected with the second input of Flutter Control closed loop, the actual electricity in Gather and input to electro-hydraulic proportional valve
Stream.
Integrated form vibrating signal self adaptation proportional valve amplifier the most according to claim 1, it is characterised in that: this proportioning valve
Amplifier includes displacement setting value, the first comparator, displacement control component, Flutter Control parts, the second comparator, tremor superposition
Algorithm unit and current control division part, the first input end of described first comparator obtains input displacement setting value, described displacement
Control parts and the first comparator to connect, described Flutter Control parts and the connection of the second comparator, the of described second comparator
One input obtains current control division part and the actual current of proportioning valve, the input of described current control division part and tremor detected
The outfan of superposition algorithm unit connects, and the first outfan of described current control division part is connected with proportion electro-magnet, described ratio
Example electric magnet as the controlled device of the adaptive proportional valve amplifier of integrated form vibrating signal, its outfan and displacement transducer
Connect.
Card insert type vibrating signal self adaptation proportional valve amplifier the most according to claim 1, it is characterised in that: accurately detect
Pressure reduction and flow through the flow of electromagnetic valve before and after the electric current of electric magnet, spool position, electromagnetic valve, by intelligent signal processing algorithm,
From electric current, accurately extract tremor amplitude and flutter frequency, be input in vibrating signal adaptive closed-loop-control algorithm, calculate
New adapting to pressure reduction and the tremor amplitude of flow and frequency before and after spool position, valve, this process is constantly repaiied according to real-time parameter
Positive tremor amplitude and frequency, thus realize the adaptive process of tremor.
Card insert type vibrating signal self adaptation proportional valve amplifier the most according to claim 3, it is characterised in that: this algorithm bag
Include pid control algorithm, Multimode Control algorithm, FUZZY ALGORITHMS FOR CONTROL.
Integrated form vibrating signal self adaptation proportional valve amplifier the most according to claim 1, it is characterised in that: described integrated
Formula proportional controller controlled device is the one in proportional flow control valve, proportional pressure valve and proportional reversing valve.
Integrated form vibrating signal self adaptation proportional valve amplifier the most according to claim 1, it is characterised in that: this proportioning valve
Amplifier uses the mode being integrated in electro-hydraulic proportional valve, and the input signal of proportional valve amplifier obtains by the way of radio communication
External signal, input form has simulation input, numeral input, ramp signal input, and output form has simulation output, numeral defeated
Go out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610490096.3A CN106246986B (en) | 2016-06-27 | 2016-06-27 | The adaptive proportional valve amplifier of integrated form vibrating signal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610490096.3A CN106246986B (en) | 2016-06-27 | 2016-06-27 | The adaptive proportional valve amplifier of integrated form vibrating signal |
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| CN106246986A true CN106246986A (en) | 2016-12-21 |
| CN106246986B CN106246986B (en) | 2019-02-01 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873463A (en) * | 2017-03-21 | 2017-06-20 | 江苏恒立液压股份有限公司 | Proportioning valve measure and control device |
| CN109139623A (en) * | 2018-09-14 | 2019-01-04 | 襄阳航宇机电液压应用技术有限公司 | A kind of analogue type closed loop servo actuator controller |
| CN109426178A (en) * | 2017-08-24 | 2019-03-05 | 泰乐玛汽车制动系统（上海）有限公司 | Proportional valve control system |
| CN112008218A (en) * | 2019-05-31 | 2020-12-01 | 发那科株式会社 | Spot welding system |
| CN112324735A (en) * | 2020-11-06 | 2021-02-05 | 南京工程学院 | High-frequency-response servo proportional valve position control method |
| CN112696238A (en) * | 2021-01-25 | 2021-04-23 | 东方电气自动控制工程有限公司 | Control system and method for steam valve of steam turbine |
| CN113378311A (en) * | 2021-05-06 | 2021-09-10 | 中联重科土方机械有限公司 | Compensation method and device for hysteresis of excavator proportional valve, excavator and processor |
| CN113431926A (en) * | 2021-07-12 | 2021-09-24 | 南京工程学院 | Electro-hydraulic proportional valve and high-precision position control system thereof |
| CN113431925A (en) * | 2021-07-12 | 2021-09-24 | 南京工程学院 | Electro-hydraulic proportional valve and position control system, control method and fault prediction method thereof |
| CN113467226A (en) * | 2021-06-28 | 2021-10-01 | 北京航空航天大学 | Proportional valve position control method based on Q-Learning |
| CN113960942A (en) * | 2021-09-18 | 2022-01-21 | 中国航发南方工业有限公司 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
| CN114458660A (en) * | 2021-12-24 | 2022-05-10 | 江苏徐工工程机械研究院有限公司 | Control system and control method for electric control bus hydraulic valve |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873463A (en) * | 2017-03-21 | 2017-06-20 | 江苏恒立液压股份有限公司 | Proportioning valve measure and control device |
| CN106873463B (en) * | 2017-03-21 | 2023-09-01 | 江苏恒立液压股份有限公司 | Proportional valve measurement and control device |
| CN109426178A (en) * | 2017-08-24 | 2019-03-05 | 泰乐玛汽车制动系统（上海）有限公司 | Proportional valve control system |
| CN109139623A (en) * | 2018-09-14 | 2019-01-04 | 襄阳航宇机电液压应用技术有限公司 | A kind of analogue type closed loop servo actuator controller |
| CN109139623B (en) * | 2018-09-14 | 2024-01-26 | 襄阳航宇机电液压应用技术有限公司 | Analog type closed loop servo actuator controller |
| CN112008218A (en) * | 2019-05-31 | 2020-12-01 | 发那科株式会社 | Spot welding system |
| CN112008218B (en) * | 2019-05-31 | 2024-04-05 | 发那科株式会社 | Spot welding system |
| CN112324735A (en) * | 2020-11-06 | 2021-02-05 | 南京工程学院 | High-frequency-response servo proportional valve position control method |
| CN112696238A (en) * | 2021-01-25 | 2021-04-23 | 东方电气自动控制工程有限公司 | Control system and method for steam valve of steam turbine |
| CN113378311A (en) * | 2021-05-06 | 2021-09-10 | 中联重科土方机械有限公司 | Compensation method and device for hysteresis of excavator proportional valve, excavator and processor |
| CN113467226B (en) * | 2021-06-28 | 2023-05-16 | 北京航空航天大学 | Proportional valve position control method based on Q-Learning |
| CN113467226A (en) * | 2021-06-28 | 2021-10-01 | 北京航空航天大学 | Proportional valve position control method based on Q-Learning |
| CN113431925A (en) * | 2021-07-12 | 2021-09-24 | 南京工程学院 | Electro-hydraulic proportional valve and position control system, control method and fault prediction method thereof |
| CN113431926A (en) * | 2021-07-12 | 2021-09-24 | 南京工程学院 | Electro-hydraulic proportional valve and high-precision position control system thereof |
| CN113960942A (en) * | 2021-09-18 | 2022-01-21 | 中国航发南方工业有限公司 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
| CN113960942B (en) * | 2021-09-18 | 2024-03-12 | 中国航发南方工业有限公司 | Servo valve control circuit, method and device based on feedforward compensation and flutter compensation |
| CN114458660A (en) * | 2021-12-24 | 2022-05-10 | 江苏徐工工程机械研究院有限公司 | Control system and control method for electric control bus hydraulic valve |
| CN114458660B (en) * | 2021-12-24 | 2024-04-02 | 江苏徐工工程机械研究院有限公司 | Control system and control method for electric control bus hydraulic valve |
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