CN106246986B - The adaptive proportional valve amplifier of integrated form vibrating signal - Google Patents
The adaptive proportional valve amplifier of integrated form vibrating signal Download PDFInfo
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- CN106246986B CN106246986B CN201610490096.3A CN201610490096A CN106246986B CN 106246986 B CN106246986 B CN 106246986B CN 201610490096 A CN201610490096 A CN 201610490096A CN 106246986 B CN106246986 B CN 106246986B
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- flutter
- control
- valve
- proportional valve
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Classifications
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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
Abstract
The invention discloses the adaptive proportional valve amplifier of integrated form vibrating signal, which includes Flutter Control closed loop, for obtaining the flutter amplitude and frequency of new adaptation；Control of valve position closed loop, the accurate positioning for spool position；Flutter superposition algorithm unit, the influence that input terminal is connected with the output end of the Flutter Control closed loop and control of valve position closed loop for improving the stagnant ring of spool displacement；Sample rate current unit, for acquiring the actual current being input in electro-hydraulic proportional valve.By intelligent signal processing algorithm, flutter amplitude and flutter frequency are accurately extracted from electric current, is input in vibrating signal adaptive closed-loop-control algorithm, and the new flutter amplitude and frequency for adapting to spool position, valve front and back pressure difference and flow is calculated.
Description
Technical field
The present invention relates to a kind of proportional valve amplifiers, and in particular to a kind of adaptive proportioning valve amplification of integrated form vibrating signal
Device, it is suitable for the valve body of various ratio Control Coolings.
Background technique
Electro-hydraulic proportional control technology is also comparable accurate in the upper very flexible, control of application, while having very big big biography
Dynamic ratio, becomes closer to servo valve.It is widely used in the control field of heavy mechanical equipment, such as machining, tunnelling, boat
Empty space flight etc. or even certain large industry equipments must be realized using hydraulic control system, such as the sluice of Three Gorges Dam.
For proportion electro-magnet in practical work process, ferromagnetic material can have hysteresis characteristic, the moving parts and valve chamber of valve
Relative motion necessarily form frictional force, in addition, usually there is mechanical clearance between the moving parts of valve, these factors can be led
Cause the steady-state characteristic of proportioning valve that stagnant ring phenomenon is presented.Therefore it is current that the flutter of special parameter is superimposed in solenoid actuated signal
Engineering improves the common method of the stagnant ring of spool position in practice.Pass through modeling and simulating and experimental method, it was demonstrated that superposition flutter width
Value can effectively eliminate viscous force；On the basis of guaranteeing control of valve position precision, the stagnant ring of proportioning valve is greatly reduced, effectively
Ground improves the step response characteristic of total travel.Conventional feedback control system disturbs the variation of internal system characteristic and outside
Dynamic influence has certain rejection ability, but since controller parameter is fixed, thus when internal system characteristic variations or
When the amplitude of variation of person's external disturbance is very big, the performance of system usually can sharp fall or even unstable.And self adaptive control
Device can correct the characteristic of oneself with the variation of adaption object and the dynamic characteristic of disturbance, significantly improve normal feedback control system
The problem of system.
Accordingly, it is desirable to provide a kind of new technical solution solves the above problems.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of adaptive proportional valve amplifiers of integrated form vibrating signal.
To solve technical problem of the invention, the technical solution adopted by the present invention is that:
The adaptive proportional valve amplifier of integrated form vibrating signal, the electro-hydraulic ratio as integrated form proportional controller controlled device
Example valve, output end are connected with Flutter Control closed loop, control of valve position closed loop, Flutter Control closed loop and control of valve position closed loop composition
Spool position signal is added to the new flutter amplitude and frequency that flutter adaptive closed-loop-control algorithm obtains by double loop system
In, new spool position control signal is calculated, it is defeated after the calculated result superposition of above-mentioned flutter adaptive closed-loop-control algorithm
Driving circuit is arrived out and acts on electromagnet, to realize the minimum stagnant ring of total travel that spool moves back and forth, high-precision spool position
It sets and includes: with high dynamic response characteristic, the proportional valve amplifier
Flutter Control closed loop, first input end obtain spool position, the electro-hydraulic proportional valve that electro-hydraulic proportional valve is fed back
Front and back pressure difference and the flow for flowing through electro-hydraulic proportional valve, for obtaining the flutter amplitude and frequency of new adaptation；
Control of valve position closed loop, first input end obtain the valve place value that user formulates, the accurate positioning for spool position；
Flutter superposition algorithm unit, the output end phase of input terminal and the Flutter Control closed loop and control of valve position closed loop
Connect the influence for improving the stagnant ring of spool displacement；And
Sample rate current unit, input terminal are connected with the second output terminal of flutter superposition algorithm unit, the sample rate current
The output end of unit is connected with the second input terminal of Flutter Control closed loop, for acquiring the reality being input in electro-hydraulic proportional valve
Electric current.
The proportional valve amplifier includes displacement setting value, first comparator, displacement control component, Flutter Control component, the
The first input end of two comparators, flutter superposition algorithm unit and current control component, the first comparator obtains input bit
Setting value is moved, the displacement control component is connect with first comparator, and the Flutter Control component is connect with the second comparator, institute
The first input end for stating the second comparator obtains the actual current that current control component detects proportioning valve, the current control unit
The input terminal of part is connect with the output end of flutter superposition algorithm unit, the first output end and the ratio electricity of the current control component
Magnet connection, the controlled device of the proportion electro-magnet proportional valve amplifier adaptive as integrated form vibrating signal are defeated
Outlet is connect with displacement sensor.
The principle that the proportional valve amplifier uses is the electric current, spool position, solenoid valve front and back pressure of accurate detection electromagnet
Difference and the flow for flowing through solenoid valve accurately extract flutter amplitude and flutter frequency by intelligent signal processing algorithm from electric current,
It is input in vibrating signal adaptive closed-loop-control algorithm, calculates new adaptation spool position, valve front and back pressure difference and flow
Flutter amplitude and frequency, the process constantly correct flutter amplitude and frequency according to real-time parameter, to realize that flutter is adaptive
Process.
Vibrating signal adaptive closed-loop-control algorithm includes pid control algorithm, Multimode Control algorithm, FUZZY ALGORITHMS FOR CONTROL.
The integrated form proportional controller controlled device is one in proportional flow control valve, proportional pressure valve and proportional reversing valve
Kind.
For the proportional valve amplifier by the way of being integrated in electro-hydraulic proportional valve, 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: the proportional valve amplifier uses the two close cycles of Flutter Control closed loop and control of valve position closed loop
Spool position signal is added in the new flutter amplitude and frequency that flutter adaptive closed-loop-control algorithm obtains by system, meter
It calculates and show that new spool position control signal is output to after the calculated result superposition of above-mentioned flutter adaptive closed-loop-control algorithm
Driving circuit simultaneously acts on electromagnet, thus realize the minimum stagnant ring of total travel that spool moves back and forth, high-precision spool position and
High dynamic response characteristic.
Detailed description of the invention
Fig. 1 is the functional block diagram of the adaptive proportional valve amplifier of integrated form vibrating signal of the present invention.
Fig. 2 is the functional block diagram of the specific implementation of the adaptive proportional valve amplifier of integrated form vibrating signal of the present invention.
101. Flutter Control closed loop, 102. control of valve position closed loops, 103. flutter superposition algorithm units, 104. sample rate current lists
Member, 105. electro-hydraulic proportional valves,
1. it is displaced setting value, 2. first comparators, 3. displacement control components, 31. Bit andits control advanced PID control units,
32. displacement sensor, 33. displacement acquisition modules, 34. displacement sampling filtering units, 4. Flutter Control components, 41.PID compensation
Device, 43. filters, 44. flutter extraction algorithm units, 5. second comparators, 6. flutter superposition algorithm units, 7. current control units
Part, 71. current control incremental timestamp units, 72.PWM output unit, 73. electric currents convert voltage amplification unit, 74. electricity
Flow sampling filtering unit, 8. proportion electro-magnets.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.Following embodiment is merely to illustrate this hair
It is bright, it is not limited to protection scope of the present invention.
Shown in Fig. 1, the adaptive proportional valve amplifier of integrated form vibrating signal, as integrated form proportional controller controlled device
Electro-hydraulic proportional valve 105, output end is connected with Flutter Control closed loop, control of valve position closed loop, Flutter Control closed loop and valve position
It controls closed loop and forms double loop system, new quiver what spool position signal was added to that flutter adaptive closed-loop-control algorithm obtains
In amplitude and frequency, new spool position control signal, the calculating of above-mentioned flutter adaptive closed-loop-control algorithm is calculated
As a result after being superimposed, be output to driving circuit and act on electromagnet, thus realize the minimum stagnant ring of total travel that spool moves back and forth,
High-precision spool position and high dynamic response characteristic, the proportional valve amplifier include
Flutter Control closed loop 101, first input end obtain spool position, the electric-hydraulic proportion that electro-hydraulic proportional valve is fed back
Pressure difference and the flow for flowing through electro-hydraulic proportional valve before and after valve, for obtaining the flutter amplitude and frequency of new adaptation；
Control of valve position closed loop 102, first input end obtain the valve place value that user formulates, for the accurate fixed of spool position
Position；
Flutter superposition algorithm unit 103, the output of input terminal and the Flutter Control closed loop and control of valve position closed loop
Hold the influence being connected for improving the stagnant ring of spool displacement；And
Sample rate current unit 104, input terminal are connected with the second output terminal of flutter superposition algorithm unit, sampling electricity
The output end of stream unit is connected with the second input terminal of Flutter Control closed loop, for acquiring the reality being input in electro-hydraulic proportional valve
Border electric current.
Controlled device is one of proportional flow control valve, proportional pressure valve and proportional reversing valve.
The proportional valve amplifier is integrated in electro-hydraulic proportional valve, and input form has simulation input, numeral input, ramp signal
Input, output form have simulation output, numeral output.
As shown in Fig. 2, controlled pair of the proportional valve amplifier adaptive as integrated form vibrating signal of proportion electro-magnet 8
As the output end of the mechanism is connect with displacement sensor.The adaptive proportional valve amplifier of the integrated form vibrating signal includes: position
Move setting value 1, first comparator 2, displacement control component 3, Flutter Control component 4, the second comparator 5, flutter superposition algorithm list
First 6, current control component 7.
Wherein, the first input end of first comparator 2 obtains input displacement setting value 1；Displacement control component 3 and the first ratio
It is connected compared with device 2；Flutter Control component 4 is connect with the second comparator 5；The first input end of second comparator 5 obtains electric current control
Component 7 processed detects the actual current of proportioning valve；The output of the input terminal and flutter superposition algorithm unit 6 of current control component 7
End connection, the first output end of the current control component 7 are connect with proportion electro-magnet 8.
Displacement control component 3 includes: Bit andits control advanced PID control unit 31, displacement sensor 32, displacement acquisition module
33, it is displaced sampling filtering unit 34.Wherein, the input terminal of Bit andits control advanced PID control unit 31 and first comparator 2 is defeated
Outlet connection；First comparator 2 passes through to the feedback letter for obtaining input displacement setting value and the displacement transmission of sampling filtering unit 34
Number value is compared calculating, obtains displacement error ek。
Flutter Control component 4 includes: PID compensator 41, displacement sensor 32, filter 43, flutter extraction algorithm unit
44.Wherein, the input terminal of PID compensator 41 is connect with the output end of the second comparator 5；Second comparator 5 passes through electric to obtaining
Flow control element 7 detects that the actual current of proportioning valve is compared with the feedback signal value that flutter extraction algorithm unit 44 is sent
It calculates, obtains flutter amplitude error e'k。
In the present invention, the filter that PID compensator 41 introduces can effectively filter out the interference of input signal；Integral separation
It can effectively prevent the system stability as caused by integral element to be deteriorated with anti-windup saturation algorithm, reduce the overshoot of system
Amount avoids integral from being saturated, while can reduce the error of controller stability again, improves the control precision of controller displacement；Band is dead
The control algolithm calculating in area can effectively improve dead zone bring wobble problem.
The flutter amplitude error e' that flutter superposition algorithm unit 6 obtains PID compensator 41kPID is improved with Bit andits control
The displacement error e that control unit 31 obtainskIt carries out operation and obtains electric current, be sent to current control component 7.
Current control component 7 includes: current control incremental timestamp unit 71, PWM output unit 72, electric current conversion
Voltage amplification unit 73, current sample filter unit 74.Wherein, the input terminal of current control incremental timestamp unit 71 with
The output end of flutter superposition algorithm unit 6 connects, and the output end and PWM of the current control increment PI D formula control unit 71 are defeated
The input terminal connection of unit 72 out；First output end of PWM output unit 72 is connect with the input terminal of proportion electro-magnet 8；Electric current
The input terminal of conversion voltage amplification unit 73 is connect with the second output terminal of the PWM output unit；Current sample filtering is single
The input terminal of member 74 is connect with the output end of the described electric current conversion voltage amplification, the output end of the current sample filter unit and
The input terminal of second comparator 5 connects.
In the present invention, current control incremental timestamp unit 71 is according to the electricity for obtaining the output of flutter superposition algorithm unit
Stream error error is calculated, to will acquire current loop control output valve uk, after being handled by PWM output unit 72, conveying
Into proportion electro-magnet 8, the work of proportion electro-magnet 8 is controlled.
Claims (5)
1. the adaptive proportional valve amplifier of integrated form vibrating signal, it is characterised in that: as controlled pair of integrated form proportional controller
The electro-hydraulic proportional valve of elephant, output end are 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 forms double loop system, and spool position signal is added to the new flutter that flutter adaptive closed-loop-control algorithm obtains
In amplitude and frequency, new spool position control signal, the calculating knot of above-mentioned flutter adaptive closed-loop-control algorithm is calculated
It after fruit superposition, is output to driving circuit and acts on electromagnet, to realize the minimum stagnant ring of total travel, height that spool moves back and forth
Precision spool position and high dynamic response characteristic, the proportional valve amplifier include:
Flutter Control closed loop, first input end obtain spool position, the electro-hydraulic proportional valve front and back that electro-hydraulic proportional valve is fed back
Pressure difference and the flow for flowing through electro-hydraulic proportional valve, for obtaining the flutter amplitude and frequency of new adaptation；
Control of valve position closed loop, first input end obtain the valve place value that user formulates, the accurate positioning for spool position；
Flutter superposition algorithm unit, input terminal are connected with the output end of the Flutter Control closed loop and control of valve position closed loop
For improving the influence of the stagnant ring of spool displacement；And
Sample rate current unit, input terminal are connected with the second output terminal of flutter superposition algorithm unit, the sample rate current unit
Output end be connected with the second input terminal of Flutter Control closed loop, for acquiring the practical electricity being input in electro-hydraulic proportional valve
Stream；
The proportional valve amplifier includes displacement setting value, first comparator, displacement control component, Flutter Control component, the second ratio
Compared with device, flutter superposition algorithm unit and current control component, the first input end of the first comparator obtains input displacement and sets
Definite value, the displacement control component are connect with first comparator, and the Flutter Control component is connect with the second comparator, and described
The first input end of two comparators obtains the actual current that current control component detects proportioning valve, the current control component
Input terminal is connect with the output end of flutter superposition algorithm unit, the first output end and proportion electro-magnet of the current control component
Connection, the controlled device of the proportion electro-magnet proportional valve amplifier adaptive as integrated form vibrating signal, output end
It is connect with displacement sensor.
2. the adaptive proportional valve amplifier of integrated form vibrating signal according to claim 1, it is characterised in that: accurate detection
Electric current, spool position, electro-hydraulic proportional valve front and back pressure difference and the flow for flowing through electro-hydraulic proportional valve of electromagnet, at intelligent signal
Adjustment method accurately extracts flutter amplitude and flutter frequency from electric current, is input in vibrating signal adaptive closed-loop-control algorithm,
Calculate the new flutter amplitude and frequency for adapting to pressure difference and flow before and after spool position, valve, the process according to real-time parameter not
Flutter amplitude and frequency are corrected disconnectedly, to realize the adaptive process of flutter.
3. the adaptive proportional valve amplifier of integrated form vibrating signal according to claim 2, it is characterised in that: vibrating signal
Adaptive closed-loop-control algorithm includes pid control algorithm, Multimode Control algorithm, FUZZY ALGORITHMS FOR CONTROL.
4. the adaptive proportional valve amplifier of integrated form vibrating signal according to claim 1, it is characterised in that: described integrated
Formula proportional controller controlled device is one of proportional flow control valve, proportional pressure valve and proportional reversing valve.
5. the adaptive proportional valve amplifier of integrated form vibrating signal according to claim 1, it is characterised in that: the proportioning valve
By the way of being integrated in electro-hydraulic proportional valve, the input signal of proportional valve amplifier obtains amplifier through wireless communication
External signal, input form have simulation input, numeral input, ramp signal input, and output form has simulation output, number defeated
Out.
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