CN111664137A - Method for controlling opening and closing stage time and valve core speed of hydraulic valve based on test data - Google Patents
Method for controlling opening and closing stage time and valve core speed of hydraulic valve based on test data Download PDFInfo
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- CN111664137A CN111664137A CN202010484941.2A CN202010484941A CN111664137A CN 111664137 A CN111664137 A CN 111664137A CN 202010484941 A CN202010484941 A CN 202010484941A CN 111664137 A CN111664137 A CN 111664137A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/021—Valves for interconnecting the fluid chambers of an actuator
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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 a method for controlling the opening and closing stage time and the valve core speed of a hydraulic valve based on test data. The control data and the opening and closing characteristic data of the electromagnetic valve are stored by utilizing a database technology, a user can input the required opening and closing characteristic of the electromagnetic valve, and the controller matches proper electromagnetic valve control parameters from the stored array, so that the control of the electromagnetic valve is realized. Two voltage sources are adopted in the opening stage (the closing stage is the same), the first voltage source enables the valve to be quickly opened (the valve is quickly closed in the closing stage), and the dynamic characteristic is improved; the second voltage source reduces the movement speed of the final valve core and reduces the loss of the valve core, thereby considering both the dynamic characteristic and the flexible opening and closing and prolonging the service life of the hydraulic electromagnetic valve.
Description
Technical Field
The invention belongs to the field of hydraulic valve control, and particularly relates to a method for controlling the opening and closing stage time and the valve core speed of a hydraulic valve based on test data.
Background
The hydraulic electromagnetic valve is an element used for controlling the pressure, flow and direction of the liquid in the hydraulic transmission. The pressure control valve is used for controlling pressure, the flow control valve is used for controlling flow, and the direction control valve is used for controlling on, off and flow direction.
In order to realize the high-frequency control function of the hydraulic electromagnetic valve and improve the opening and closing speed of the hydraulic electromagnetic valve, the driving voltage of the electromagnetic valve in the opening stage is usually larger forward voltage, and the driving voltage of the electromagnetic valve in the closing stage is larger reverse voltage. This results in a high final speed of the valve spool opening and closing phase. When the electromagnetic valve is completely opened and closed, the valve core causes strong rigid impact due to overhigh speed, causes damage to relevant parts such as the valve core and the like, and influences the short service life of the electromagnetic valve.
The opening and closing dynamic characteristic is an important performance index of the high-frequency hydraulic valve. The opening and closing dynamic characteristics are related to the opening and closing speed of the valve. The faster the opening and closing speed, the better the opening and closing dynamic characteristics.
In order to reduce the rigid impact when the valve is fully opened and closed, the opening and closing speed of the valve needs to be reduced, but this results in a reduction in the opening and closing dynamics of the valve. How to balance the relationship between the two, that is, how to consider both the dynamic characteristic and the flexible opening and closing, is a technical problem to be solved urgently in the prior art.
In practical application, the parameter requirements of users for the high-frequency electromagnetic valve can change. The existing high-frequency electromagnetic valve cannot realize the function of parameter adjustment, which limits the use occasions of the electromagnetic valve. If the user needs the solenoid valve with another parameter, only the equipment with the corresponding parameter can be purchased again, which greatly increases the cost burden. The main parameters of users concerning the high-frequency electromagnetic valve include the opening and closing characteristics of the electromagnetic valve after being controlled, the service life of the electromagnetic valve and the like, and the performances can be measured by the opening and closing time of the electromagnetic valve and the movement speed of the valve core. Therefore, a control method capable of adjusting the opening and closing time and the valve element movement speed of the electromagnetic valve is designed to meet different requirements of users on the opening and closing time and the valve element movement speed of the electromagnetic valve, which is very significant for the field of industrial control.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for controlling the opening and closing stage time and the valve core speed of a hydraulic valve based on test data. The invention stores the control data of the electromagnetic valve by using the database technology, a user can input the required opening and closing characteristics of the electromagnetic valve, and the controller matches the proper electromagnetic valve control parameters from the stored arrays, thereby realizing the control of the electromagnetic valve. The control strategy of the invention gives consideration to the dynamic characteristic and the flexible opening and closing requirements of the electromagnetic valve.
The technical scheme of the invention is as follows:
a method for controlling the opening and closing stage time and the valve core speed of a hydraulic valve based on test data is characterized in that a coil of the hydraulic valve is connected with a voltage source through a high-speed selector switch, and the voltage source at least comprises a first variable voltage source, a second variable voltage source, a third variable voltage source and a fourth variable voltage source; the coil current of the hydraulic valve is detected by a current detector, and the pressure state of each working port of the hydraulic valve is obtained by a pressure sensing system in real time; a displacement sensor is arranged in the hydraulic valve and used for acquiring the motion state and position of the valve core; the data in the pressure sensing system is acquired in real time through the controller, and the position and the movement speed of the valve core detected by the displacement sensor are acquired through the controller; the controller selects the accessed voltage sources by controlling the high-speed selector switch, and is connected with each voltage source to control the output voltage of the voltage source; the controller stores characteristic data of an opening stage and characteristic data of a closing stage of the hydraulic valve in an array form;
wherein each set of start-up phase characteristic data includes U1 and SOpening device、V1、U2、V2、TOpening deviceSix parameters; u1 is the output voltage of the first variable voltage source; sOpening deviceIs the valve core stroke, and the value of the valve core stroke represents one hundred of the total stroke when the first variable voltage source is switched to the second variable voltage sourceDividing; v1 is an initial opening buffer speed representing the speed of the valve core when the first variable voltage source is switched to the second variable voltage source, U2 is the output voltage of the second variable voltage source, V2 is the final opening buffer speed representing the speed when the valve core is completely opened; t isOpening deviceA total time for the first variable voltage source and the second variable voltage source to act;
each set of closing phase characteristic data comprises U3, SClosing device、V3、U4、V4、TClosing deviceSix parameters; u3 is the output voltage of the third variable voltage source; sClosing deviceThe valve core stroke represents the percentage of the valve core stroke in the total stroke when the third variable voltage source is switched to the fourth variable voltage source; v3 is the initial speed of closing buffer, which represents the speed of the valve core when the third variable voltage source is switched to the fourth variable voltage source, U4 is the output voltage of the fourth variable voltage source, V5 is the final speed of closing buffer, which represents the speed when the valve core is completely closed; t isClosing deviceA total time for the first variable voltage source and the second variable voltage source to act;
in the opening stage of the hydraulic valve, the controller searches a group of opening stage characteristic data in a matching way according to at least one parameter input by a user, then a first variable voltage source is connected to output a constant voltage U1, and when the stroke of the valve core reaches SOpening deviceWhen the valve core moves, the high-speed change-over switch disconnects the first variable voltage source and is connected to the second variable voltage source, the second variable voltage source outputs constant voltage U2, and the valve core moves continuously until the electromagnetic valve is completely opened;
in the closing stage of the hydraulic valve, the controller searches a group of closing stage characteristic data in a matching way according to at least one parameter input by a user, then a third variable voltage source is connected to output a constant voltage U3, and when the stroke of the valve core reaches SClosing deviceWhen the valve core moves, the high-speed change-over switch disconnects the third variable voltage source and is connected to the fourth variable voltage source, the fourth variable voltage source outputs constant voltage U4, and the valve core moves continuously until the electromagnetic valve is completely closed.
Preferably, before the opening phase, the coil current in the hydraulic valve is maintained at a preset preload current value, which is a preset value smaller than the opening current.
Preferably, before the closing phase, the coil current in the hydraulic valve is maintained at or near a preset opening maintaining current value, wherein the opening maintaining current value is a preset value larger than the closing current.
Preferably, in the on-phase or off-phase; selecting either Ton or Tt when there are multiple sets of on-phase characteristic data or off-phase characteristic data matching the user input requirements based on the user input parametersClosing deviceThe smallest array serves as the array that the controller executes. Therefore, the selected array can be guaranteed to have better dynamic characteristics under the condition of meeting the requirements of users.
Preferably, in the on-phase or off-phase; when there are multiple sets of T or T according to the input parameters of the userClosing deviceWhen the equal arrays match with the requirements of the user, selecting the array with the minimum V2 or V4 as the array executed by the controller; when the multi-group arrays are matched with the requirements of users, the maximum voltage values of the voltage sources accessed in the opening stage or the closing stage are compared, and the array with the smaller maximum voltage value is selected as the array executed by the controller. The design aims at selecting a scheme with a lower final speed to better prolong the service life of the hydraulic electromagnetic valve when simultaneously meeting the requirements of users and having the same opening and closing dynamic characteristics; when the parameters are the same, the array with a smaller voltage value is selected, so that the use of high voltage is reduced, the service lives of the voltage source and the hydraulic solenoid valve coil are prolonged, and the influence of the inductance on the control process in the voltage switching process is reduced.
Preferably, in the opening stage, the input parameters of the user are preferably V1, V2 and TOpening deviceOne or more of; in the closing stage, the input parameters of the user are preferably V3, V4 and TClosing deviceOne or more of the above.
Preferably, the characteristic data of the starting stage is obtained by a pre-test; in the test, U1 was divided by X in its optional range, and S was dividedOpening deviceDividing into Y equal parts in the optional range, dividing U2 into Z equal parts in the optional range, and testing by single variable method to obtain total groups of X, Y, ZV1, V2 and T corresponding to dataOpening device(ii) a And removing the array in which the electromagnetic valve can not be completely opened, and forming opening stage characteristic data by the residual array.
Preferably, the characteristic data of the closing stage is obtained by a pre-test; in the test, U3 is divided into N equal parts in the selectable range, and S is divided intoClosing devicePerforming M equal division in the selectable range, performing L equal division on U4 in the selectable range, and performing single variable method test to obtain V3, V4 and T corresponding to total N M L group dataClosing device(ii) a And removing the array in which the electromagnetic valve can not be completely closed, wherein the residual array forms characteristic data in the closing stage.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention adopts two voltage sources in the opening stage (the closing stage is the same), the first voltage source is mainly used for quickly opening the valve (quickly closing in the closing stage), and the dynamic characteristic is improved; when the valve is opened (closed) to a certain degree, the valve is switched to a second voltage source, and the purpose of the second voltage source is mainly to reduce the movement speed of the final valve core, so that the valve can be at an acceptable lower speed when being completely opened (closed), the loss of the valve core is reduced, the dynamic characteristic and the flexible opening and closing are considered, and the service life of the hydraulic electromagnetic valve is prolonged.
1) The invention adopts two voltage sources in the starting stage, and the output voltages of the two voltage sources in different arrays are different. The primary purpose of the first voltage source is to allow the valve to open quickly, improving the dynamic characteristics. The output value of the voltage source is different in different arrays so as to realize the function of adjusting the dynamic characteristic. The second voltage source is mainly used for reducing the movement speed of the final valve core, and the output values of the voltage source are different in different arrays so as to realize the function of adjusting the final speed of the valve core, namely the degree of flexible opening and closing of the electromagnetic valve is adjustable. If the period is too long due to the fact that the final speed of the valve core is too low, the high-frequency control function cannot be achieved. The final speed of the valve core can be properly increased within an allowable range by a user, and the flexible opening and closing degree of the electromagnetic valve is reduced to meet the function of high-frequency control.
2) In order to realize a control method giving consideration to both dynamic characteristics and flexible opening and closing, the invention tests the opening (closing) characteristics of two voltage sources in the opening stage (closing stage and the like) of the electromagnetic valve under various combinations, and stores test data into an array after screening, wherein the array comprises parameters which can be selectively input by a user and also comprises control parameters of the controller to the voltage sources; the controller searches the matched array from the array, so that the controller controls the voltage source to achieve the opening and closing characteristic and gives consideration to the movement speed of the valve core.
3) The array in the database provides accurate control parameters, and the opening and closing characteristics and the valve core speed of the hydraulic electromagnetic valve are accurate, searchable and repeatable, so that the control effect of the hydraulic electromagnetic valve can be expected, and a user can completely search the corresponding array by matching the database according to the actually desired effect. If a speed closed-loop controller is used for detecting the speed of the valve core in real time and adjusting the driving current accordingly, although the speed of the valve core can be controlled, the controllability is not high, the stroke of the valve core is required to be longer to achieve the final reasonable speed of the valve core, and the magnitude of the loading voltage of the coil of the electromagnetic valve needs to be adjusted in real time, so that the method has higher controllability.
Drawings
FIG. 1 is a schematic structural diagram of a specific system for implementing the control method of the present invention in an embodiment;
FIG. 2 is an illustration of an aliquot of three input variables during the start-up phase array test.
FIG. 3 is a graph of hydraulic valve dynamics under a certain set of data in the database.
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
As shown in fig. 1, in order to implement the control method of the present invention, the present embodiment provides a schematic structural diagram of a control system.
The control system comprises a pre-loading high-voltage source 1, a pre-loading voltage stabilizing source 2, a first adjustable voltage source 3, a second adjustable voltage source 4, a voltage stabilizing source 5, a third adjustable voltage source 6, a fourth adjustable voltage source 7, a zero voltage source 8, a high-speed change-over switch 9, a current detector 10, an electromagnetic valve 11, a displacement sensor 12, a pressure sensing system 13, a controller 14, a database 15 and a control signal 16;
the high-speed change-over switch 9 comprises 9 contact heads, wherein a first contact head 9-1 is connected with a preloading high-voltage source 1, a second contact head 9-2 is connected with a preloading stable voltage source 2, a third contact head 9-3 is connected with a first adjustable voltage source 3, a fourth contact head 9-4 is connected with a second adjustable voltage source 4, a fifth contact head 9-5 is connected with a stable voltage source 5, a sixth contact head 9-6 is connected with a third adjustable voltage source 6, a seventh contact head 9-7 is connected with a fourth adjustable voltage source 7, an eighth contact head 9-8 is connected with a zero voltage source 8, and a ninth contact head 9-9 current detector 10. The current detector 10 is connected with the electromagnetic valve 11, and the pressure sensing system is connected with the electromagnetic valve, so that the pressure state of each working port of the electromagnetic valve is obtained in real time. The controller 14 is connected to the pressure sensing system, said controller 14 comprising a control signal generating unit and a database 15. The output port of the controller 14 is connected to the high-speed switch and controls the contact state of the ninth contact 9-9 with the remaining 8 contacts.
And the controller acquires data in the pressure sensing system in real time so as to calculate the system opening current and the system closing current in the current state. The controller generates a control signal 16 to participate in operations such as internal calculation and digital triggering of the controller. For ease of illustration, the control signals are depicted outside the controller in FIG. 1. The control signal is a square wave with adjustable frequency and duty ratio. Because the control signal is generated by the controller, the controller can also know the duty ratio, the frequency, the rising edge time and the falling edge time of the control signal in different states and know when the rising edge of the control signal in the next period comes.
The displacement sensor can obtain the displacement and the speed of the valve core in real time. When the valve core is displaced, the displacement of the valve core causes the resistance of the potentiometer in the displacement sensor to change. The amount of change in resistance reflects the magnitude of the displacement. After the displacement magnitude is obtained, the controller conducts derivation according to the obtained displacement magnitude to obtain the speed of the valve core.
The database (15) stores characteristic data of the opening stage and the closing stage of the hydraulic valve in an array form;
wherein each set of start-up phase characteristic data includes U1 and SOpening device、V1、U2、V2、TOpening deviceSix parameters; u1 is the output voltage of the first variable voltage source; sOpening deviceThe valve core stroke is the percentage of the valve core stroke in the total stroke when the first variable voltage source is switched to the second variable voltage source; v1 is an initial opening buffer speed representing the speed of the valve core when the first variable voltage source is switched to the second variable voltage source, U2 is the output voltage of the second variable voltage source, V2 is the final opening buffer speed representing the speed when the valve core is completely opened; t isOpening deviceA total time for the first variable voltage source and the second variable voltage source to act;
each set of closing phase characteristic data comprises U3, SClosing device、V3、U4、V4、TClosing deviceSix parameters; u3 is the output voltage of the third variable voltage source; sClosing deviceThe valve core stroke represents the percentage of the valve core stroke in the total stroke when the third variable voltage source is switched to the fourth variable voltage source; v3 is the initial speed of closing buffer, which represents the speed of the valve core when the third variable voltage source is switched to the fourth variable voltage source, U4 is the output voltage of the fourth variable voltage source, V5 is the final speed of closing buffer, which represents the speed when the valve core is completely closed; t isClosing deviceThe total time that the first variable voltage source and the second variable voltage source are active.
The problems to be solved and the expectations of implementation at the heart of the invention are: when the electromagnetic valve is completely opened and closed, in order to reduce the loss caused by rigid impact on the valve core, the instantaneous speed of the valve core at the time of complete opening and closing needs to be reduced. The speeds of the valve core when the valve core is completely opened and closed are V2 and V4(V2 is the opening buffer end speed, and V4 is the closing buffer end speed), and the numerical values of the two speeds can be adjusted according to the opening and closing speed expected by a user.
Hair brushThe core control strategy is: in the opening stage of the hydraulic valve (11), the controller (14) searches a group of opening stage characteristic data in a matching way according to at least one parameter input by a user, then a first variable voltage source (3) is connected in first to enable the first variable voltage source to output a constant voltage U1, and when the valve core stroke reaches SOpening deviceWhen the electromagnetic valve is completely opened, the high-speed change-over switch (9) disconnects the first variable voltage source (3) and is connected to the second variable voltage source (4), and the second variable voltage source (4) outputs constant voltage U2 until the electromagnetic valve is completely opened;
in the closing stage of the hydraulic valve (11), the controller (14) searches a group of closing stage characteristic data in a matching way according to at least one parameter input by a user, then a third variable voltage source (6) is connected in first to enable the third variable voltage source to output a constant voltage U3, and when the valve core stroke reaches SClosing deviceWhen the electromagnetic valve is completely closed, the high-speed change-over switch (9) disconnects the third variable voltage source (6) and is connected to the fourth variable voltage source (7), and the fourth variable voltage source (7) outputs a constant voltage U4 until the electromagnetic valve is completely closed.
The database only needs to output an array according to the requirements of the user, preferably in an opening stage or a closing stage; selecting either Ton or Tt when there are multiple sets of on-phase characteristic data or off-phase characteristic data matching the user input requirements based on the user input parametersClosing deviceThe smallest array serves as the array that the controller executes.
Further, in the on-phase or off-phase; when there are multiple sets of T or T according to the input parameters of the userClosing deviceWhen the equal arrays match with the requirements of the user, selecting the array with the minimum V2 or V4 as the array executed by the controller; when the multi-group arrays are matched with the requirements of users, the maximum voltage values of the voltage sources accessed in the opening stage or the closing stage are compared, and the array with the largest voltage value is selected as the array executed by the controller.
In the present invention, V1, V2 and TOpening device、V3、V4、TClosing deviceThe characteristic parameters of the electromagnetic valve concerned by a user are opening and closing characteristic parameters and valve core motion parameters; and U1, SOpening device、U2、U1、SClosing deviceU2 is a control parameter (solenoid valve execution parameter) for a controller to control a solenoid valve, and is not of concern to a general user. Thus, during the start-up phase, the user's input parameters are preferredIs V1, V2, TOpening deviceOne or more of; in the closing stage, the input parameters of the user are preferably V3, V4 and TClosing deviceOne or more of the above. Of course, if the user has special requirements on the control parameters of the solenoid valve (for example, there is a requirement on the voltage of the voltage source), the control parameters of the solenoid valve can also be used as input parameters for matching and searching.
The control method of the present invention may be based on an 8-stage solenoid valve control strategy, for example, a single duty cycle of the solenoid valve is divided into 8 stages, which are respectively represented by arabic numerals of (r) - (r). Wherein, the first represents a preloading excitation stage, the second represents a preloading maintenance stage, the third represents a first opening stage, the fourth represents a second opening stage (opening buffer stage), the fifth represents a maintenance stage, the sixth represents a first closing stage, the seventh represents a second closing stage (closing buffer stage), and the seventh represents a closing maintenance stage. The end time coincides with the rising edge time of the control signal, and the start time coincides with the falling edge of the control signal; the third and fourth are called opening stage, and the sixth and seventh are called closing stage.
The method of constructing the data set of the present invention is described below.
The characteristic data of the starting stage is obtained through pre-testing; when testing, dividing U1 into X test points equally in its optional range, and dividing SOpening deviceEqually dividing Y test points in the optional range, equally dividing U2 into Z test points in the optional range, and testing by a single variable method to obtain V1, V2 and T corresponding to the total X, Y, Z group dataOpening device(ii) a And removing the array in which the electromagnetic valve can not be completely opened, and forming opening stage characteristic data by the residual array.
The characteristic data of the closing stage is obtained through pre-testing; when testing, dividing U3 into N test points equally in its optional range, and dividing SClosing deviceEqually dividing the selectable range of the test point into M test points, equally dividing U4 into L test points in the selectable range, and testing by a single variable method to obtain V3, V4 and T corresponding to total N M L group of dataClosing device(ii) a And removing the array in which the electromagnetic valve can not be completely closed, wherein the residual array forms characteristic data in the closing stage.
As shown in the figure2, taking the characteristic data of the start-up stage as an example, SOpening deviceDividing by 100 equal parts, wherein values are 1%, 2%, 100%; sOpening deviceWhen the value is 100%, the electromagnetic valve is completely opened, and the second variable voltage source is not connected in the opening stage;
the range of the start-up phase voltage U1 is U-U (U is the maximum voltage that the first adjustable voltage source can output, and U is the start-up voltage). The U-U values were divided into X equal parts, and each equal value was designated as Delauu. Taking X test points as a voltage value u + i delta u i at each equant part in a variation range, wherein the voltage value u + i delta u i is 0, 1, 2, 3,. X-1;
，u+(X-1)Δu＝U。
the driving voltage in the stage (c) is the voltage U2 (also referred to as the turn-on buffer voltage) of the second adjustable voltage source, and the variation range of the turn-on buffer voltage is-a to a (the voltage variation range of the second adjustable voltage source). And (3) dividing-a into equal parts, and taking each equal score as delta a. The voltage value at each bisector in the variation range is-a + i delta a
，i＝0，1，2，3，...Z-1。
Firstly, the driving voltage in a fixed stage ③ is taken as u, under the excitation of the voltage u, when the displacement of a valve core reaches 1% of the maximum stroke, the displacement sensor obtains the speed V1 (initial speed of opening buffer) of the valve core at the moment, the stage ③ is finished, the stage ④ is entered, the driving voltage in the stage ④ is taken as-a, the instantaneous speed V2 when the electromagnetic valve is completely opened under the action of-a is measured, and the time T (opening time) from the opening to the complete opening of the electromagnetic valve under the action of the voltage u and the voltage a is measured, and (u, 1%, V1, -a, V2, T) are recordedOpening device)。
Keeping the voltage u in the starting stage unchanged, and taking the starting buffer voltage as-a + delta a. The instantaneous velocity V2 (end-of-opening-buffer velocity) at which the solenoid valve was fully open under the effect of the opening buffer voltage-a + Δ a was measured. And the time T from opening to full opening of the solenoid valve under the voltage u and-a + Δ a is measured. Recorded (u, 1%, V1, -a + Deltaa, V2, T)
Thirdly, since there are Z test points for the start buffer voltage of stage ④, when the start stage voltage of stage ③ is u and the spool stroke is 1%, the second step needs to be repeatedThe measurement operation was performed Z times. The turn-on buffer voltage under test is gradually increased from-a to a. Finally obtaining Z groups (u, 1%, v)1、U2、v2、TOpening device) The data of (1).
Fourthly, the first to third steps are the situation that the voltage of the opening stage is u and the valve core displacement reaches 1 percent of the stroke in the stage ③, after the situation is measured, the valve core displacement S is measured in the stage ③Opening deviceValid data for the case when 100% of 2%, 3%, 4% … 100 of the trip is reached. The operation steps from the first step to the third step are the same. Obtain 100 x Z groups (u, S)Opening device、V1、U2、V2、TOpening device) The data of (1).
And fifthly, when the condition that the voltage of the turn-on stage is U is measured, increasing the voltage of the turn-on stage to U + delta U, and repeating the measurement operation when the voltage of the turn-on stage is U + delta U, wherein the voltage of the turn-on stage in the stage ③ is divided into X test points, so that the measurement operation from the first step to the fourth step needs to be repeated for X times, the voltage of the turn-on stage in the test is gradually increased to U from U, and finally 100Z X parts (U1, S) are obtained finallyOpening device、V1、U2、V2、TOpening device) And (4) data.
Sixthly, because the opening buffer voltage in the stage ④ may be reverse voltage, the current drops below the closing current, so that the electromagnetic valve can not be completely opened, or the electromagnetic valve is closed in advance after being opened, and therefore, the data is further detected, and 100 × Z × X parts (U1, S) are obtainedOpening device、V1、U2、V2、TOpening device) After the data, if the solenoid valve cannot be fully opened, the data is invalid and is discarded. All valid data is entered into the database.
The acquisition of the dynamic characteristic data of the closing phase is similar to that of the opening phase. The first closing phase voltage U3 and the spool displacement were first kept constant at 1%, in which case the second closing phase was tested once with a minimum value and each bisecting point, for a total of L groups. The first off-phase voltage U3 was then held constant and the spool displacement was increased from 1% to 100%, for a total of 100 × L sets of experiments. And then the voltage U3 in the starting stage is taken as the minimum value and each bisector. A total of 100 × N × L experiments were performed; 100 × N × L portions (U3, S) were obtainedClosing device、V3、U2、V4、TClosing device) After the data, if electromagneticIf the valve fails to close completely, invalid data is discarded. All valid data is entered into the database. Said SClosing deviceDividing by 100 equal parts, and taking the value of 1% -100%; sClosing deviceWhen the value is 100%, the electromagnetic valve is completely closed, the fourth variable voltage source is not connected in the closing stage, the U3 is smaller than the closing voltage of the electromagnetic valve, and the U3 and the U4 can select a positive voltage value or a negative voltage value.
In the following embodiment, to further illustrate the control method of the present invention, a single duty cycle of the solenoid valve is divided into 8 stages, which are respectively represented by arabic numerals of (r) - (r) —. Wherein, the first represents a preloading excitation stage, the second represents a preloading maintenance stage, the third represents a first opening stage, the fourth represents a second opening stage (opening buffer stage), the fifth represents a maintenance stage, the sixth represents a first closing stage, the seventh represents a second closing stage (closing buffer stage), and the seventh represents a closing maintenance stage. The end time coincides with the rising edge time of the control signal, and the start time coincides with the falling edge of the control signal; the third and fourth are called opening stage, and the sixth and seventh are called closing stage.
The controller generates a control signal, and calculates the time required for increasing the coil current to the preload current by adopting the preload excitation voltage according to the current coil current state and the parameters of the coil before the rising edge of the control signal comes, and the time is taken as the duration of the preload excitation stage. Depending on the duration of the preload activation phase, the controller brings the ninth contact into communication with the first contact in advance into phase (r). The coil current will quickly reach the pre-load current value under the influence of the pre-load high voltage source 1. The pre-loading excitation voltage value can be 50-100% higher than the starting voltage. The preload current is slightly less than the turn-on current, typically 90-95% of the turn-on current. The turn-on voltage and the turn-on current are the driving voltage and the coil current in the critical state of the high-speed switch valve, and are parameters known in advance.
Since the duration of phase (r) is calculated by the controller according to the current electrical parameters of the coil, the magnitude of the current just reaches the preload current when the duration of phase (r) is over. At the moment, the duration time of the first stage is finished, the controller controls the first contact and the second contact to be communicated to enter the second stage, and under the action of the pre-loading voltage stabilizing source, the current is always maintained in the pre-loading current state reached after the first stage is finished. The voltage of the pre-loading voltage stabilizing source is equal to the product of the pre-loading starting current and the coil resistance.
After the stage ② is finished, that is, when the rising edge of the control signal comes, the controller controls the ninth contact to communicate with the third contact to enter a stage ③, the first adjustable voltage source 3 outputs a voltage U1. under the excitation of the voltage, the current rises rapidly, because the current is stabilized at a preload current value slightly lower than the opening current in the stage ②, the current rises to the opening current in a very short time in the stage ③, and then the valve core starts to moveOpening deviceWhen the speed reaches the opening initial speed V1, the ninth contact head and the fourth contact head are communicated at the moment, and the stage ④ is entered;
the initial valve core speed is V1, so that the valve core speed reaches an opening buffer speed V2; the second adjustable voltage source 4 outputs a voltage U2.
When the valve core is completely closed, the controller controls the ninth contact head and the fifth contact head to be communicated to enter a fifth stage; under the action of the voltage stabilizing source, the current of the coil is stabilized in a state of opening a maintaining current value larger than the closing current until the falling edge of the signal comes. Preferably, to improve the turn-off dynamics, the turn-on holding current value is slightly larger than the turn-off current, preferably 105-110% of the turn-off current.
When the falling edge of the control signal comes, the ninth contact head and the sixth contact head are communicated to enter a stage ⑥, the third adjustable voltage source 6 is connected, the third adjustable voltage source 6 outputs a voltage U3, the current rapidly drops to a closing current, the high-speed switch valve starts to be closed at the moment, the voltage U3 continues to be excited, the current continues to drop, the electromagnetic force drops along with the current, the resultant force borne by the valve core is increased, the speed of the valve core also continuously rises, and when the valve core reaches a stroke SClosing deviceThen the speed reaches the closing initial speed V3, at this time, the ninth contact head and the seventh contact head are communicated to enter the stage ⑦；
Stage (c) the initial valve core speed is V3, so as to make the valve core speed reach closing buffer speed V4; the fourth 1 adjustable voltage source 7 outputs a voltage U4. The closing damper speed V4 ensures that the loss of the valve spool due to rigid shock reaches a small value when the valve spool is fully closed.
When the high-speed on-off valve is completely closed, the procedure goes to the stage (b). The displacement sensor outputs signals to the controller, the controller controls the ninth contact to be communicated with the eighth contact, the current is reduced to 0 until the next period comes under the action of the zero voltage source, and the system repeats the process.
As shown in fig. 3, a dynamic characteristic curve diagram of the hydraulic valve under a certain set of data in the database shows that one cycle of the hydraulic valve consists of 8 stages, each stage is connected with a required voltage by switching a voltage source, the opening and closing characteristics and the valve core speed required by a user are realized by data called from the database, and the control is stable and reliable.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling the opening and closing stage time and the valve core speed of a hydraulic valve based on test data is characterized in that a coil of the hydraulic valve (11) is connected to a voltage source through a high-speed selector switch (9), and the voltage source at least comprises a first variable voltage source (3), a second variable voltage source (4), a third variable voltage source (6) and a fourth variable voltage source (7); the coil current of the hydraulic valve is detected by a current detector (10), and the pressure state of each working port of the hydraulic valve is obtained by a pressure sensing system (13) in real time; a displacement sensor (12) is arranged in the hydraulic valve and used for acquiring the motion state and position of the valve core; the data in the pressure sensing system (13) is acquired in real time through the controller (14), and the valve core position and the movement speed detected by the displacement sensor (12) are acquired through the controller (14); the controller (14) selects the connected voltage sources by controlling the high-speed selector switch (9), and the controller (14) is connected with each voltage source to control the output voltage of the voltage sources; the controller (14) stores characteristic data of the opening stage and the closing stage of the hydraulic valve in an array form;
wherein each set of start-up phase characteristic data includes U1 and SOpening device、V1、U2、V2、TOpening deviceSix parameters; u1 is the output voltage of the first variable voltage source; sOpening deviceThe valve core stroke is the percentage of the valve core stroke in the total stroke when the first variable voltage source is switched to the second variable voltage source; v1 is an initial opening buffer speed representing the speed of the valve core when the first variable voltage source is switched to the second variable voltage source, U2 is the output voltage of the second variable voltage source, V2 is the final opening buffer speed representing the speed when the valve core is completely opened; t isOpening deviceA total time for the first variable voltage source and the second variable voltage source to act;
each set of closing phase characteristic data comprises U3, SClosing device、V3、U4、V4、TClosing deviceSix parameters; u3 is the output voltage of the third variable voltage source; sClosing deviceThe valve core stroke represents the percentage of the valve core stroke in the total stroke when the third variable voltage source is switched to the fourth variable voltage source; v3 is the initial speed of closing buffer, which represents the speed of the valve core when the third variable voltage source is switched to the fourth variable voltage source, U4 is the output voltage of the fourth variable voltage source, V5 is the final speed of closing buffer, which represents the speed when the valve core is completely closed; t isClosing deviceA total time for the first variable voltage source and the second variable voltage source to act;
in the opening stage of the hydraulic valve (11), the controller (14) searches a group of opening stage characteristic data in a matching way according to at least one parameter input by a user, then a first variable voltage source (3) is connected in first to enable the first variable voltage source to output a constant voltage U1, and when the valve core stroke reaches SOpening deviceWhen the constant voltage is applied to the power supply, the high-speed switch (9) disconnects the first variable voltage source (3) and connects the second variable voltage source (4), and the second variable voltage source (4) outputs a constant voltageU2, the valve core motion speed is reduced and the valve core continues to move until the electromagnetic valve is completely opened;
in the closing stage of the hydraulic valve (11), the controller (14) searches a group of closing stage characteristic data in a matching way according to at least one parameter input by a user, then a third variable voltage source (6) is connected in first to enable the third variable voltage source to output a constant voltage U3, and when the valve core stroke reaches SClosing deviceWhen the valve core moves, the high-speed change-over switch (9) disconnects the third variable voltage source (6) and is connected to the fourth variable voltage source (7), the fourth variable voltage source (7) outputs a constant voltage U4, and the valve core moves at a reduced speed and continues to move until the electromagnetic valve is completely closed.
2. The method for controlling the opening and closing phase time and the spool speed of a hydraulic valve according to claim 1, wherein before the opening phase, the coil current in the hydraulic valve (11) is maintained at a predetermined preload current value, the preload current value being a predetermined value smaller than the opening current.
3. The method for controlling the opening and closing phase time and the spool speed of a hydraulic valve according to claim 1 or 2, wherein before the closing phase, the coil current in the hydraulic valve (11) is brought to or maintained at a preset opening maintaining current value, wherein the opening maintaining current value is a preset value larger than the closing current value.
4. The method for controlling the opening and closing phase time and the spool speed of a hydraulic valve according to claim 1, wherein in the opening phase or the closing phase; when there are multiple sets of characteristic data in the opening stage or closing stage matching the input requirement of the user based on the input parameters of the user, selecting TOpening deviceOr TClosing deviceThe smallest array serves as the array that the controller executes.
5. The method of claim 4, wherein the open/close phase time and the spool speed of the hydraulic valve are controlled based on the test dataIn the on phase or the off phase; when according to the input parameters of the user, there are multiple sets of TOpening deviceOr TClosing deviceWhen the equal arrays match with the requirements of the user, selecting the array with the minimum V2 or V4 as the array executed by the controller; when the multi-group arrays are matched with the requirements of users, the maximum voltage values of the voltage sources accessed in the opening stage or the closing stage are compared, and the array with the smaller maximum voltage value is selected as the array executed by the controller.
6. The method for controlling the opening and closing period and the valve core speed of a hydraulic valve according to claim 1, wherein the input parameters of the user during the opening period are preferably V1, V2, TOpening deviceOne or more of; in the closing stage, the input parameters of the user are preferably V3, V4 and TClosing deviceOne or more of the above.
7. The method for controlling the opening and closing stage time and the spool speed of the hydraulic valve according to claim 1, wherein the characteristic data of the opening stage is obtained by a preliminary test; when in testing, U1 is selected to be X test points in the selectable range, and S is selectedOpening deviceSelecting Y test points in the optional range, selecting Z test points in the optional range from U2, and testing by single variable method to obtain V1, V2 and T corresponding to the total of the X, Y, Z group dataOpening device(ii) a And removing the array in which the electromagnetic valve can not be completely opened, and forming opening stage characteristic data by the residual array.
8. The method for controlling the opening and closing phase time and the valve element speed of the hydraulic valve based on the test data as claimed in claim 1, wherein the closing phase characteristic data is obtained by a preliminary test; when testing, U3 selects N test points in its selectable range, and SClosing deviceSelecting M test points in the selectable range, selecting L test points in the selectable range from U4, and testing by single variable method to obtain V3, V4 and T corresponding to total N M L group dataClosing device(ii) a And removing the array in which the electromagnetic valve can not be completely closed, and leaving the arrayThe set of residuals constitutes the closing phase characteristic data.
9. The method of claim 7, wherein S is a time period for the opening and closing phases of the hydraulic valve and a spool speed based on the test dataOpening deviceDividing by 100 equal parts, and taking the value of 1% -100%; sOpening deviceWhen the value is 100%, the electromagnetic valve is completely opened, and the second variable voltage source is not connected in the opening stage; the U1 is greater than the opening voltage of the electromagnetic valve, the U2 can select a positive voltage value or a negative voltage value, and the U2 negative value represents that the current output by the second variable voltage source is opposite to the current output by the first variable voltage source.
10. The method of claim 8, wherein S is a time period for the opening and closing phases of the hydraulic valve and a spool speed based on the test dataClosing deviceDividing by 100 equal parts, and taking the value of 1% -100%; sClosing deviceWhen the value is 100%, the electromagnetic valve is completely closed, the fourth variable voltage source is not connected in the closing stage, the U3 is smaller than the closing voltage of the electromagnetic valve, and the U3 and the U4 can select a positive voltage value or a negative voltage value.
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