CN112803926A - Driving method of proportional electromagnetic valve - Google Patents
Driving method of proportional electromagnetic valve Download PDFInfo
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- CN112803926A CN112803926A CN202110068958.4A CN202110068958A CN112803926A CN 112803926 A CN112803926 A CN 112803926A CN 202110068958 A CN202110068958 A CN 202110068958A CN 112803926 A CN112803926 A CN 112803926A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001052 transient effect Effects 0.000 claims abstract description 33
- 206010044565 Tremor Diseases 0.000 claims description 39
- 244000145845 chattering Species 0.000 claims description 39
- 230000004044 response Effects 0.000 abstract description 20
- 230000035945 sensitivity Effects 0.000 abstract description 11
- 238000013459 approach Methods 0.000 abstract description 4
- 238000005070 sampling Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K3/00—Circuits for generating electric pulses; Monostable, bistable or multistable circuits
- H03K3/02—Generators characterised by the type of circuit or by the means used for producing pulses
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0675—Electromagnet aspects, e.g. electric supply therefor
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K7/00—Modulating pulses with a continuously-variable modulating signal
- H03K7/08—Duration or width modulation ; Duty cycle modulation
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Abstract
The invention provides a driving method of a proportional solenoid valve, which comprises a transient mode and a steady-state mode, wherein the method comprises the steps of firstly entering the transient mode, determining the driving frequency F, the driving period T corresponding to the driving frequency F and the target current, calculating the PWM duty ratio D and outputting a PWM driving signal to enable the actually-measured current to approach the target current, then entering the steady-state mode, specifically carrying out frequency division on the F by 2N times to obtain the chatter frequency F1 and the chatter period T1 corresponding to the chatter frequency F, setting the PWM duty ratios of the first N T in one T1 to be D1, setting the PWM duty ratios of the last N T to be D2, respectively calculating D1 and D2 to enable the average current in one T1 to be equal to the target current, finally generating the PWM driving chatter signal, and driving the proportional solenoid valve by utilizing the PWM driving chatter. According to the invention, under the cooperation of the transient mode and the steady-state mode, the adjustment speed of the target current can be accelerated, meanwhile, the response hysteresis of the proportional solenoid valve can be effectively improved, and the response speed and the sensitivity of the proportional solenoid valve are improved.
Description
Technical Field
The invention relates to the technical field of proportional solenoid valve driving, in particular to a driving method of a proportional solenoid valve.
Background
The solenoid valve is an indispensable article for electromagnetic control in industrial equipment, and the solenoid valve has very big effect when cooperating different circuits to use, possesses certain sensitivity moreover, can deal with some emergency in a flexible way. The electromagnetic valve is widely applied to a general hydraulic control system, and is divided into an on-off electromagnetic valve and a proportional electromagnetic valve.
In an application scene with higher control requirement and mechanical smoothness requirement, the proportional solenoid valve has more advantages than a switching solenoid valve, so the proportional solenoid valve is more widely applied. The proportional solenoid valve generally adjusts the duty ratio of voltage through PWM (Pulse Width Modulation) to realize control of target current, and further to realize control of the opening of the proportional solenoid valve.
At present, a non-tremble closed loop pulse width modulation signal is mostly adopted to drive the proportional solenoid valve, but the driving mode is suitable for the proportional solenoid valve with lower driving frequency requirement (generally not exceeding 200 hz). When the target current is fixed, the valve core of the proportional solenoid valve shakes depending on the frequency of the PWM, but because the frequency of the PWM is low, when the frequency of the PWM is changed, the adjustment process of the target current is long (for example, when the PWM frequency is 100Hz, the adjustment time of the target current is generally about 400 ms), and the response speed and sensitivity of the proportional solenoid valve are reduced, so that the driving method is not suitable for the proportional solenoid valve with high requirement on the driving frequency (more than 200Hz), otherwise, the problems of large response hysteresis and insufficient response speed and sensitivity of the proportional solenoid valve are caused. In addition, no controller with a tremor function is sold in the market at present, the output of the PWM tremor waveform of the controller is realized by a special chip, but the price of the controller is often higher and the controller needs to be matched with a peripheral circuit for use, so that the cost of a driving material and the design complexity of a proportional electromagnetic valve with higher driving frequency requirement are increased.
Disclosure of Invention
The invention aims to provide a method for driving a proportional solenoid valve, which aims to solve the problems of large hysteresis of driving response, low response speed and sensitivity and large driving cost of the proportional solenoid valve with higher driving frequency requirement in the prior art. The specific technical scheme is as follows:
the invention provides a driving method of a proportional solenoid valve, which comprises the following steps:
determining a PWM driving frequency F of a proportional solenoid valve, and a driving period T, a target current I _ target and a stable threshold Th which correspond to the PWM driving frequency F;
driving in a transient mode: calculating a PWM duty ratio D and outputting a PWM driving signal so that the difference value between the measured current I _ sense and the target current I _ target satisfies the following conditions: i _ target-I _ sense | is less than or equal to Th;
driving in steady state mode: dividing the PWM driving frequency F by 2N times to obtain a chattering frequency F1 and chattering periods T1 corresponding to the chattering frequency F1, wherein one chattering period T1 comprises 2N driving periods T, and N is an integer not less than 1;
setting the PWM duty ratios of the first N driving periods T in one tremor period T1 to be D1 and the PWM duty ratios of the last N driving periods T to be D2 in time sequence;
respectively calculating D1 and D2 according to the tremor amplitude, so that the average current I _ avg in one tremor period T1 is equal to the target current I _ target;
and generating a PWM driving vibration signal, and driving the proportional solenoid valve by using the PWM driving vibration signal.
Optionally, the PWM driving frequency F of the proportional solenoid valve satisfies: f is more than 200 Hz.
Optionally, D1 and D2 satisfy: d1 > D2.
Optionally, the D1 ═ D + Ds, the D2 ═ D-Ds, Ds satisfies: ds < D.
Optionally, a PID algorithm is used to calculate D.
Optionally, the stability threshold Th satisfies: th is less than or equal to 2 mA. The driving method of the proportional solenoid valve provided by the invention has the following beneficial effects: the driving method comprises a transient mode and a steady-state mode, and comprises the steps of firstly driving a proportional solenoid valve in the transient mode, determining a PWM driving frequency F of the proportional solenoid valve, and a driving period T, a target current I _ target and a steady domain value Th which correspond to the PWM driving frequency F, and then calculating a PWM duty ratio D to enable the difference value between an actually measured current I _ sense and the target current I _ target to meet the following requirements: i _ target-I _ sense | is less than or equal to Th; and then, driving the proportional solenoid valve in a steady-state mode, specifically dividing the PWM driving frequency F by 2N times to obtain the tremor frequency F1 and a tremor period T1 corresponding to the tremor frequency F, wherein one tremor period T1 contains 2N driving periods T, setting the PWM duty ratios of the first N driving periods T in the tremor period T1 as D1 and the PWM duty ratios of the last N driving periods T as D2 according to the time sequence, respectively calculating D1 and D2 according to the tremor amplitude to enable the average current in one T1 to be equal to the target current, finally generating a PWM driving tremor signal, and driving the proportional solenoid valve by using the PWM driving tremor signal. According to the invention, under the cooperation of the transient mode and the steady-state mode, the adjustment speed of the target current can be accelerated, the response hysteresis of the proportional solenoid valve can be effectively improved, the response speed and the sensitivity of the proportional solenoid valve are improved, a hardware driving circuit is not required to be modified, the material cost is reduced, and the method is convenient and flexible.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a driving method of a proportional solenoid valve according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a control system according to an embodiment of the present invention;
FIG. 3 is a waveform diagram of a fixed PWM duty cycle according to an embodiment of the present invention;
fig. 4 is a waveform diagram of a PWM duty cycle variation according to an embodiment of the present invention.
Detailed Description
The following describes a driving method of a proportional solenoid valve according to the present invention in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As described in the background art, the prior art that the proportional solenoid valve is driven by the chattering-free PWM signal is only suitable for the proportional solenoid valve with low driving frequency requirement (generally not exceeding 200Hz), but is not suitable for the proportional solenoid valve with high driving frequency requirement (exceeding 200Hz), otherwise, the proportional solenoid valve has the problems of large response hysteresis and insufficient response speed and sensitivity. However, no controller with a chattering function is sold in the market at present, the output of the PWM chattering waveform by the controller is realized by a special chip, the price of the controller is often high, and the controller needs to be used in cooperation with a peripheral circuit, so that the cost of a driving material and the design complexity of a proportional electromagnetic valve with high driving frequency requirements are increased.
Therefore, the core idea of the present invention is to provide a method for driving a proportional solenoid valve, which is particularly suitable for driving a proportional solenoid valve with a high driving frequency requirement, based on an existing controller, two driving modes are set according to a PWM driving frequency F of the proportional solenoid valve and a corresponding driving period T, a target current I _ target, and a stable threshold Th, where the two driving modes are a transient mode and a steady mode, respectively, and when the proportional solenoid valve is initially powered on, a control system enters the transient mode to enable an actually measured current I _ sense to quickly approach the target current I _ target; and when the difference value between the I _ sense and the I _ target is less than or equal to the stable threshold Th, the control system enters a steady-state mode. In a steady state mode, dividing the PWM driving frequency F by 2N times to obtain a chattering frequency F1 and chattering periods T1 corresponding to the chattering frequency F1, wherein 2N driving periods T are contained in one chattering period T1, then setting the PWM duty ratios of the first N driving periods T in the chattering period T1 as D1 and the PWM duty ratios of the last N driving periods T as D2 according to the chattering amplitude, respectively calculating D1 and D2 according to the chattering amplitude to enable the average current I _ avg in one chattering period T1 to be equal to the target current I _ target, and finally generating a PWM driving chattering signal and driving the proportional chattering signal by using the solenoid valve PWM driving chattering signal. Under the transient mode, the measured current of the proportional solenoid valve can quickly reach the target current so as to quickly drive the proportional solenoid valve and then enter the steady-state mode, the target current of the proportional solenoid valve is not always in a steady state but in a dynamic fluctuation state in a tremor period T1 under the control of a PWM driving tremor signal, and therefore the valve core of the proportional solenoid valve is always in a small-amplitude vibration state. Therefore, under the cooperation of the transient mode and the steady-state mode, the adjustment speed of the target current can be accelerated, meanwhile, the response hysteresis of the proportional solenoid valve can be effectively improved, and the response speed and the sensitivity of the proportional solenoid valve are improved.
For this reason, the present embodiment provides a method for driving a proportional solenoid valve, which is particularly suitable for driving a proportional solenoid valve with a high driving frequency requirement, that is, the PWM driving frequency F of the proportional solenoid valve satisfies: f is more than 200 Hz. Referring to fig. 1, the driving method includes the following steps:
step S1, determining a PWM driving frequency F of the proportional solenoid valve, and a driving period T, a target current I _ target, and a stable threshold Th corresponding to the PWM driving frequency.
Specifically, the driving method is implemented based on a control system, please refer to fig. 2, where the control system includes an operational amplifier circuit, an a/D sampling circuit, a PWM controller and a chattering generator, and after the control system is powered on, the control system is initialized and set by an application program so as to read a PWM driving frequency F and a target current I _ target requirement of the proportional solenoid valve, and the PWM driving frequency F, the target current I _ target and the requirement of the proportional solenoid valve are set standards of the proportional solenoid valve to be driven and are determined by internal settings thereof.
Step S2, driving in transient mode: calculating a PWM duty ratio D and outputting a PWM driving signal so that the difference value between the measured current I _ sense and the target current I _ target satisfies the following conditions: and | I _ target-I _ sense | is less than or equal to Th.
Specifically, after the control system is powered on, the control system enters a transient mode, and the actually measured current I _ sense of the proportional solenoid valve is calculated.
When the actually measured current I _ sense is calculated, the actually measured current I _ sense of the proportional solenoid valve can be obtained by amplifying and sampling the actual current of the proportional solenoid valve through the operational amplifier circuit and the A/D sampling circuit, and the method comprises the following specific steps:
I_sense＝ADC*U/[(2^12)*K*R]，
u is the reference voltage of the control system, ADC is the sampling value of the A/D sampling circuit, and K is the current amplification factor.
When the PWM duty ratio is calculated according to the target current I _ target, a PID algorithm is adopted to calculate the PWM duty ratio D, and the calculation formula of the PWM duty ratio D in the transient mode is as follows:
D(k)＝D(k-1)+Kp*[Th(k)-Th(k-1)]+Ki*Th(k)，
wherein, D (k) is a PWM duty ratio required in the current transient mode, D (k-1) is a PWM duty ratio in the previous transient mode, Th (k) is a difference between the target current I _ target and the measured current I _ sense in the current transient mode, and Th (k-1) is a difference between the target current I _ target and the measured current I _ sense in the previous transient mode. Wherein Th is less than or equal to 2 mA.
The current required PWM duty ratio D can be obtained by adopting the calculation formula of the PWM duty ratio D in the transient mode, namely the PWM duty ratio enables the difference value between the actually measured current I _ sense and the target current I _ target to meet the following requirements: i _ target-I _ sense | < Th, outputting a PWM driving signal without vibration through a PWM controller, and enabling the measured current I _ sense to quickly approach the target current I _ target under the PWM driving signal of the PWM duty ratio D so as to enable the proportional solenoid valve to quickly enter a steady-state mode, thereby improving the response speed and the sensitivity of the proportional solenoid valve.
Step S3, driving in steady state mode: and dividing the PWM driving frequency by 2N times to obtain a chattering frequency F1 and a chattering period T1 corresponding to the chattering frequency F1, wherein one chattering period T1 comprises 2N driving periods T.
Specifically, in the transient mode, when the difference between the measured current I _ sense and the target current I _ target satisfies: and when I _ target-I _ sense | is less than or equal to Th, the control system is converted into a steady-state mode to drive the proportional electromagnetic valve, namely, the PWM driving frequency is divided by 2N times to obtain a tremor frequency F1 and a tremor period T1 corresponding to the tremor frequency F1, and one tremor period T1 comprises 2N driving periods T.
In step S4, the PWM duty ratios of the first N driving periods T within one tremor period T1 are set to D1, and the PWM duty ratios of the last N driving periods T are set to D2 in chronological order.
In step S5, D1 and D2 are respectively calculated according to the tremor amplitude, so that the average current I _ avg in one tremor period T1 is equal to the target current I _ target.
Specifically, the calculation formulas of D1 and D2 in the transient mode are respectively:
D1＝D+Ds，
D2＝D-Ds，
wherein Ds satisfies: ds < D (the Ds is automatically calculated by a tremor generator to meet the required reasonable value).
By adopting the calculation formulas of D1 and D2 in the steady-state mode, D1 and D2 required by the chattering driving signal can be obtained, namely the D1 and D2 enable the average current I _ avg in one chattering period T1 to be equal to the target current I _ target, and when the target current for driving the proportional solenoid valve is ensured, the valve core of the proportional solenoid valve can be always in a small-amplitude vibration state, so that the response hysteresis of the proportional solenoid valve is effectively improved.
It should be noted that, in the chattering period T1, the PWM duty ratio of the driving period T may be in an ascending trend or a descending trend in time sequence, and is not particularly limited as long as the above condition is satisfied.
And step S6, generating a PWM driving tremor signal, and driving the proportional solenoid valve by using the PWM driving signal.
Specifically, after the setting of the parameters is completed, a PWM driving chattering signal is generated by a PWM controller, and the proportional electromagnetic valve is driven by the PWM driving signal.
In addition, when it needs to be described, the transient mode and the steady-state mode may be switched, that is, when the control system is just powered on, | I _ target-I _ sense | > Th, the control system is in the transient mode at this time, after the PWM duty ratio D is regulated, the measured current I _ sense quickly approaches the target current I _ target, and when | I _ target-I _ sense | is less than or equal to Th, the control system is switched to the steady-state mode proportional solenoid valve to drive. When a new target current I _ target is set, if I _ target-I _ sense is greater than Th, the control system is switched to a transient mode again, so that the actually measured current is quickly adjusted to a target current value state.
In the embodiment, under the cooperation of the transient mode and the steady-state mode, the adjustment speed of the target current can be accelerated, meanwhile, the response hysteresis of the proportional solenoid valve can be effectively improved, and the response speed and the sensitivity of the proportional solenoid valve are improved.
In practical applications, for example, the PWM driving frequency F of one type of proportional solenoid valve is 1000Hz, the corresponding period T is 1/F is 1ms, the system voltage is 24V, the resistance R of the proportional solenoid valve is 30 Ω, and the target current I _ target is 0.6A. The specific implementation method for driving the type of proportional solenoid valve by adopting the method is as follows: firstly, a control system is electrified, the control system enters a transient mode to drive the proportional solenoid valve, and under the transient mode, the PWM duty ratio D which meets the requirement under the transient mode can be calculated to be about 70% according to the method.
Referring to fig. 3, line a in fig. 3 is the target current line without chattering, and line B is the PWM duty cycle line without chattering. The PWM duty ratio D is set to 70% according to the above parameters, after the system is stabilized, ideally, the measured current I _ sense is equal to the target current I _ target, that is, I _ sense is 0.6A, and the waveform of the measured current I _ sense is a stable straight line, that is, an a line, and at this time, the waveform of the PWM duty ratio D is also a stable straight line, that is, a B line, within a certain time, but with the change of the coil resistance of the proportional solenoid valve (the coil resistance of the proportional solenoid valve increases with the temperature), the PWM duty ratio D is automatically adjusted in a small amplitude according to a PID algorithm (it can be roughly considered that the PWM driving signal is a stable straight line at this time).
The proportional solenoid valve has completed a driving process in the transient mode, and then the control system enters the steady-state mode to drive the proportional solenoid valve, specifically, the PWM driving frequency is divided by 10 times to obtain the chattering frequency F1, which is 100Hz, and then T1 is 10ms, which includes 10 driving periods, where T is 1 ms.
In the present embodiment, the PWM duty ratios of the first 5 driving periods T (i.e., the first 5ms) are set to be equal and set to D1, and the PWM duty ratios of the last 5 driving periods T (i.e., the last 5ms) are set to be equal and set to D2, in chronological order within one tremor period T1.
In the steady state mode, it can be calculated according to the above method that one specific setting is satisfied that the average target current in one of the tremor periods T1 is equal to the target current:
compared with the drive signal setting parameters of which the waveform is a smooth straight line, the PWM duty ratio of the first 5 drive periods T (namely the first 5ms) in one tremor period T1 is reduced by 10%, namely set to be 60%; the PWM duty cycle of the last 5 driving periods T (i.e., the last 5ms) within one chattering period T1 is increased by 10%, i.e., set to 80%.
Specifically, referring to fig. 4, line C in fig. 4 is the chattering target current line, and line D is the chattering PWM duty line. According to the parameter setting, the waveform of the driving signal with chattering, namely, the D line, can be obtained. Because the duty ratio of the PWM is changed in one chattering period T1, the obtained target current is also dynamically changed along with the change of the PWM duty ratio, i.e. the C line, so that the spool of the proportional solenoid valve is always in a small amplitude vibration state, which can effectively improve the response hysteresis of the proportional solenoid valve.
It should be noted that the setting value of the PWM duty ratio in each sub-period is not limited to the above-mentioned one, as long as the average target current in one chattering period T1 is equal to the target current.
In summary, the driving method of the proportional solenoid valve provided by the invention has the following advantages: the driving method comprises a transient mode and a steady-state mode, and comprises the steps of firstly driving a proportional solenoid valve in the transient mode, determining a PWM driving frequency F of the proportional solenoid valve, and a driving period T, a target current I _ target and a steady domain value Th which correspond to the PWM driving frequency F, and then calculating a PWM duty ratio D to enable the difference value between an actually measured current I _ sense and the target current I _ target to meet the following requirements: i _ target-I _ sense | is less than or equal to Th; and then, driving the proportional solenoid valve in a steady-state mode, specifically dividing the PWM driving frequency F by 2N times to obtain the tremor frequency F1 and a tremor period T1 corresponding to the tremor frequency F, wherein one tremor period T1 contains 2N driving periods T, setting the PWM duty ratios of the first N driving periods T in the tremor period T1 as D1 and the PWM duty ratios of the last N driving periods T as D2 according to the time sequence, respectively calculating D1 and D2 according to the tremor amplitude to enable the average current in one T1 to be equal to the target current, finally generating a PWM driving tremor signal, and driving the proportional solenoid valve by using the PWM driving tremor signal. According to the invention, under the cooperation of the transient mode and the steady-state mode, the adjustment speed of the target current can be accelerated, the response hysteresis of the proportional solenoid valve can be effectively improved, the response speed and the sensitivity of the proportional solenoid valve are improved, a hardware driving circuit is not required to be modified, the material cost is reduced, and the method is convenient and flexible.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. A method of driving a proportional solenoid valve, comprising:
determining a PWM driving frequency F of a proportional solenoid valve, and a driving period T, a target current I _ target and a stable threshold Th which correspond to the PWM driving frequency F;
driving in a transient mode: calculating a PWM duty ratio D and outputting a PWM driving signal so that the difference value between the measured current I _ sense and the target current I _ target satisfies the following conditions: i _ target-I _ sense | is less than or equal to Th;
driving in steady state mode: dividing the PWM driving frequency F by 2N times to obtain a chattering frequency F1 and chattering periods T1 corresponding to the chattering frequency F1, wherein one chattering period T1 comprises 2N driving periods T, and N is an integer not less than 1;
setting the PWM duty ratios of the first N driving periods T in one tremor period T1 to be D1 and the PWM duty ratios of the last N driving periods T to be D2 in time sequence;
respectively calculating D1 and D2 according to the tremor amplitude, so that the average current I _ avg in one tremor period T1 is equal to the target current I _ target;
and generating a PWM driving vibration signal, and driving the proportional solenoid valve by using the PWM driving vibration signal.
2. The method of driving the proportional solenoid valve according to claim 1, wherein the PWM driving frequency F of the proportional solenoid valve satisfies: f is more than 200 Hz.
3. The method for driving the proportional solenoid valve as claimed in claim 1, wherein D1 and D2 satisfy: d1 > D2.
4. A method for driving a proportional solenoid valve according to claim 3, wherein D1 is D + Ds, D2 is D-Ds, Ds satisfies: ds < D.
5. The driving method of a proportional solenoid valve according to claim 1, wherein D is calculated using a PID algorithm.
6. The method for driving a proportional solenoid valve according to claim 1, wherein the stability threshold Th satisfies: th is less than or equal to 2 mA.
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| CN114384795B (en) * | 2021-12-21 | 2022-10-25 | 卓品智能科技无锡股份有限公司 | Proportional solenoid valve current vibration control method |
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