CN113958760A - Method and device for processing jamming of execution mechanism - Google Patents

Method and device for processing jamming of execution mechanism Download PDF

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Publication number
CN113958760A
CN113958760A CN202111570418.2A CN202111570418A CN113958760A CN 113958760 A CN113958760 A CN 113958760A CN 202111570418 A CN202111570418 A CN 202111570418A CN 113958760 A CN113958760 A CN 113958760A
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Prior art keywords
jamming
displacement
state
actuator
actuating mechanism
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CN113958760B (en
Inventor
侯峰伟
巢根明
王南天
陈岩
赵健
杨方奎
崔炜栋
吕超
曹经琦
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Ultra High Speed Aerodynamics Institute China Aerodynamics Research and Development Center
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Ultra High Speed Aerodynamics Institute China Aerodynamics Research and Development Center
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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
    • F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
    • F16K31/122—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston
    • F16K31/124—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston servo actuated
    • F16K31/1245—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston servo actuated with more than one valve
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
    • F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
    • 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
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses a method and a device for processing jamming of an actuating mechanism, which relate to the field of electric digital data processing and comprise the following steps: acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process; step two, judging whether the actuating mechanism is in a jamming state or not based on the displacement deviation and the movement speed obtained in the step one; and step three, determining whether to control the execution mechanism to execute the impact action or not based on the judgment result of the step two so as to eliminate the jammed state. The invention provides a method and a device for processing jamming of an execution mechanism, which are used for solving the technical problem that the jamming of the execution mechanism cannot be effectively judged or eliminated in the prior art.

Description

Method and device for processing jamming of execution mechanism
Technical Field
The invention relates to the field of electric digital data processing, in particular to a method and a device for processing jamming of an execution mechanism.
Background
When the industrial valve is used for a long time, the electro-hydraulic actuator sometimes has the situation of action jamming when the electro-hydraulic actuator drives the valve to act due to the influences of temperature change deformation of valve parts, medium accumulation in the valve body, corrosion of the valve body or transmission mechanism parts and the like. After the jamming occurs, the jamming is generally eliminated by manual operation or manual increase of the working pressure of a hydraulic system and the like by operators, but the manual jamming elimination method has the defect of slow response time, and the operation effect of jamming elimination is related to the skill and experience of the operators.
Aiming at the problem that the jamming of the actuating mechanism cannot be effectively judged or eliminated in the related technology, an effective solution is not provided at present.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages and in accordance with the purpose of the invention, a method for handling actuator seizure is provided, comprising:
acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process;
step two, judging whether the actuating mechanism is in a jamming state or not based on the displacement deviation and the movement speed obtained in the step one;
and step three, determining whether to control the execution mechanism to execute the impact action or not based on the judgment result of the step two so as to eliminate the jammed state.
Preferably, the method for acquiring the displacement deviation includes:
s110, acquiring the actual displacement of the actuating mechanism;
and S111, obtaining the displacement deviation of the actuating mechanism based on the difference value between the actual displacement obtained in the step S110 and the pre-stored displacement.
Preferably, the motion speed obtaining means is configured to include:
s120, acquiring the actual displacement of the actuating mechanism and the displacement time occupied in the actual displacement process;
and S121, calculating to obtain the movement speed of the actuator in the displacement deviation process based on the actual displacement and the displacement time acquired in the S120.
Preferably, in the second step, the method for determining the stuck state includes:
when the displacement deviation accords with a first jamming criterion or when the movement speed accords with a second jamming criterion, determining that the actuating mechanism is in a jamming state;
wherein when
Figure 80594DEST_PATH_IMAGE001
When E is the displacement deviation of the actuator, EmmFor the minimum displacement deviation threshold of the actuator, the first jamming criterion is as follows:
Figure 321082DEST_PATH_IMAGE002
；
when in use
Figure 740562DEST_PATH_IMAGE003
，EdFor a preset dead-zone deviation of the actuator, the second jamming criterion is as follows:
Figure 590444DEST_PATH_IMAGE004
；
v is the operation of the actuator in the first and second jamming criteriaDynamic velocity, VmaxThe maximum movement speed of the actuator is X, the percentage of the actual displacement of the actuator to the maximum displacement is X, and alpha is the jam deceleration coefficient of the actuator.
Preferably, in step three, the method for eliminating the jammed state is configured to include:
after the electromagnetic valve of the executing mechanism is electrified, the electromagnetic valve is controlled to be powered again after being powered off, and the impact action is carried out through the executing mechanism until the jamming state is eliminated.
Preferably, in step three, while eliminating the jammed state, the method further includes:
s30, acquiring the impact frequency of the actuating mechanism;
s31, when the impact frequency is less than the preset impact frequency, continuously judging whether the actuating mechanism is in a jamming state;
and S32, when the impact frequency is greater than or equal to the preset impact frequency, giving a jam alarm.
Preferably, in S31, after the step of continuously determining whether the actuator is in the stuck state, the method further includes:
and under the condition that the actuating mechanism is in a non-jamming state, restoring the state of the actuating mechanism before the jamming state.
An execution mechanism jam processing device applying the execution mechanism jam processing method comprises the following steps: the execution data acquisition unit is used for acquiring the displacement deviation of the execution mechanism and the movement speed when the displacement deviation process occurs;
a determining unit for judging the jamming state of the executing mechanism;
the control unit is used for controlling the execution mechanism to execute impact action so as to eliminate the jamming state of the execution mechanism;
wherein the execution data acquisition unit is configured to include a data acquisition module and a data processing module;
the data acquisition module is configured to include:
the displacement sensor is used for acquiring the actual displacement of the actuating mechanism;
the timing mechanism is used for acquiring the displacement time of the actuating mechanism when actual displacement occurs;
the execution data acquisition unit, the determination unit and the control unit are configured to be in communication connection.
The invention at least comprises the following beneficial effects: the invention provides a jamming processing scheme for an executing mechanism, which determines whether the executing mechanism is in a jamming state or not through displacement deviation of the executing mechanism and a movement speed in the process of displacement deviation, controls the executing mechanism to execute impact action to eliminate the jamming state when the executing mechanism is in the jamming state, and achieves the purpose of accurately identifying and eliminating the jamming in real time, thereby realizing the technical effects of improving the execution efficiency and safety of eliminating the jamming, and further solving the technical problem that the jamming of the executing mechanism cannot be effectively judged or eliminated in the related technology.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a flow chart of a method of handling actuator jamming in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of a hydraulic system according to an alternative embodiment of the present invention;
FIG. 3 is a schematic of an accumulator boosting process and solenoid valve output pressure variation according to an alternative embodiment of the present invention;
FIG. 4 is a flow chart of a method of handling actuator jamming in accordance with an alternative embodiment of the present invention;
fig. 5 is a schematic view of a handling device for actuator jamming according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
a hydraulic pump 542; a motor 956; check valve 124, check valve 124A, check valve 124B; solenoid valve 42, solenoid valve 399; an overflow valve 35A and an overflow valve 35B; an accumulator 33A, an accumulator 33B; an oil cylinder (actuator) 1; a displacement sensor ZT; an acquisition module 52; a determination module 54; and a control module 56.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," when used herein, do not specify the presence or addition of one or more other elements or combinations thereof, e.g., a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for handling of actuator stuck, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that herein.
Fig. 1 is a flowchart of a method for handling jamming of an actuator according to an embodiment of the present invention, and as shown in fig. 1, the method for handling jamming of an actuator includes the following steps:
acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process;
step two, determining whether the actuating mechanism is in a jamming state or not according to the displacement deviation and the movement speed;
and step three, when the card is in the unsmooth state, controlling the execution mechanism to execute the impact action so as to eliminate the unsmooth state.
When the control actuator executes the impact operation to remove the jam, the number of times of impact of the impact operation may be controlled, for example, the control actuator executes one impact operation, the control actuator executes a plurality of impact operations, or the like.
Through the steps, whether the executing mechanism is in the jamming state or not can be determined through the displacement deviation of the executing mechanism and the movement speed in the process of generating the displacement deviation, and when the executing mechanism is in the jamming state, the executing mechanism is controlled to execute the impact action to eliminate the jamming state, so that the aim of accurately identifying and eliminating the jamming in real time is fulfilled, the technical effects of improving the executing efficiency and the safety of eliminating the jamming are achieved, and the technical problem that the jamming of the executing mechanism cannot be effectively judged or eliminated in the related technology is solved.
Optionally, acquiring a displacement deviation of the actuator comprises: acquiring a preset displacement and an actual displacement of an actuating mechanism; and obtaining the displacement deviation of the actuating mechanism according to the difference value between the preset displacement and the actual displacement.
In an alternative embodiment, in order to more accurately obtain the displacement deviation of the actuator, it is necessary to obtain a preset displacement and an actual displacement of the actuator, and calculate the displacement deviation of the actuator according to a difference between the preset displacement and the actual displacement.
Optionally, acquiring a movement speed of the actuator during the displacement deviation, further comprising: acquiring actual displacement of an actuating mechanism and displacement time in the actual displacement process; and obtaining the movement speed of the actuating mechanism in the displacement deviation process according to the actual displacement and the displacement time.
In an alternative embodiment, in order to more accurately acquire the movement speed of the actuator during the displacement deviation, the actual displacement of the actuator and the displacement time during the actual displacement are firstly acquired, and then the movement speed of the actuator during the displacement deviation is calculated according to the actual displacement and the displacement time.
Optionally, determining whether the actuator is in a jammed state according to the displacement deviation and the movement speed includes: and when the displacement deviation and the movement speed accord with the first jamming criterion or the second jamming criterion, determining that the actuating mechanism is in a jamming state.
In an alternative embodiment, the method comprises
Figure 411770DEST_PATH_IMAGE005
When E is the displacement deviation of the actuator, EmmTo a minimum displacement deviation threshold of the actuator, the firstOne criterion for jam is as follows:
Figure 823159DEST_PATH_IMAGE006
；
when in use
Figure 729935DEST_PATH_IMAGE007
，EdFor a preset dead-zone deviation of the actuator, the second jamming criterion is as follows:
Figure 619394DEST_PATH_IMAGE004
；
in the first and second jamming criteria, V is the speed of movement of the actuator, VmaxThe maximum movement speed of the actuator is X, the percentage of the actual displacement of the actuator to the maximum displacement is X, and alpha is the jam deceleration coefficient of the actuator.
Through the implementation mode, whether the actuating mechanism is in the jamming state or not can be accurately judged by utilizing the displacement deviation and the movement speed of the actuating mechanism and combining the first jamming criterion or the second jamming criterion.
Optionally, the controlling the actuator to perform the impact action to eliminate the jammed state includes: after the electromagnetic valve of the executing mechanism is electrified, the electromagnetic valve is controlled to be powered again after being powered off, and the impact action is completed until the jamming state is eliminated.
In an optional implementation manner, after the electromagnetic valve of the actuator is powered on, the electromagnetic valve may be controlled to be powered off again and powered on again to complete one impact action, in a specific implementation process, in order to better eliminate a stuck state, multiple impact actions may be repeatedly completed, in addition, the number of times of completing the impact actions is not limited in the specific implementation, and may be set according to actual needs, for example, 5 times, 20 times, and the like. Through the embodiment, at least one impact action can be realized by controlling the power-on, power-off and power-on of the electromagnetic valve of the executing mechanism, so that the jamming state of the executing mechanism is more effectively eliminated.
Optionally, while controlling the actuator to perform the impact action to eliminate the jammed state, the method further includes: acquiring impact times; when the impact frequency is greater than or equal to the preset impact frequency, carrying out jamming alarm; and when the impact times are less than the preset impact times, continuously judging whether the actuating mechanism is in a jamming state.
In an optional implementation manner, in the process of eliminating the jamming state of the execution mechanism, the execution mechanism needs to be controlled to execute the impact action, at this time, the impact frequency can be recorded, the impact frequency is compared with the preset impact frequency, and if the impact frequency is greater than or equal to the preset impact frequency, jamming alarm can be performed; if the impact frequency is less than the preset impact frequency, continuously judging whether the executing mechanism is in a jamming state, wherein when the executing mechanism is in the jamming state, continuously controlling the executing mechanism to execute impact action so as to eliminate the jamming state; and when the executing mechanism is not in a jamming state, the executing mechanism stops executing the impact action. It should be noted that, the implementation manners of the above-mentioned jamming alarm include, but are not limited to, a voice alarm, a light flashing alarm, a ring alarm, a vibration alarm, and the like. Through the embodiment, corresponding early warning can be carried out when the impact frequency for eliminating the jamming reaches the upper limit, and in addition, whether the executing mechanism is in the jamming state can be continuously judged when the impact frequency for eliminating the jamming does not reach the upper limit.
Optionally, after continuing to determine whether the actuator is in the jammed state, the method further includes: and under the condition that the actuating mechanism is in a non-jamming state, restoring the state of the actuating mechanism before the jamming state.
In an alternative embodiment, after continuing to determine whether the actuator is in the stuck state, if the actuator is in the non-stuck state, the state of the actuator before the stuck state needs to be restored, wherein the state of the actuator before the stuck state is restored includes, but is not limited to, the reset of the number of impacts, the reset of the motor state, the reset of the solenoid valve state, and the like. Through the embodiment, after the jamming of the executing mechanism is eliminated, all states of the executing mechanism can be recovered in time, so that the executing mechanism works normally.
An alternative embodiment of the invention is described in detail below.
Example 1
The invention judges the jamming state by adopting the displacement deviation signal and the speed signal in the action process of the oil cylinder, and when jamming occurs, high-frequency hydraulic impact is converted into high-frequency hydraulic impact by high-speed reversing of the electromagnetic valve at higher hydraulic pressure, so that the jamming of the valve is overcome. Fig. 2 is a schematic diagram of a hydraulic system according to an alternative embodiment of the invention, as shown in fig. 2, comprising at least: a hydraulic pump 542; a motor 956; check valve 124, check valve 124A, check valve 124B; solenoid valve 42, solenoid valve 399; an overflow valve 35A and an overflow valve 35B; an accumulator 33A, an accumulator 33B; an oil cylinder (actuator) 1; and a displacement sensor ZT.
It should be noted that, outside the normal hydraulic control channel of the actuator switch, another boosting channel is established to raise the inlet pressure of the control solenoid valve at a certain speed, and while raising the pressure, the solenoid valve performs on-off action to make the output pressure of the solenoid valve change alternately and raise the amplitude continuously, and finally make the output force of the cylinder change alternately and raise continuously, so as to form a mechanical impact conducive to eliminating jamming and also to prevent the transient excessive impact force from damaging the stressed load.
The hydraulic system described above has two modes of operation: the working mode of the normal switch valve and the impact action mode of the jam point during jam.
1. Working mode of normal switch valve
The main feature of this mode is that the solenoid 424 is de-energized.
The motor 956 drives the hydraulic pump 542 to operate, high-pressure oil is output to enter the energy accumulator 33A for energy storage through the de-energized electromagnetic valve 424, electromagnets at two ends of the electromagnetic valve 399 are respectively electrified, and the piston rod of the oil cylinder can be controlled to extend and retract.
2. Impact action mode to jamming point
To eliminate jamming, it is first determined whether the actuator and the external load it drives are in a jammed state.
(1) Determination of stuck state
For the convenience of analysis and calculation, the following signal variables are normalized to be 0-100%;
the output of the displacement sensor is a displacement signal X, the control input signal is IN, and the difference value between IN and the current displacement signal X is a deviation E: and E = IN-X;
the fully on and fully off signals for a switch mode system can be considered as 100% and 0%;
the motion speed V of the oil cylinder piston can be obtained by the difference of the displacement signal X, wherein T is X2And X1Time difference between:
setting the deviation of the preset dead zone as +/-EdObtaining the maximum speed VmaxMinimum deviation of time is + -Emm；
Setting an allowable jamming deceleration coefficient as alpha;
without loss of generality, the following are set: the deviation E is of the same sign as V, i.e. positive speed for positive deviations and negative speed for negative deviations.
The jam criterion is 1:
Figure 357543DEST_PATH_IMAGE005
when the temperature of the water is higher than the set temperature,
Figure 939834DEST_PATH_IMAGE008
；
the jam criterion 2:
Figure 68327DEST_PATH_IMAGE009
when the temperature of the water is higher than the set temperature,
Figure 761477DEST_PATH_IMAGE010
；
(2) impact on the point of jamming
Fig. 3 is a schematic diagram of the accumulator boosting process and the solenoid valve output pressure change according to the alternative embodiment of the present invention, as shown in fig. 3, when the jam point is determined to exist, the controller controls the motor to drive the pump to operate, and simultaneously energizes the solenoid valve 424, so that the pressure at the port P of the solenoid valve 399 starts to rise, but due to the existence of the accumulator 33B, the pressure gradually rises along with time, and the volume of the accumulator 33B and the pre-charge nitrogen gas pressure determine the relationship between the boosting and the time. In practical application, the 33B energy accumulator has a small volume, and the pressure of the pre-charged nitrogen is greater than or equal to the normal working pressure of the system, so that the front section of the boosting process is high in boosting speed, and the boosting speed of the rear section is suitable for the requirement of inflation.
Fig. 4 is a flowchart of a method for handling jamming of an actuator according to an alternative embodiment of the present invention, and as shown in fig. 4, along with the boosting process, the controller controls the solenoid valve 399 to be powered again when the current control part is powered off, so as to complete an impact action, and after the impact action is completed, the state determination is performed according to the jamming criterion: if the state is not in the jam state, recovering the pre-jam control state; if the state is still in the jammed state, the current control part of the control electromagnetic valve 399 is powered again after power is lost, and the impact action is repeated until the jammed state is eliminated or the preset impact frequency upper limit is reached.
In the embodiment, the method for judging the jamming of the actuating mechanism is more accurate than the conventional literature, in addition, the scheme of impacting the jamming point is simple to realize, the impact process is controllable, the impact energy is continuously improved to a small value, the excessive impact can be avoided, and the safety is good.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided an actuator jamming processing apparatus, and fig. 5 is a schematic diagram of the actuator jamming processing apparatus according to the embodiments of the present invention, and as shown in fig. 5, the actuator jamming processing apparatus includes: an acquisition module 52, a determination module 54, and a control module 56. The following describes the processing device for jamming the actuator in detail.
An obtaining module 52, configured to obtain a displacement deviation of the actuator and a movement speed during the displacement deviation; a determining module 54, connected to the obtaining module 52, for determining whether the actuator is in a jammed state according to the displacement deviation and the movement speed; and the control module 56 is connected to the determining module 54 and is used for controlling the actuating mechanism to execute an impact action when the actuating mechanism is in the jammed state so as to eliminate the jammed state.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; and/or the modules are located in different processors in any combination.
In the above embodiment, the processing apparatus for the jamming of the execution mechanism can determine whether the execution mechanism is in the jamming state or not through the displacement deviation of the execution mechanism and the movement speed in the process of generating the displacement deviation, and when the execution mechanism is in the jamming state, the execution mechanism is controlled to execute the impact action to eliminate the jamming state, so that the purpose of accurately identifying and eliminating the jamming in real time is achieved, thereby achieving the technical effects of improving the execution efficiency and safety of eliminating the jamming, and further solving the technical problem that the jamming of the execution mechanism cannot be effectively judged or eliminated in the related art.
It should be noted that the above-mentioned obtaining module 52, determining module 54 and control module 56 correspond to steps one to three of the present invention, and the above-mentioned modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of the above-mentioned solution.
Optionally, the obtaining module 52 includes: the first acquisition unit is used for acquiring the preset displacement and the actual displacement of the actuating mechanism; and the first obtaining unit is used for obtaining the displacement deviation of the actuating mechanism according to the difference value of the preset displacement and the actual displacement.
Optionally, the obtaining module 52 further includes: the second acquisition unit is used for acquiring the actual displacement of the actuating mechanism and the displacement time in the actual displacement process; and the second obtaining unit is used for obtaining the movement speed of the actuating mechanism in the displacement deviation process according to the actual displacement and the displacement time.
Optionally, the determining module 54 includes: and the determining unit is used for determining that the actuating mechanism is in a jamming state when the displacement deviation and the movement speed accord with the first jamming criterion or the second jamming criterion.
Optionally, the control module 56 includes: and the control unit is used for controlling the solenoid valve to lose power and then obtain power again after the solenoid valve of the actuating mechanism is powered on, and finishing the impact action until the jamming state is eliminated.
Optionally, the control module 56 further includes: a third acquisition unit configured to acquire the number of impacts; the first processing unit is used for giving a jam alarm when the impact frequency is greater than or equal to the preset impact frequency; and the second processing unit is used for continuously judging whether the actuating mechanism is in a jamming state or not when the impact frequency is less than the preset impact frequency.
Optionally, the apparatus further comprises: and the recovery module is used for recovering the state of the executing mechanism before the jamming state under the condition that the executing mechanism is in the non-jamming state after continuously judging whether the executing mechanism is in the jamming state.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for handling the jamming of the execution mechanism in any one of the above.
Optionally, in this embodiment, the computer-readable storage medium may be located in any one of a group of computer terminals in a computer network and/or in any one of a group of mobile terminals, and the computer-readable storage medium includes a stored program.
Optionally, the program when executed controls an apparatus in which the computer-readable storage medium is located to perform the following functions: acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process; determining whether the actuating mechanism is in a jamming state or not according to the displacement deviation and the movement speed; and when the card is in the puckery state, the execution mechanism is controlled to execute the impact action so as to eliminate the puckery state.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes a method for handling the jamming of the execution mechanism in any one of the above.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process; determining whether the actuating mechanism is in a jamming state or not according to the displacement deviation and the movement speed; and when the card is in the puckery state, the execution mechanism is controlled to execute the impact action so as to eliminate the puckery state.
The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process; determining whether the actuating mechanism is in a jamming state or not according to the displacement deviation and the movement speed; and when the card is in the puckery state, the execution mechanism is controlled to execute the impact action so as to eliminate the puckery state.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above scheme is merely illustrative of a preferred example, and is not limiting. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.

Claims (8)

1. A method for processing jamming of an actuating mechanism is characterized by comprising the following steps:
acquiring displacement deviation of an actuating mechanism and a movement speed in the displacement deviation process;
step two, judging whether the actuating mechanism is in a jamming state or not based on the displacement deviation and the movement speed obtained in the step one;
and step three, determining whether to control the execution mechanism to execute the impact action or not based on the judgment result of the step two so as to eliminate the jammed state.
2. The processing method of claim 1, wherein in the first step, the displacement deviation is obtained by:
s110, acquiring the actual displacement of the actuating mechanism;
and S111, obtaining the displacement deviation of the actuating mechanism based on the difference value between the actual displacement obtained in the step S110 and the pre-stored displacement.
3. The processing method according to claim 1, wherein in step one, the motion speed is obtained by a method comprising:
s120, acquiring the actual displacement of the actuating mechanism and the displacement time occupied in the actual displacement process;
and S121, calculating to obtain the movement speed of the actuator in the displacement deviation process based on the actual displacement and the displacement time acquired in the S120.
4. The processing method according to claim 1, wherein in the second step, the manner of determining the stuck state comprises:
when the displacement deviation accords with a first jamming criterion or when the movement speed accords with a second jamming criterion, determining that the actuating mechanism is in a jamming state;
wherein when
Figure 811520DEST_PATH_IMAGE001
When E is the displacement deviation of the actuator, EmmFor the minimum displacement deviation threshold of the actuator, the first jamming criterion is as follows:
Figure DEST_PATH_IMAGE002
；
when in use
Figure 666343DEST_PATH_IMAGE003
，EdFor a preset dead-zone deviation of the actuator, the second jamming criterion is as follows:
Figure DEST_PATH_IMAGE004
；
in the first and second jamming criteria, V is the speed of movement of the actuator, VmaxThe maximum movement speed of the actuator is X, the percentage of the actual displacement of the actuator to the maximum displacement is X, and alpha is the jam deceleration coefficient of the actuator.
5. The process of claim 1, wherein in step three, the stuck state elimination is configured to include:
after the electromagnetic valve of the executing mechanism is electrified, the electromagnetic valve is controlled to be powered again after being powered off, and the impact action is carried out through the executing mechanism until the jamming state is eliminated.
6. The processing method of claim 1, wherein in step three, while eliminating the stuck state, the method further comprises:
s30, acquiring the impact frequency of the actuating mechanism;
s31, when the impact frequency is less than the preset impact frequency, continuously judging whether the actuating mechanism is in a jamming state;
and S32, when the impact frequency is greater than or equal to the preset impact frequency, giving a jam alarm.
7. The process of claim 6, wherein after continuing to determine whether the actuator is in the stuck state at S31, further comprising:
and under the condition that the actuating mechanism is in a non-jamming state, restoring the state of the actuating mechanism before the jamming state.
8. An actuator jam processing apparatus to which the processing method according to any one of claims 1 to 7 is applied, comprising: the execution data acquisition unit is used for acquiring the displacement deviation of the execution mechanism and the movement speed when the displacement deviation process occurs;
a determining unit for judging the jamming state of the executing mechanism;
the control unit is used for controlling the execution mechanism to execute impact action so as to eliminate the jamming state of the execution mechanism;
wherein the execution data acquisition unit is configured to include a data acquisition module and a data processing module;
the data acquisition module is configured to include:
the displacement sensor is used for acquiring the actual displacement of the actuating mechanism;
the timing mechanism is used for acquiring the displacement time of the actuating mechanism when actual displacement occurs;
the execution data acquisition unit, the determination unit and the control unit are configured to be in communication connection.
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