CN114034477B - Micro-stroke magnetic lock type self-locking valve core motion state monitoring method - Google Patents
Micro-stroke magnetic lock type self-locking valve core motion state monitoring method Download PDFInfo
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- CN114034477B CN114034477B CN202111321091.5A CN202111321091A CN114034477B CN 114034477 B CN114034477 B CN 114034477B CN 202111321091 A CN202111321091 A CN 202111321091A CN 114034477 B CN114034477 B CN 114034477B
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Abstract
A valve core motion state monitoring method of a micro-stroke magnetic lock type self-locking valve comprises the steps that a radially magnetized annular permanent magnet and a coil which are coaxial with a valve core are arranged at the position of the outer ring of the valve core, and induced electromotive force generated on the coil is collected when the valve core moves; and integrating the induced electromotive force to obtain the motion state of the self-locking valve and the end position of the valve core, and detecting the change of magnetic flux or the induced electromotive force to obtain the motion state of the valve core. The invention is suitable for judging and monitoring the motion state of the inner valve core of the small-size micro-stroke (less than or equal to 1 mm) self-locking valve in an impact environment.
Description
Technical Field
The invention relates to a technology in the field of self-locking valves, in particular to a motion state monitoring method of a micro-stroke magnetic locking type self-locking valve core in an impact environment.
Background
The magnetic lock type self-locking valve is used as a common component in a spacecraft, the function of controlling the on-off of a medium in a system pipeline is usually achieved, and the locking of a valve core of the self-locking valve often causes the failure of the whole control system. As shown in figure 1, the inner valve core of the self-locking valve has a micro movable stroke (generally less than or equal to 1 mm) in a cavity relative to a locking end and an opening end, and the self-locking valve is kept in a locking state by the magnetic force of a permanent magnet ring under a passive state by the inner valve core. This type of latching valve has two stable states, namely the above-mentioned latching state and the opening state. In an impact environment, the valve core inside the valve body may move relative to the limit ends (namely, the locking end and the opening end) on the two sides of the valve body, and when the impact load is large enough, the valve core moves and stops at the opening end, so that the locking of the self-locking valve fails, and the safety of a control system is threatened.
The prior art lacks sufficient understanding and effective monitoring to the locking state and the law of motion of case under the impact environment. The method is used for acquiring the motion state of the valve core of the self-locking valve under the impact action through a certain measuring means, judging whether the valve core is locked and invalid or not, and solving the problem of motion rules of the valve core under different impact loads. The method mainly comprises a contact type measuring method and a non-contact type measuring method, wherein an experimental scheme based on the contact type measuring method needs to enable an extending end of measuring equipment to contact or be bound on a valve core inside a valve body through a slender opening of a self-locking valve. Considering that the impact environment of the self-locking valve is severe, the existing equipment can not bear thousands of actual impact load; and because the opening of the self-locking valve is small (less than or equal to 1 cm), the extending end of the common contact type measuring equipment can not enter the valve through the opening. In conclusion, the contact measurement method is low in feasibility for solving the problems.
The existing non-contact measurement method mainly comprises high-speed camera measurement and infrared camera measurement. For the specific implementation of the measurement method using the above two apparatuses, it is necessary to modify the valve body structure of the self-locking valve so that the measurement point can be captured by the apparatus, for example, a hole is punched in the valve body so that a moving valve core can be marked.
There are several obvious drawbacks and deficiencies with non-contact measurement methods: firstly, a valve body mechanism needs to be modified, and for a self-locking valve with small size and more parts, related operations may affect part of functions of the valve; secondly, a high-speed camera or an infrared camera is used for shooting the instantaneous motion of the valve core in a micro stroke, so that the problems of insufficient frame rate and resolution are caused; thirdly, the high-speed camera or the infrared camera generally has no anti-impact design, cannot bear the impact environment with larger magnitude of more than 500g, and can influence the accuracy of the test result and even cause the damage of the test equipment; and the price of the above devices is generally high, generally between hundreds of thousands and millions, and the devices are inconvenient to use and high in use cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for monitoring the motion state of the valve core of the micro-stroke magnetic locking type self-locking valve, which is suitable for judging and monitoring the motion state of the valve core inside the small-size micro-stroke (less than or equal to 1 mm) self-locking valve in an impact environment, and the motion state of the valve core can be judged by detecting the voltage signal output by the change of magnetic flux caused by a valve core motion part in a magnetic field to obtain the motion speed of the valve core and observing the integral value of the output voltage signal.
The invention is realized by the following technical scheme:
the invention relates to a micro-stroke magnetic lock type self-locking valve core motion state monitoring method, which comprises the steps of arranging a radial magnetized annular permanent magnet and a coil which are coaxial with a valve core at the position of the outer ring of the valve core, and collecting induced electromotive force generated on the coil when the valve core moves; and integrating the induced electromotive force to obtain the motion state of the self-locking valve and the end position of the valve core, and detecting the change of magnetic flux or the induced electromotive force to obtain the motion state of the valve core.
The valve core is preferably made of soft magnetic materials.
The section of the magnetic field of the self-locking valve takes a cylindrical or approximately cylindrical axisymmetric figure to be measured as a reference.
The inner diameter of the annular permanent magnet is larger than that of the valve core, the height of the annular permanent magnet is smaller than that of the valve core, and the height positions of the upper surface and the lower surface of the annular permanent magnet are positioned between the height positions of the upper surface and the lower surface of the valve core.
The coil is specifically arranged at a position near the upper part or the lower part of the annular permanent magnet of the self-locking valve and is kept coaxial with the valve core and the annular permanent magnet.
The coil be annular copper coil, the coil number is preferred 2, and the coil internal diameter is greater than the permanent magnetism ring external diameter, and the coil external diameter aligns with the permanent magnetism ring external diameter, and coil and permanent magnetism ring have the coincidence portion in the radial projection.
The induced electromotive force refers to: the motion speed of the valve core is reversely deduced by actually measuring induced electromotive force data by extracting the axial motion speed of the valve core and the induced electromotive force and calculating the proportion of the axial motion speed and the induced electromotive force, so that the motion state of the valve core is obtained.
Technical effects
The method can realize the motion state monitoring of the valve core of the self-locking valve with the micro stroke in the valve body, can monitor the motion state of the valve core under the millisecond-level working condition compared with the problem that the conventional non-contact measuring method has insufficient resolution ratio under the millisecond-level transient working condition in the valve core, can not bear a higher-level impact environment for the conventional contact measuring method, is suitable for a large number of levels of impact environment working conditions in a space environment, and particularly solves the problem that the conventional technical means is difficult to measure the motion state of the micro stroke valve core under the impact transient complex working condition.
Drawings
FIG. 1 is a schematic axial-symmetric cross-sectional view of an electromagnetic structure of a latching valve according to an embodiment;
FIG. 2 is a schematic view of the apparatus of the present invention;
FIG. 3 is a schematic of the electrical circuit of the present invention;
FIG. 4 is a flow chart of the valve core motion state judgment of the self-locking valve of the present invention;
fig. 5 is an explanatory diagram for verifying that the induced electromotive force on the coil is in direct proportion to the speed of the valve core under the electromagnetic structure by using simulation software.
FIG. 6 shows measured values of voltage signals in practical examples
FIG. 7 shows the integral value of the voltage signal, i.e. the movement status of the valve core of the self-locking valve in the practical embodiment
In the figure: the device comprises annular coils 1 and 3, a magnet 2, a valve core locking end 4, a valve core 5, a valve core movement stroke gap 6, a valve core opening end 7, a valve body structure 8, a self-locking valve 9, a self-locking valve coil anode and cathode 10, an impact source 11, a data acquisition instrument 12, a fixed value resistor 13, a lead wire 14, a data processing and drawing module 15 and a coil internal resistance 16.
Detailed Description
The valve element motion state monitored by the embodiment comprises the following steps: the valve core is in a locking or opening state, the times and moments of collision with the limiting ends on two sides in the moving process, and the axial moving speed and displacement curve of the valve core in the micro-stroke gap.
As shown in fig. 1 and fig. 2, the present embodiment relates to a device for monitoring a motion state of a valve element of a micro-stroke magnetic lock type self-locking valve, including: set up auto-lock valve 9 on examining test table, wherein: when the impact source 11 acts on the self-locking valve 9, the valve core moves to cause the induced electromotive force generated by the coil to be output, voltage signals are distributed through the fixed value resistor 13 and the coil internal resistance 16, and then the induced electromotive force is collected through the data acquisition instrument 12 and output to the data processing and drawing module 15.
The self-locking valve 9 comprises: the magnetic valve comprises two annular coils 1 and 3, a magnet 2, a valve core locking end 4, a valve core 5, a valve core movement stroke gap 6, a valve core opening end 7 and a valve body structure 8.
The data processing and rendering module 15 includes: a valve core opening and closing state data processing module 17 and a valve core movement speed processing module 18.
The valve core open/close state data processing module 17 includes: integral processing unit, figure drawing unit, state judgement unit and collision condition summarize the unit, wherein: the graph drawing unit is used for drawing graphs according to the change results of the induced electromotive force from the zero moment to the time integration of the induced electromotive force at different moments to obtain the time-integrated change graph of the induced electromotive force relative to the time; the state judgment unit compares the obtained graphs according to the maximum value and the minimum value of the induced electromotive force relative to the time integration to obtain the self-locking valve state of the termination position; and the collision condition summarizing unit summarizes the information of the maximum value and the minimum value of the induced electromotive force in the time-increasing process to obtain the results of the times and the collision moments of the valve core colliding with the limiting ends on the two sides respectively in the sampling time period.
The valve core motion speed processing module 18 comprises; electromagnetism emulation preprocessing unit, data processing unit and figure drawing unit, wherein: the electromagnetic simulation preprocessing unit establishes an electromagnetic model in simulation software according to the existing electromagnetic structure, gives an initial speed to the valve core, carries out electromagnetic transient field simulation, obtains the magnitude of induced electromotive force on a coil, and obtains a proportional coefficient K of the induced electromotive force of the structure and the speed of the valve core; and the data processing unit calculates an induced electromotive force signal according to the acquired voltage signal by a voltage division principle, and divides the induced electromotive force signal by a proportionality coefficient to obtain the actual axial movement speed of the valve core at each acquired moment. And the graph drawing unit is used for drawing the data set of the valve core speed and the time obtained by the data processing unit to obtain a speed-time relation curve, further integrating to obtain a valve core position-time relation curve, and finally obtaining the times and the collision time of the valve core colliding with the limiting ends on the two sides respectively in the analyzed time period.
As shown in fig. 3, the internal resistance R of the coil i That is, the resistor 16 in fig. 3 is related to the selection of the coil and the number of turns, and can be calculated by table lookup; the fixed value resistor 13 selects a proper resistance value to ensure that the acquired voltage signal is in a range suitable for the measurement of the data acquisition instrument, and the fixed value resistor R is obtained in the embodiment e ＝10Ω。
In the locked state, i.e. when the spool is in the locked position, the magnetic flux on the coil connecting the external passage of the latching valve is phi 0 . Similarly, when the valve core is in the open position, the magnetic flux on the coil is phi 1 . Under the action of exciting load, the valve core moves horizontally in the cavity channel to cut magnetic induction lines, so that the magnetic flux on the coil changes, and the induced electromotive force generated on the line coil at a certain time
Wherein: n is the number of turns of the coil, and Δ Φ is the variation of the magnetic flux in the Δ t time period.
0-t of the movement of the whole valve core s The integral value of the induced electromotive force and the electromotive force along with the time at any time t in the time period
Wherein: e is the induced electromotive force, n is the same as above, and phi (t) is the magnetic flux at time t.
In the embodiment, the valve core opening and closing state data processing module 17 is used for processing and analyzing, that is, the motion state of the valve core is obtained by judging the change of magnetic flux, or the valve core motion speed processing module 18 is used for processing and analyzing, that is, the motion state of the valve core is obtained by judging the direct proportion relationship between the induced electromotive force, that is, the electromagnetic signal of the electromagnetic structure and the motion speed of the valve core. The former can comparatively conveniently learn this bistable valve is in switching or locking state and case in the condition of the spacing end of collision in both sides of case in the motion process. The valve core is visual, the motion speed of the valve core can be obtained by utilizing the linear relation, so that the real-time position of the valve core in the motion process can be obtained, and the motion state of the valve core can be monitored more comprehensively.
As shown in fig. 4, when the valve element movement is terminated when the magnetic flux change judgment is used, t = t s . If the termination state is at the lock end, phi (t) s )＝Φ 0 ，S(t s ) And =0. When the end position of the valve core is positioned at the opening end, phi (t) is similar to s )＝Φ 1 ，S(t s )＝n(Φ 1 -Φ 0 ) C (C is a constant other than 0). Therefore S (t) s ) The value of (d) is proportional to the difference in magnetic flux of the coil at the end of the spool movement.
The induced electromotive force U generated on the coil of the self-locking valve is used for obtaining the voltage collected by the data collector
So that the voltage signal integral value S collect (t) is also proportional to S (t).
Due to errors of experimental equipment, sampling frequency, external interference and the like, the voltage signal integral value is a small amount delta close to 0 when the valve core is locked, the voltage signal integral value C fluctuates in a small range when the valve core is opened, and delta is far smaller than C. The constant C in the ideal state can be obtained by S when the multiple groups of valve cores are in the open state after the excitation action collect And averaging to obtain the final product.
As shown in fig. 4, when the induced electromotive force is used for judgment, it is necessary to perform electromagnetic simulation analysis before an experiment, establish a finite element model in electromagnetic simulation software, set the spool at an initial locking position, give a simple motion velocity excitation signal such as sinusoidal excitation to the spool, perform simulation analysis of a transient field, obtain an induced electromotive force E (t) on a coil under the electromagnetic structure, which is in a direct proportion relation with a spool velocity v (t), and calculate a proportionality coefficient K between E (t) and v (t), which is only related to the given electromagnetic structure and is not related to an input spool velocity, as shown in fig. 5.
Based on the coefficient, the voltage signal can be divided, and the voltage U acquired by the data acquisition instrument collect Obtaining coil induced electromotive force
Thereby reversing the speed of movement of the spool
Therefore, a v (t) -t relation curve of the valve core movement speed and the time is obtained. And integrating with respect to time, so that a z (t) -t relation curve of the valve core position with respect to time can be obtained, and further the collision condition of the valve core is obtained, and therefore a more comprehensive complete motion state of the valve core of the self-locking valve can be obtained.
The embodiment relates to a method for monitoring the motion state of a valve core of a micro-stroke magnetic locking type self-locking valve based on the device, which takes the complicated and transient extreme working condition of impact as an example to explain the implementation situation and comprises the following steps:
step 1: fixing a self-locking valve on an impact test bed, starting a control system of the impact test bed, and inputting a given impact response spectrum;
step 2: adjusting the angle of the impact test bed, performing trial knocking, and limiting the impact test tolerance within a required tolerance range;
and step 3: the experimental circuit was connected according to the external circuit schematic (see fig. 3).
And 4, step 4: using a data acquisition instrument to acquire an output voltage signal U collect (t)。
And 5: when the open-close state and the collision condition of the valve core are concerned, the motion state of the valve core is judged by utilizing the magnetic flux change, and when the complete motion state of the valve core is concerned, such as a real-time speed curve and a real-time position curve, the motion state of the valve core is judged by utilizing the induced electromotive force.
Step 6: when the motion state of the valve core is judged by utilizing the change of the magnetic flux, firstly, the integral processing is carried out in data analysis software, and the integral value S of the voltage signal along with the time is drawn collect Curve S of variation with time collect -t。
And 7: monitoring the open-close state of the valve core of the self-locking valve, and observing the integral value of the voltage signal and the S of the time collect T curve, if integral value S collect Stabilize to a small amount close to 0, the spool remains locked, if the integral value S collect And stabilizing to a constant value C, and keeping the valve core open.
And 8: the motion state of the valve core of the self-locking valve is monitored, mainly the collision vibration state of the valve core between two limit ends is studied, and the voltage signal integral value S is observed collect T curve and S collect ＝δ，S collect And the crossing time and the crossing times of the two pieces of direct C are obtained, and the vibration condition of the valve core of the self-locking valve colliding with the locking end and the opening end is obtained.
And step 9: when the motion state of the valve core is judged by utilizing the induced electromotive force, electromagnetic calculation pretreatment is firstly carried out, and a finite element model is established in an electromagnetic simulation element according to a known electromagnetic structure.
Step 10: simple speed excitation, such as sine excitation, is input to the valve core to perform transient dynamics electromagnetic calculation.
Step 11: the method is used for acquiring and simulating to obtain coil induced electromotive force, and calculating to obtain a proportionality coefficient K between the movement speeds of the coil induced electromotive valve cores.
Step 12: and dividing the induced electromotive force signal by a proportionality coefficient K to obtain the motion speed of the valve core at each moment.
Step 13: and drawing a graph of the valve core motion speed-time v (t) -t.
Step 14: and integrating the valve core movement speed to obtain a valve core movement position-time z (t) -t relation graph.
Step 15: and obtaining the condition and the moment of the valve core colliding with the limiting ends on the two sides respectively according to the intersection point of the valve core motion position and the limiting ends on the two sides.
Through a specific actual experiment, under the specific environment setting of the 1000g impact working condition, a self-locking valve test is carried out, and experimental data shown in fig. 6 are obtained; the experimental data are integrated, as shown in fig. 7, it can be determined that the valve element may be locked or unlocked in 1000g of impact condition with a test tolerance within ± 6dB, and no back-and-forth collision vibration occurs in each motion state.
Compared with the prior art, the invention is based on the electromagnetic induction principle, converts the motion instantaneous speed of the valve core in the self-locking valve which is difficult to measure into the induced electromotive force electric signal which is generated by the magnetic flux change on the coil caused by the valve core motion which is easy to measure, and can intuitively obtain the motion speed of the valve core through processing the electric signal so as to further obtain the motion displacement and the motion state of the valve core. The invention skillfully avoids a series of problems and disadvantages of difficult measurement implementation, poor measurement precision, expensive measurement equipment and the like caused by directly measuring the displacement in the traditional measurement and monitoring method, and has a series of advantages of high feasibility, simple operation, low cost, good measurement effect and the like. The invention solves the problem of measuring and monitoring the motion state of the internal valve core of the self-locking valve with small size and small stroke in an impact environment, and provides a technical basis and measurement convenience for exploring and summarizing the locking failure condition and motion rule of the valve core of the self-locking valve under different impact loads.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. A micro-stroke magnetic lock type self-locking valve core motion state monitoring method is characterized in that an annular permanent magnet and a coil which are coaxial with a valve core and magnetized in the radial direction are arranged at the position of the outer ring of the valve core, and induced electromotive force generated on the coil is collected when the valve core moves; integrating the induced electromotive force to obtain the motion state of the self-locking valve and the end position of the valve core, and detecting the change of magnetic flux or the induced electromotive force to obtain the motion state of the valve core;
the detection of the induced electromotive force to obtain the motion state of the valve core is as follows: when the motion state of the valve core is judged by utilizing the induced electromotive force, electromagnetic calculation pretreatment is firstly carried out, and a finite element model is established in an electromagnetic simulation element according to a known electromagnetic structure; inputting simple speed excitation to the valve core, and performing transient dynamics electromagnetic calculation; the device is used for acquiring and simulating to obtain coil induced electromotive force, and calculating to obtain a proportionality coefficient K of the induced electromotive force and the valve core speed; dividing the induced electromotive force signal by a proportionality coefficient K to obtain the motion speed of the valve core at each moment; drawing a relation graph of the motion speed of the valve core-time v (t) -t; integrating the valve core movement speed to obtain a valve core movement position-time z (t) -t relation graph; and obtaining the condition and the moment of the valve core colliding with the limiting ends on the two sides respectively according to the intersection point of the valve core motion position and the limiting ends on the two sides.
2. The method for monitoring the motion state of the valve core of the micro-stroke magnetic locking type self-locking valve as claimed in claim 1, wherein the cross section of the magnetic field of the self-locking valve is based on the cylindrical or approximately cylindrical axisymmetric pattern to be measured.
3. The method for monitoring the motion state of the valve core of the micro-stroke magnetic locking type self-locking valve according to claim 1 or 2, wherein the inner diameter of the annular permanent magnet is larger than the valve core and the height of the annular permanent magnet is smaller than that of the valve core, and the height positions of the upper surface and the lower surface of the annular permanent magnet are positioned between the height positions of the upper surface and the lower surface of the valve core.
4. The method for monitoring the motion state of the valve core of a micro-stroke magnetic lock type self-locking valve as claimed in claim 1, wherein the coil is specifically arranged at a position near the upper part or the lower part of the annular permanent magnet of the self-locking valve and is kept coaxial with the valve core and the annular permanent magnet.
5. The method for monitoring the motion state of the valve core of the micro-stroke magnetic lock-type self-locking valve according to claim 1 or 4, wherein the number of the coils is 2, the inner diameter of each coil is larger than the outer diameter of the annular permanent magnet, the outer diameter of each coil is aligned with the outer diameter of the annular permanent magnet, and the coils and the annular permanent magnet are projected to form a superposition part in the radial direction.
6. The cell of claim 1The method for monitoring the motion state of the valve core of the stroke magnetic locking type self-locking valve is characterized in that the detection of the magnetic flux change specifically comprises the following steps: when the motion state of the valve core is judged by utilizing the change of the magnetic flux, firstly, the integral processing is carried out in data analysis software, and the voltage signal integral value S is drawn collect Curve S as a function of time t collect -t; monitoring the open-close state of the valve core of the self-locking valve, and observing the voltage signal integral value S collect Curve S as a function of time t collect T, when the voltage signal integral value S collect Stabilizing to a small amount delta close to 0, keeping the valve core locked, and when the voltage signal integral value S is collect Stabilizing to a constant C, and keeping the valve core open; the motion state of the valve core of the self-locking valve is monitored, mainly the collision vibration state of the valve core between two limiting ends is researched, and the curve S of the integral value of the voltage signal changing along with the time t is observed collect -t and S collect ＝δ，S collect And acquiring the vibration condition of the valve core of the self-locking valve colliding at the locking end and the opening end by the intersection time and the intersection times of the two straight lines of the No = C.
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| JP3468454B2 (en) * | 1999-07-12 | 2003-11-17 | Ｓｍｃ株式会社 | Switching valve with position detection function |
| JP4443280B2 (en) * | 2004-03-30 | 2010-03-31 | カヤバ工業株式会社 | Solenoid plunger position detection device, solenoid valve, and direction switching valve |
| JP2007292185A (en) * | 2006-04-25 | 2007-11-08 | Honda Motor Co Ltd | Magnetic flux detecting device |
| JP2009204128A (en) * | 2008-02-28 | 2009-09-10 | Mitsubishi Heavy Ind Ltd | Operation state determination method of electromagnetic control valve and its device |
| CN202134306U (en) * | 2011-06-20 | 2012-02-01 | 宁波耀峰液压电器有限公司 | Proportion electromagnet |
| CN203404166U (en) * | 2013-08-16 | 2014-01-22 | 涌镇液压机械（上海）有限公司 | Valve element position detector for hydraulic valve |
| CN107401630B (en) * | 2017-08-10 | 2019-06-21 | 上海空间推进研究所 | Miniature self-locking valve and its control method |
| CN108344911B (en) * | 2018-02-09 | 2020-10-27 | 天津英创汇智汽车技术有限公司 | Valve core testing device |
| CN112014672A (en) * | 2020-08-26 | 2020-12-01 | 安阳凯地电磁技术有限公司 | Electromagnet response tester |
| CN112682561B (en) * | 2021-01-11 | 2022-07-08 | 福州大学 | Drive control system and control method of high-speed switch electromagnetic valve |
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