CN114594677B - Self-adaptive proportion control method, device, medium and equipment for switch type air valve - Google Patents

Self-adaptive proportion control method, device, medium and equipment for switch type air valve Download PDF

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Publication number
CN114594677B
CN114594677B CN202210253935.5A CN202210253935A CN114594677B CN 114594677 B CN114594677 B CN 114594677B CN 202210253935 A CN202210253935 A CN 202210253935A CN 114594677 B CN114594677 B CN 114594677B
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time
air valve
opening
closing
compensation
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CN114594677A (en
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彭鼎
郭民
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Anbaituo Nanjing Construction Mining Equipment Co ltd
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Anbaituo Nanjing Construction Mining Equipment Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B4/00—Drives for drilling, used in the borehole
    • E21B4/06—Down-hole impacting means, e.g. hammers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

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  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
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  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention discloses a self-adaptive proportion control method, device, medium and equipment for a switch type air valve, and belongs to the technical field of engineering machinery. The self-adaptive proportion control method of the switch type air valve comprises the following steps: presetting control precision; and calibrating the air valve at least twice in the opening and closing process to obtain the stepping time of the air valve under the preset control precision. The device utilizes the provided self-adaptive proportion control method to complete proportion control of the switch type air valve, and comprises an accuracy setting unit and a calibration unit. The medium is a computer readable storage medium; the apparatus includes a computer readable storage medium and a processor, and the adaptive proportional control method can be implemented by executing computer instructions. The invention can control the switch type air valve more accurately.

Description

Self-adaptive proportion control method, device, medium and equipment for switch type air valve
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a self-adaptive proportion control method, device, medium and equipment of a switch type air valve.
Background
The down-the-hole drill mainly relies on compressed air to provide drilling power when drilling, and compressed air extends to a drill bit through a drill rod so that the drill bit generates impact pressure, and meanwhile, the compressed air forms strong air flow from bottom to top under the hole to blow out the rock ash and broken stone formed by the hole, so that the purpose of reducing blocking the drill is achieved.
The regulation of wind pressure needs to be controlled through the blast gate, because single drilling blast gate regulation frequency is not high, so the blast gate of current market mainstream drilling machine adopts the form of switch formula ball valve, compares in forms such as proportional valve or step motor, and switch formula ball valve has great cost advantage, but can't confirm the ball valve and open and shut the angle when driver manually operation switch control ball valve aperture, can only discern whether the ball valve is opened or is closed to lead to the air quantity control inaccurate, the construction site raise dust is big, the wind pressure is too high leads to problems such as energy consumption increase.
The existing switch-type ball valve drives the ball valve through a direct current motor, only signals of opening and closing the ball valve in place can be monitored, and the specific opening of the ball valve can not be accurately controlled, so that the wind pressure control of a drilling machine in the drilling process is inaccurate, the generated dust is excessively influenced, the construction environment is influenced, and the energy consumption is high.
Disclosure of Invention
Technical problems: the invention provides a self-adaptive proportion control method capable of accurately controlling a switch type ball valve, a self-adaptive proportion control device of a switch type air valve based on the method, a computer readable storage medium and electronic equipment.
The technical scheme is as follows: in a first aspect, the present invention provides a method for adaptive proportional control of a switching damper, including:
presetting control precision;
and calibrating the air valve at least twice in the opening and closing process to obtain the stepping time of the air valve under the preset control precision.
Further, the method for calibrating the air valve comprises the following steps:
integrating the angular velocity curve of the air valve from the fully closed state to the fully open state continuously in time for one time to obtain an accumulated angle value of the opening of the air valve;
integrating the angular velocity curve of the air valve from the fully opened state to the fully closed state continuously for a single time in time to obtain an accumulated angle value of the air valve closing;
Obtaining single-opening stepping estimated time and single-closing stepping estimated time of the air valve under the current precision according to the preset precision;
The air valve is subjected to complete opening or closing test according to the single opening step estimated time and the single closing step estimated time, so that positive compensation time and negative compensation time are obtained;
splitting the positive compensation time and the negative compensation time to obtain the single open or close stepping estimated time with compensation under the current precision;
Introducing error elimination coefficients in positive compensation and negative compensation stepping time, and eliminating errors of compensation items;
Calculating an error elimination coefficient;
And obtaining the stepping time of single opening or closing of the air valve under the current precision according to the calculated error elimination coefficient.
Further, the obtaining the single-opening step estimated time and the single-closing step estimated time of the air valve under the current precision according to the preset control precision includes:
The single opening step estimated time is as follows: p is X T1, P is control precision, T1 is the time from the fully closed state to the fully open state of the air valve continuously for a single time;
the single closing step estimated time is: p×t2, T2 is the time that the damper is continuously from the fully open state to the fully closed state in a single pass.
Further, the step of performing a full-open or close test on the air valve according to the single-open step estimated time and the single-close step estimated time to obtain a positive compensation time and a negative compensation time includes:
taking the single opening step estimated time or the single closing step estimated time as a step reference to perform 1/P intermittent pre-output to obtain a 1/P step angular velocity curve;
Integrating the angular velocity curves of the n steps in time to obtain n times of opening or closing accumulated angle values;
Calculating an angle error existing between n times of stepping output and single continuous output:
If it is Then:
The controller 1/P times of stepping output still does not receive the in-place signal of the air valve, enters a positive compensation link, starts output and counts until the in-place signal of the air valve is received, and stops output to obtain positive compensation output time T3;
If it is Then:
The controller receives an opening or closing in-place signal given by the air valve without completing the preset 1/P steps, enters a negative compensation link, and subtracts the accumulated opening or closing time from the predicted opening or closing time to obtain negative compensation time T3'.
Further, splitting the negative compensation time to obtain the step estimated time of single opening or closing with compensation under the current precision comprises the following steps:
When (when) A step estimated time of positive compensation is obtained,
Ta＝P×T1(T2)+P×T3；
When (when)A negative compensated step-by-step estimated time is obtained,
Tb＝P×T1(T2)-P×T3′。
Further, the introducing error elimination coefficients in the positive compensation and negative compensation step time, and the error elimination of the compensation term includes:
the positive compensation step time is:
T′a＝P×T1(T2)+k×P×T3；
The negative compensation step time is:
T′b＝P×T1(T2)-k×P×T3′。
Further, the method for calculating the error elimination coefficient comprises the following steps:
The k value defaults to 1, and the opening or closing action time T c is controlled according to the stepping time with positive compensation
Then there is an equation:
k×P×T3＝P×T3-P×Δt，
The error elimination coefficient value is automatically obtained by the equation:
opening (or closing) action time T' C at negative compensation step time, let:
then there is an equation:
k×P×T3′＝P×T3′-P×Δt′，
The error elimination coefficient value is automatically obtained by the equation:
Further, obtaining the step time of single opening or closing of the damper under the current precision according to the calculated error elimination coefficient comprises:
Positive compensation step time:
negative compensation step time:
In a second aspect, the present invention provides an adaptive proportional control device for a switch-type damper, for proportional control of the damper by using the provided adaptive proportional control method for the switch-type damper, comprising:
a precision setting unit configured to preset control precision;
And the calibration unit is configured to calibrate the air valve at least twice in the opening and closing process, so as to obtain the stepping time of the air valve under the preset control precision.
In a third aspect, the present invention provides a computer-readable storage medium having stored therein computer instructions that, when executed, are capable of performing the provided adaptive proportional control method of a switch-mode damper.
In a fourth aspect, the present invention provides an electronic device comprising:
the computer-readable storage medium provided in the third aspect;
A processor capable of executing computer instructions stored in a computer readable storage medium, which when executed is capable of implementing the adaptive proportional control method of a switch-mode damper of claim.
Compared with the prior art, the invention can accurately control the switch type ball valve and accurately control the specific opening of the ball valve, thereby accurately controlling the wind pressure required by the drilling machine in drilling operation when the ball valve is applied to the drilling machine, and reducing the operation intensity of a driver and the energy consumption of drilling.
Drawings
FIG. 1 is a flow chart of an adaptive proportional control method for a switch-type damper in an embodiment of the present invention;
FIG. 2 is a graph of angular velocity of a damper from a fully closed condition to a fully open condition in a single succession;
FIG. 3 is a graph of angular velocity of a damper from a fully open condition to a fully closed condition in a single succession;
FIG. 4 is a graph of angular velocity versus time for multiple steps of a damper;
FIG. 5 is a graph of angular velocity versus time for multiple steps of a stroke valve in a positive compensation link;
FIG. 6 is a graph of angular velocity versus time for multiple steps of a stroke valve in a negative compensation case;
FIG. 7 is a graph of angular velocity versus time for a positive compensation link;
FIG. 8 illustrates a schematic diagram of a stroke valve control system.
Detailed Description
The invention is further illustrated by the following examples and the accompanying drawings.
In one example of the present invention, the on-off ball valve is applied to wind pressure control of a down-the-hole drill. The existing switch-type ball valve drives the ball valve through a direct current motor, only signals of opening and closing the ball valve in place can be monitored, and the specific opening of the ball valve can not be accurately controlled, so that the wind pressure control of a drilling machine in the drilling process is inaccurate, the generated dust is excessively influenced, the construction environment is influenced, and the energy consumption is high. In order to accurately control the opening and closing of the switch type ball valve, in the embodiment of the invention, an adaptive proportion control method of the switch type air valve is provided. Fig. 1 shows a flow chart of an adaptive proportional control method for a switching damper in an example. Referring to fig. 1, the method includes steps S100 to S200:
Step S100: the control accuracy is preset. The control precision P can be set manually, usually in the optional range of 1% -50%, and in general, the default precision is set to 10%.
Step S200: and calibrating the air valve at least twice in the opening and closing process to obtain the stepping time of the air valve under the preset control precision. In a specific example, steps S210-S280 are included.
Step S210: and integrating the angular velocity curve of the air valve from the fully closed state to the fully opened state continuously in time for a single time to obtain the accumulated angle value of the opening of the air valve.
The controller gives the air valve closing output until the controller receives the air valve closing signal, and stops outputting, and the output ensures that the air valve is completely closed in place.
The controller gives the opening output of the air valve, simultaneously starts the timing function, the air valve is gradually opened under the drive of the motor until the air valve is completely opened, the controller receives an opening signal of the air valve, namely, the air valve is closed to open the output and stop timing, the single continuous complete opening time of the air valve is obtained at this time and is T1, the angular velocity and time curve is shown in figure 2, and the integral of the angular velocity curve from time 0 to T1 is the accumulated angle value of the opening of the air valve.
Step S220: and integrating the angular velocity curve of the air valve from the fully opened state to the fully closed state continuously in time for a single time to obtain the accumulated angle value of the air valve closing.
The controller gives the air valve closing output, simultaneously starts the timing function, the air valve is gradually closed under the drive of the motor until the air valve is completely closed, the controller receives an in-place closing signal of the air valve, namely, closes the air valve closing output and stops timing, at the moment, single continuous complete closing time T 2 of the air valve is obtained, an angular velocity and time curve is shown in fig. 3, and the integral of the angular velocity curve from time 0 to T 2 is the accumulated angle value of the air valve closing.
Step S230: and obtaining the single-opening stepping estimated time and the single-closing stepping estimated time of the air valve under the current precision according to the preset precision. Specifically, the single-start stepping prediction time is: p is T1, P is control precision, T1 is time from a fully closed state to a fully open state of the damper in single succession; the single opening step estimated time is as follows: p.t2, T2 is the time that the damper is continuously from fully open to fully closed in a single pass. Taking 10% as an example of control precision, the estimated time of single opening step of the valve under the current precision is T1/10, and the estimated time of single closing step is T2/10.
Step S240: and carrying out complete opening or closing test on the air valve according to the single opening step estimated time and the single closing step estimated time to obtain positive compensation time and negative compensation time.
The controller performs intermittent pre-output for 1/P times (10 times if P is 10%) by taking the single-opening stepping estimated time or the single-closing stepping estimated time as the stepping reference time. Since the inertia exists in the opening and closing of the damper, the time Tu is required for the angular velocity of the damper to rise to the rated rotational speed and the time Td is required for the damper to drop to 0, the angular velocity versus time curve of n steps is shown in fig. 4, and the integral of the angular velocity curve and time is the cumulative angular value of n times of opening or closing.
As can be seen from fig. 4, each output has a Tu segment and a Td segment, and the angle error existing after 1/P step output compared with the single continuous output is:
If it is Then:
The controller performs 1/P times of stepping output, still does not receive the air valve in-place signal, and enters a positive compensation link, namely, the controller starts the output and counts until the air valve in-place signal is received, and stops outputting to obtain positive compensation output time T3 as shown in figure 5
If it isThen:
There are 1/P steps that the controller has not completed, i.e. the opening (or closing) signal given by the damper is received, and 1/P enters the negative compensation link, i.e. the cumulative opening (or closing) time is subtracted from the predicted opening (or closing) time T1 (T2), resulting in a negative compensation time T3' as shown in fig. 6.
Step S250: and splitting the positive compensation time and the negative compensation time to obtain the single open or close stepping estimated time with compensation under the current precision.
Splitting the compensation time T3 (or T3 ') into P multiplied by T3 (or P multiplied by T3') again according to the current stepping precision, and obtaining the single-time opening (or closing) stepping estimated time with compensation under the current precision as follows:
When (when) A step estimated time of positive compensation is obtained,
Ta＝P×T1(T2)+P×T3；
When (when)A negative compensated step-by-step estimated time is obtained,
Tb＝P×T1(T2)-P×T3′。
Since the Tu segment is also present in the positive and negative compensating segments, taking the positive compensating segment as an example, in the positive compensating segment the angular velocity versus time curve is shown in figure 7,
The opening (or closing) angle value of the air valve in the link is as follows:
However, since the damper is operated at the rated rotational speed v in the p×t3 period of the single-step time T a with positive compensation in step S250, performing a complete opening (or closing) operation with the current stepping accuracy will generate an error with a value equal to the integral of the Tu segment of the damper opening (or closing) starting operation and the rated rotational speed v at the time of 0 to Tu during the positive compensation, i.e
In order to accurately control the damper, the error must be eliminated, and thus, there is a step S260.
Step S260: and introducing error elimination coefficients in positive compensation and negative compensation stepping time, and carrying out error elimination on compensation items.
Wherein, the error elimination coefficient k is introduced in the positive compensation stepping time equation, then there are:
T′a＝P×T1(T2)+k×P×T3；
the error cancellation coefficient k is introduced in the negative compensation step time equation, then there are:
T′b＝P×T1(T2)-k×P×T3′。
Step S270: an error cancellation coefficient is calculated. The k value defaults to 1, after single step opening (or closing) positive compensation operation is carried out, the PLC carries out complete opening (or closing) action again according to the current step opening (or closing) time with compensation, and records the movement time of opening (or closing) of the air valve until the PLC stops outputting after receiving the opening (or closing) in-place signal given by the air valve, thus obtaining the opening (or closing) action time Tc under the step time with positive compensation And (3) making:
then there is an equation:
k×P×T3＝P×T3-P×Δt，
The error elimination coefficient value is automatically obtained by the equation:
similarly, the ON (or OFF) action time is performed at a negative compensation step time And (3) making:
then there is an equation:
k×P×T3′＝P×T3′-P×Δt′，
The error elimination coefficient value is automatically obtained by the equation:
Step S280: and obtaining the single opening or closing time of the air valve under the current precision according to the calculated error elimination coefficient. Wherein, the positive compensation step time is:
negative compensation step time:
The steps S210-S280 give specific method steps of primary calibration, and the secondary calibration is carried out according to the same method. After the air valve is automatically calibrated twice, the switching characteristic curve of the air valve is obtained, the stepping time of the air valve under the preset precision (the precision is adjustable) is further obtained, the proportional control of the air valve is realized, and the opening angle of the air valve can be reset in the controller when the on (or off) in-place signal is set each time. The error coefficient k can be automatically calculated under different working conditions, and the generated different delta t values are automatically error-eliminated, so that the proportional control of the controller on the switch type air valve can be further improved.
In a second aspect, the present invention provides an adaptive proportional control device for a switch-type air valve, where in an example, the device uses the proposed adaptive proportional control method for a switch-type air valve to perform proportional control on the air valve, and specifically, the device includes: a precision setting unit and a calibration unit, wherein the precision setting unit is configured to set a control precision; the calibration unit is configured to calibrate the air valve at least twice in the opening and closing process, so as to obtain the stepping time of the air valve under the preset precision. The manner in which each unit realizes the corresponding function corresponds to the adaptive proportional control method of the switch-type air valve in the above example, and will not be described here again.
In a third aspect, the present invention provides a computer-readable storage medium in which computer instructions are stored, which when executed by a processor, enable the implementation of the adaptive proportional control method of a switch-type damper set forth in an embodiment of the present invention. Computer-readable media, as referred to herein, include any type of computer storage media which can be accessed by a general purpose or special purpose computer. By way of example, a computer-readable medium may comprise RAM, ROM, EPROM, E 2 PROM, registers, hard disk, a removable disk, a CD-ROM or other optical disk storage, a magnetic disk storage or other magnetic storage device, or any other temporary or non-temporary medium that can be used to carry or store desired program code means in the form of instructions or data structures and that can be accessed by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Combinations of the above should also be included within the scope of computer-readable media. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In a fourth aspect of the invention, an electronic device is provided. The electronic device includes any of the computer readable storage media and processors as described above. Wherein the processor is configured to execute computer instructions stored in the computer-readable storage medium. It should be noted that the electronic device may further include other components, such as an input device, a display device, etc., which are not shown for the sake of clarity of illustrating the principles of the present invention.
For example, in one example of the present invention, the electronic device is a programmable controller PLC, which according to the prior art is composed of a CPU (processor), a memory, etc. Fig. 8 shows an example of a control system of the PLC controlled blast gate, and in combination with fig. 8, the control system includes a PLC controller, a display screen, a toggle switch, a dc motor, and a blast gate. S1 is a toggle switch, and a driver can manually control the opening degree of the air valve through an operation switch. D1 represents a display screen, and the driver can select a damper control mode to be manual or automatic through operating a damper setting page on the D1. The control mode of the two air valves is output by the pins of the PLC, the on/off signal wires of the S1 air valve are respectively connected with the input pins of the PLC, the positive and negative power supply wires of the direct current motor of the control air valve are connected with the output pins of the PLC, and the D1 and the PLC are communicated by adopting a CAN bus. In the manual mode, the output of the PLC pin is determined by the state of a switch S1, wherein the S1 is in an activated state, namely the PLC pin outputs 24V voltage, and the S1 is closed, namely the PLC pin outputs are disconnected; in the automatic mode, a driver directly sets the opening of the air valve through controlling the relevant interface of the D1, after receiving the corresponding opening instruction, the PLC obtains the power supply time of the pin through a preset algorithm, and then the pin is powered according to the calculated time, so that feedforward proportional control is implemented on the air valve.
The driver can select manual and automatic control through a human-computer interaction interface. Manual control is conventional on-off control; the automatic control can drive the ball valve to the appointed opening degree by a series of calculation control motor movement time according to the opening angle and the control precision selected by a driver, so that the control of wind pressure during drilling is improved, and the purposes of energy conservation and environmental protection are achieved.
The above examples are only preferred embodiments of the present invention, it being noted that: it will be apparent to those skilled in the art that several modifications and equivalents can be made without departing from the principles of the invention, and such modifications and equivalents fall within the scope of the invention.

Claims (8)

1. The self-adaptive proportion control method of the switch type air valve is characterized by comprising the following steps of:
presetting control precision;
Calibrating the air valve at least twice in the opening and closing process to obtain the stepping time of the air valve under the preset control precision;
integrating the angular velocity curve of the air valve from the fully closed state to the fully open state continuously in time for one time to obtain an accumulated angle value of the opening of the air valve;
integrating the angular velocity curve of the air valve from the fully opened state to the fully closed state continuously for a single time in time to obtain an accumulated angle value of the air valve closing;
obtaining single-opening stepping estimated time and single-closing stepping estimated time of the air valve under the current precision according to the preset control precision;
The air valve is subjected to complete opening or closing test according to the single opening step estimated time and the single closing step estimated time, so that positive compensation time and negative compensation time are obtained;
splitting the positive compensation time and the negative compensation time to obtain the single open or close stepping estimated time with compensation under the current precision;
Introducing error elimination coefficients in positive compensation and negative compensation stepping time, and eliminating errors of compensation items;
Calculating an error elimination coefficient;
obtaining the stepping time of single opening or closing of the air valve under the current precision according to the calculated error elimination coefficient;
the step pre-estimated time of single opening and the step pre-estimated time of single closing of the air valve under the current precision are obtained according to the preset control precision, and the step pre-estimated time comprises the following steps:
The single opening step estimated time is as follows: p is X T1, P is control precision, T1 is the time from the fully closed state to the fully open state of the air valve continuously for a single time;
the single closing step estimated time is: p×t2, T2 is the time that the damper is continuously from the fully open state to the fully closed state in a single pass;
the step of completely opening or closing the air valve according to the single opening step estimated time and the single closing step estimated time to obtain positive compensation time and negative compensation time comprises the following steps:
taking the single opening step estimated time or the single closing step estimated time as a step reference to perform 1/P intermittent pre-output to obtain a 1/P step angular velocity curve;
Integrating the angular velocity curves of the n steps in time to obtain n times of opening or closing accumulated angle values;
Calculating an angle error existing between n times of stepping output and single continuous output:
If it is Then:
The controller 1/P times of stepping output still does not receive the in-place signal of the air valve, enters a positive compensation link, starts output and counts until the in-place signal of the air valve is received, and stops output to obtain positive compensation output time T3;
If it is Then:
When the controller does not complete the preset 1/P steps, the controller receives an opening or closing in-place signal given by the air valve, enters a negative compensation link, and subtracts the accumulated opening or closing time from the predicted opening or closing time to obtain negative compensation time T3';
Wherein the time Tu is required for the angular velocity of the air valve to rise to the rated rotation speed, the time Td is required for the angular velocity of the air valve to fall to 0 from the rated rotation speed, the angle value of opening the air valve is theta, and the integral of the Tu section of the opening and starting action of the air valve and the rated rotation speed v at the moment of 0 to Tu is that
2. The method of claim 1, wherein splitting the negative compensation time to obtain a single on or off step estimated time with compensation for a current precision comprises:
When (when) A step estimated time of positive compensation is obtained,
Ta＝P×T1(T2)+P×T3；
When (when)A negative compensated step-by-step estimated time is obtained,
Tb＝P×T1(T2)-P×T3′。
3. The method of claim 2, wherein introducing error cancellation coefficients in the positive and negative compensation step times, error cancellation of the compensation term comprises:
the positive compensation step time is:
T′a＝P×T1(T2)+k×P×T3；
The negative compensation step time is:
T′b＝P×T1(T2)-k×P×T3′；
Where k is the error cancellation coefficient value.
4. A method according to claim 3, wherein the method of calculating an error cancellation coefficient comprises:
the k value defaults to 1, and the opening or closing action time T c is controlled according to the stepping time with positive compensation
Then there is an equation:
k×P×T3＝P×T3-P×Δt，
The error elimination coefficient value is automatically obtained by the equation:
opening or closing action time T' C at negative compensation step time, let:
then there is an equation:
k×P×T3′＝P×T3′-P×Δt′，
The error elimination coefficient value is automatically obtained by the equation:
5. the method of claim 4, wherein deriving a step time for a single opening or closing of the damper at the current accuracy based on the calculated error cancellation coefficient comprises:
Positive compensation step time:
negative compensation step time:
6. An adaptive proportional control device for a switch-type damper, which is configured to control a damper in proportion by the adaptive proportional control method for a switch-type damper according to any one of claims 1 to 5, comprising:
a precision setting unit configured to preset control precision;
And the calibration unit is configured to calibrate the air valve at least twice in the opening and closing process, so as to obtain the stepping time of the air valve under the preset control precision.
7. A computer readable storage medium having stored therein computer instructions that when executed are capable of performing the adaptive proportional control method of a switching damper according to any one of claims 1-5.
8. An electronic device, comprising:
The computer-readable storage medium of claim 7;
a processor capable of executing computer instructions stored in a computer readable storage medium, which when executed is capable of implementing the adaptive proportional control method of a switch-mode damper according to any one of claims 1 to 5.
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CN110671528A (en) * 2019-10-08 2020-01-10 浙江中鑫三元风机股份有限公司 Control system applied to ventilation regulating air valve of subway station

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CN110671528A (en) * 2019-10-08 2020-01-10 浙江中鑫三元风机股份有限公司 Control system applied to ventilation regulating air valve of subway station

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