CN115306937A - Pneumatic valve group synchronous control system and method of high-pressure water jet cleaning equipment - Google Patents
Pneumatic valve group synchronous control system and method of high-pressure water jet cleaning equipment Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 41
- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000011217 control strategy Methods 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims description 30
- 230000004044 response Effects 0.000 claims description 28
- 239000004576 sand Substances 0.000 claims description 24
- 230000005674 electromagnetic induction Effects 0.000 claims description 21
- 230000003993 interaction Effects 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 claims description 6
- 239000002356 single layer Substances 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000003111 delayed effect Effects 0.000 claims description 2
- 239000002184 metal Substances 0.000 description 8
- 239000000463 material Substances 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C7/00—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts
- B24C7/0007—Equipment for feeding abrasive material; Controlling the flowability, constitution, or other physical characteristics of abrasive blasts the abrasive material being fed in a liquid carrier
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- 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
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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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Fluid Pressure (AREA)
Abstract
The invention discloses a pneumatic valve set synchronous control system and a pneumatic valve set synchronous control method of high-pressure water jet cleaning equipment, wherein the mechanical characteristic time of each pneumatic valve in a pneumatic valve set is determined; and aiming at the synchronization of the target opening in-place time of each pneumatic valve, establishing a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually opening each pneumatic valve according to the opening time sequence of each pneumatic valve in the synchronous control strategy, thereby realizing the purpose of ensuring the actual opening and closing time synchronization of each valve.
Description
Technical Field
The invention relates to the field of valve regulation control systems, in particular to a pneumatic valve set synchronous control system and method of high-pressure water jet cleaning equipment.
Background
The high-pressure water jet metal surface cleaning equipment has the working principle that the mixed fluid of high-pressure water and a steel shot grinding material is used for impacting the metal surface, so that impurities such as surface oxide skin and the like are removed. The abrasive tank is a part used for loading steel shots in cleaning equipment, and is a structure diagram of a sand discharge pipeline in one abrasive tank as shown in figure 1, the number of sand discharge openings of each abrasive tank is different from 8 to 48, and the number ratio of the sand discharge openings, the pneumatic valve and the spray head is 1:1:1. the steel shot is mixed with high-pressure water by opening the pneumatic valve to form high-pressure mixed liquid with surface cleaning capability. In the high-pressure water jet cleaning equipment, a plurality of spray heads need to operate simultaneously, so that the metal plates with different widths can be cleaned. At present, a processing method of supplying power and cutting off power simultaneously is adopted for controlling the valve group consisting of 8 to 48 pneumatic valves, but the method only realizes the synchronization of electric signals among the pneumatic valves, the opening and closing time difference among the valves can be caused by the inconsistency of the mechanical characteristics of the valves, the time difference causes the time for reaching the set working flow among the spray heads to be asynchronous, the defects of color difference, dark spots and the like occur on the surface of a cleaned metal plate, and the cleaning quality is reduced.
Therefore, how to solve the problem of reduced cleaning quality caused by asynchronous time for reaching the set working flow rate among spray heads of the existing high-pressure water jet metal surface cleaning equipment becomes a technical problem to be solved in the field.
Disclosure of Invention
The invention provides a pneumatic valve group synchronous control system and method of high-pressure water jet cleaning equipment, which are used for solving the technical problem of reduced cleaning quality of the existing high-pressure water jet metal surface cleaning equipment caused by asynchronous moments when set working flow is achieved among spray heads.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a pneumatic valve group synchronous control system of high-pressure water jet cleaning equipment comprises: the calibration assembly is communicated with the control assembly, and the control assembly is respectively communicated with each pneumatic valve in the pneumatic valve group;
the calibration assembly is used for calibrating the mechanical characteristic time of each pneumatic valve in the pneumatic valve group and sending the mechanical characteristic time of each pneumatic valve to the control assembly; the mechanical characteristic time comprises a response time and an opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
the control assembly is used for receiving the mechanical characteristic time of each pneumatic valve, taking the target opening in-place time synchronization of each pneumatic valve as a target, making a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually controlling each pneumatic valve according to the control time sequence of each pneumatic valve in the synchronous control strategy.
Preferably, the mechanical characteristic time is the sum of a response time and an opening degree adjustment time;
the calibration assembly comprises an electromagnetic induction coil, a digital bridge and a processing unit, wherein two ends of the electromagnetic induction coil are connected with the digital bridge, and the digital bridge is also connected with the processing unit; the electromagnetic induction coil is sleeved on the sand supply hose corresponding to the pneumatic valve; the digital bridge is used for capturing real-time inductance data which is generated by the electromagnetic induction coil due to the variable flow of the sand supply hose and changes, and sending the real-time inductance data to the processing unit;
the processing unit is used for sending a target opening control instruction to the pneumatic valve and recording the current time ts; the processing unit is configured to perform smooth filtering on the real-time inductance data, and determine whether the duration inductance data sent by the digital bridge and subjected to smooth filtering rises or falls to target inductance data corresponding to a target opening, and is stabilized in the target inductance data: and if the inductance data sent by the digital bridge is judged to be increased or decreased to the target inductance data corresponding to the target opening and is stabilized in the target inductance data, recording the time tf of finishing the increase or decrease, and subtracting the time ts from the time tf to obtain the mechanical characteristic time of the pneumatic valve.
Preferably, the processing unit is further configured to establish an index between each pneumatic valve and its mechanical characteristic time, and sort each pneumatic valve and its mechanical characteristic time in descending order according to the mechanical characteristic time to obtain a descending mechanical characteristic time sequence [ t [ [ t ] 0 , t 1 , t 2 , …, t n-1 ]And corresponding pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ](ii) a Wherein, mechanical characteristic time t 0 , t 1 , t 2 , …, t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The mechanical property time of (c); and time-sequencing said descending mechanical properties [ t ] 0 , t 1 , t 2 , …, t n-1 ]And corresponding pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ]To the control component;
the control component is used for time sequence [ t ] according to descending mechanical characteristics 0 , t 1 , t 2 , …, t n-1 ]Setting a delay control time sequence using n timers, noted as [0,t ] 0 -t 1 ,…,t 0 -t n-1 ](ii) a The delay control time sequence [0,t ] 0 -t 1 ,…,t 0 -t n-1 ]With said pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ]The elements in the table are sequentially matched in a one-to-one correspondence manner, and n corresponding pneumatic valves are sequentially delayed and controlled according to the matching result, wherein 0,t 0 -t 1 ,…,t 0 -t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The delay control time of (2); pneumatic valve with longest mechanical characteristic timeAnd firstly receiving a target opening control command, and finally receiving the target opening control command by the pneumatic valve with the shortest mechanical characteristic time.
Preferably, the system also comprises a human-computer interaction interface, and the human-computer interaction interface is communicated with the processing unit; the human-computer interaction interface is used for a user to issue a target opening control instruction of the pneumatic valve to the processing unit, so that the processing unit can send the target opening control instruction to the pneumatic valve; the processing unit is also used for drawing a oscillogram according to the continuous time period inductance data which is sent by the digital bridge and subjected to smooth filtering, and sending the oscillogram to the human-computer interaction interface for display; and the processing unit is also used for sending the real-time inductance data which is sent by the digital bridge and subjected to smooth filtering to the human-computer interaction interface for displaying.
Preferably, the control assembly is respectively connected with each pneumatic valve through a relay control circuit.
Preferably, the processing unit is connected with the digital bridge through a USB; the electromagnetic induction coil is a single-layer hollow compact coil; the relay control circuit is a circuit board card adopting a PCI-E bus interface, the circuit board card comprises a plurality of paths of parallel digital IO output ports, and the plurality of paths of parallel digital IO output ports correspond to the plurality of pneumatic valves one to one and are used for controlling the plurality of pneumatic valves.
A pneumatic valve group synchronous control method of high-pressure water jet cleaning equipment comprises the following steps:
determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group; the mechanical characteristic time comprises response time and opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
and aiming at the synchronization of the target opening in-place time of each pneumatic valve, establishing a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually opening each pneumatic valve according to the opening time sequence of each pneumatic valve in the synchronous control strategy.
Preferably, the mechanical characteristic time is the sum of a response time and an opening degree adjustment time; the method comprises the following steps of determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group, and realizing the following steps:
for any one pneumatic valve, an inductance measuring device is sleeved on a sand supply hose corresponding to the pneumatic valve, a target opening control instruction is given, the current time ts is recorded, the inductance data of the change of the sand supply hose is detected in real time through the inductance measuring device, when the inductance data of the sand supply hose rises or falls to the target inductance data corresponding to the target opening, the inductance data is stable in the target inductance data, the time tf when the rising or falling is finished is recorded, and the time ts is subtracted from the time tf to obtain the mechanical characteristic time of the pneumatic valve.
Preferably, the inductance measuring device comprises an electromagnetic induction coil and a digital bridge, wherein the two ends of the electromagnetic induction coil are connected with the digital bridge, and the electromagnetic induction coil is used for being sleeved on the sand supply hose corresponding to the pneumatic valve and is a single-layer hollow compact coil.
Preferably, a synchronization control strategy is formulated according to the mechanical characteristic time of each pneumatic valve by taking the target opening degree to in-place time synchronization of each pneumatic valve as a target, and specifically comprises the following steps:
the pneumatic valve set comprises n pneumatic valves, and the mechanical characteristic time of the n pneumatic valves is sequenced into t 0 , t 1 , t 2 , …, t n-1 ]And its corresponding pneumatic valve sequence is denoted as [ x ] 0 , x 1 , x 2 , …, x n-1 ]Wherein the mechanical characteristic time t 0 , t 1 , t 2 , …, t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The mechanical property time of (d);
the delay control time is set by using n timers and is recorded as [0,t ] 0 -t 1 ,…,t 0 -t n-1 ]Sequentially controlling n corresponding air-operated valves according to the delay of the timer, wherein 0,t 0 -t 1 ,…,t 0 -t n-1 Are respectively asPneumatic valve x 0 , x 1 , x 2 , …, x n-1 The delay control time of (3); the pneumatic valve with the longest mechanical characteristic time receives the target opening control command firstly, and the pneumatic valve with the shortest mechanical characteristic time receives the target opening control command finally.
The invention has the following beneficial effects:
the invention provides a synchronous control method for a pneumatic valve group of an abrasive tank in water jet cleaning equipment, namely, the opening and closing mechanical characteristics of the valve are firstly measured, the mechanical characteristic time sequence is used as a starting or closing basis, each pneumatic valve is sequentially controlled, and the actual opening and closing time synchronization of the valve is ensured. The synchronous control system of the invention changes the synchronism of mechanical opening and closing of the valve group by the time sequence of electrical control of the valve, and realizes the technological requirement that the flow of the grinding material reaches the synchronism. The actual cleaning effect shows that dark spots and color differences on the metal surface caused by asynchronous flow of the nozzle grinding material are obviously reduced, and the further improvement of the surface cleaning quality is ensured.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a diagram of a single sanding line of a prior art abrasive tank, in which 1 denotes the abrasive tank, 2 denotes a steel shot, 3 denotes a sanding outlet, 4 denotes a pneumatic valve, 5 denotes a sand supply hose, 6 denotes a high-pressure water line, and 7 denotes a high-pressure head;
FIG. 2 is a hardware block diagram of the synchronization control system in the preferred embodiment of the present invention;
FIG. 3 is a functional block diagram of the control software in a preferred embodiment of the present invention;
fig. 4 is a flow chart of the operation of the synchronization control system in the preferred embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The first embodiment is as follows:
this implementation discloses a pneumatic valves synchro control system that high pressure water jet cleaned equipment, includes: the calibration assembly is communicated with the control assembly, and the control assembly is respectively communicated with each pneumatic valve in the pneumatic valve group;
the calibration assembly is used for calibrating the mechanical characteristic time of each pneumatic valve in the pneumatic valve group and sending the mechanical characteristic time of each pneumatic valve to the control assembly; the mechanical characteristic time comprises a response time and an opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
the control assembly is used for receiving the mechanical characteristic time of each pneumatic valve, taking the target opening in-place time synchronization of each pneumatic valve as a target, making a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually controlling each pneumatic valve according to the control time sequence of each pneumatic valve in the synchronous control strategy.
In addition, in this embodiment, a method for synchronously controlling a pneumatic valve set of a high-pressure water jet cleaning device is also disclosed, which includes the following steps:
determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group; the mechanical characteristic time comprises response time and opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
and aiming at the synchronization of the target opening in-place time of each pneumatic valve, establishing a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually opening each pneumatic valve according to the opening time sequence of each pneumatic valve in the synchronous control strategy.
The invention provides a synchronous control method for a pneumatic valve group of an abrasive tank in water jet cleaning equipment, namely, the opening and closing mechanical characteristics of the valve are firstly measured, the mechanical characteristic time sequence is used as a starting or closing basis, each pneumatic valve is sequentially controlled, and the actual opening and closing time synchronization of the valve is ensured. The synchronous control system of the invention changes the synchronism of mechanical opening and closing of the valve group by the time sequence of electrical control of the valve, and realizes the process requirement that the abrasive flow reaches the synchronization. The actual cleaning effect shows that dark spots and color differences on the metal surface caused by asynchronous flow of the nozzle grinding material are obviously reduced, and the further improvement of the surface cleaning quality is ensured.
The second embodiment:
the second embodiment is the preferred embodiment of the first embodiment, and is different from the first embodiment in that specific steps of a pneumatic valve group synchronous control method of the high-pressure water jet cleaning equipment are refined, and a specific structure and a work flow of a pneumatic valve group synchronous control system of the high-pressure water jet cleaning equipment are introduced.
In the embodiment, aiming at a sand supply tank with n pneumatic valves, the valve numbers are from 1 to n, the method for synchronously controlling the pneumatic valve set of the high-pressure water jet cleaning equipment comprises the following steps:
s1, preparing an electromagnetic induction coil: firstly, a single-layer hollow compact coil with the inner diameter slightly larger than the sand supply hose is manufactured, and the number of turns is about 40.
S2, measuring the opening mechanical characteristics of the No. 1 pneumatic valve: as shown in fig. 1, the coil was secured to the sand supply hose of valve No. 1, and the coil was terminated at both ends with a digital bridge to record the initial inductance reading of the coil. And (2) giving an electric signal for opening the pneumatic valve, recording the current time ts, continuously reading and recording the numerical value of the electric bridge, considering that the valve mechanical device is opened in place after the numerical value rises to be basically stable, and recording the finishing time of the numerical value rising as tf, wherein the numerical value of tf-ts is the opening in place time of the pneumatic valve No. 1, and the mechanical opening characteristic of the pneumatic valve No. 1 is reflected.
S3, measuring the closing mechanical characteristics of the No. 1 pneumatic valve: and S2, after the numerical value of the electric bridge is basically stable and is kept for a certain time, giving an electric signal for closing the No. 1 pneumatic valve, recording the current time ts ', continuously reading and recording the numerical value of the electric bridge, considering that the valve mechanical device is closed in place when the numerical value is reduced to an initial value, recording the reduction finishing time tf', and reflecting the mechanical closing characteristic of the No. 1 pneumatic valve, wherein the numerical value tf '-ts' is the closing in-place time of the No. 1 pneumatic valve.
S4, measuring opening and closing mechanical characteristics of a 2~n valve: and (3) detaching the coil of the S1 to be connected to the sand supply hose of the No. 2 valve, executing the operations of the S2 and the S3 to obtain the opening in-place time and the closing in-place time of the No. 2 pneumatic valve, and similarly obtaining the opening in-place time and the closing in-place time of the rest n-2 pneumatic valves.
S5, making a control strategy: sorting the n open-in-place times of S2 and S4 into t according to descending order 0 , t 1 , t 2 , … t n-1 ]And establishing a corresponding pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ]The delay start time is set to [0,t ] by using n timers 0 -t 1 ,…t 0 -t n-1 ]And the starting control strategy is made as that corresponding pneumatic valve sequences are sequentially started according to the delay of the timer, so that the pneumatic valve which is slowest to start receives the starting signal firstly, the pneumatic valve which is fastest to start receives the starting signal finally, and the time when all the valves reach the mechanical starting position is consistent. Sorting the n closing times of S3 and S4 into [ t ] according to descending order 0 ’, t 1 ’, t 2 ’, … t n-1 ’]And establishing a corresponding pneumatic valve sequence [ x ] 0 ’, x 1 ’, x 2 ’, …, x n-1 ’]The delay closing time is set to [0,t ] by using n timers 0 ’-t 1 ’,…t 0 ’-t n-1 ’]The shutdown control strategy is as followsAnd the corresponding pneumatic valve sequences are closed in sequence according to the delay of the timer, so that the pneumatic valve with the slowest closing characteristic receives a closing signal firstly, and the pneumatic valve with the fastest closing characteristic receives a closing signal finally, thereby ensuring that the time when all valves reach the mechanical closing position is consistent.
Furthermore, in this embodiment, a pneumatic valve bank synchronous control system of high pressure water jet cleaning equipment is disclosed, comprising:
as shown in fig. 2, the synchronous control system is composed of an electromagnetic induction coil, a computer and control software, a digital bridge, and a relay control circuit.
The electromagnetic induction coil is wound on the sand supply hose below the pneumatic valve and used for inducing the passing condition of the steel shot grinding materials; the more the grinding materials pass in unit time, the smaller the magnetic resistance is, and the larger the coil inductance is;
the digital bridge is used for measuring the real-time inductance value of the electromagnetic induction coil, and the measured value of the digital bridge is gradually increased along with the opening of the pneumatic valve until the steel shot grinding material tends to be stable when reaching the designed flow; on the contrary, the closing of the pneumatic valve can lead the numerical value to be gradually reduced, and finally the initial inductance value of the electromagnetic induction coil can be reduced;
from the aspect of hardware, the computer comprises a Central Processing Unit (CPU) and a Read Only Memory (ROM) and a man-machine interaction interface, wherein the CPU of the computer is used for executing the logic, calculation, processing and stored data retrieval of software, a static memory (SRAM) of the computer is used for providing an operation memory space of the control software, and the Read Only Memory (ROM) of the computer is used for storing the control software and calibrated mechanical characteristic parameters of the valve. The USB bus interface of the computer is used for connecting with the electric bridge, and the PCI-E bus interface of the computer is used for connecting with the relay control circuit;
from the software level, as shown in fig. 3, the computer integrated control software is composed of a human-computer interface module, a calculation processing module, and a communication processing module. The human-computer interface module mainly provides functions of command issuing control, real-time data display, inductance waveform display and the like; the calculation processing module completes the functions of software operation logic, inductance data smoothing, index establishment, sorting, data storage and the like; the communication processing module provides access interfaces of USB and PCI-E channels.
The relay control circuit is a circuit board card adopting a PCI-E bus interface, the circuit board card is provided with 16 parallel digital IO outputs and can correspondingly control driving mechanisms of 16 pneumatic valves.
The work flow of the synchronous control system is as follows:
for 1 abrasive tank with 16 pneumatic valves, the valves are numbered from 1 to 16, and the corresponding working flow of the method is shown in fig. 4:
the first step is as follows: selecting whether the mechanical characteristic measurement of the pneumatic valve group is needed, if so, entering the second step, otherwise, indicating that the opening and closing time parameters of the pneumatic valve group are stored in the computer, skipping the measurement step, and directly entering the eighth step;
the second step is that: a single-layer compact coil is manufactured by using a hard wire, the inner diameter of the coil is slightly larger than that of a sand supply pipe, the number of turns of the coil is about 40, the coil is sleeved on the sand supply pipe connected with a No. 1 pneumatic valve, digital bridges are connected to two ends of the coil, and the bridge starts a USB communication function;
the third step: starting the communication function of the software, carrying out communication test with the electric bridge, and recording a string of data read by the USB bus as L s1 、L s2 、…L sn Taking the average value as Ls and recording as the initial value of the coil, storing and entering the third step, and terminating the program if a communication error occurs;
the fourth step: and issuing an opening instruction of the No. 1 pneumatic valve through a software interface, and automatically recording ts as the current time by software. At the moment, the inductance value read by the software through the bridge gradually rises until the inductance value is basically stabilized as Lf, the software automatically analyzes and calculates the data acquired during the period of time, finds the end point time of the rising time and records the end point time as tf, and the time corresponding to tf-ts is the starting mechanical characteristic time of the pneumatic valve No. 1;
the fifth step: after Lf in the fourth step is stabilized for a period of time, issuing an instruction for closing the pneumatic valve No. 1 through a software interface, automatically recording the current time as ts 'by software, gradually reducing the read data from Lf to Ls and tending to be stable, calculating the data in the period of time by the software, finding the end point of the reduction and recording the end point as tf', and determining the time corresponding to tf '-ts' as the mechanical characteristic closing time of the pneumatic valve No. 1;
detaching and installing the coil on a sand supply pipe of the No. 2 pneumatic valve, repeating the fourth and fifth steps, and obtaining the opening and closing mechanical characteristic time of the other 15 pneumatic valves;
and a sixth step: recombining the opening and closing mechanical characteristic time of 16 pairs of the pneumatic valve group obtained in the step into t according to descending order 1 , t 2 , …, t 16 ]，[t 1 ’, t 2 ’, …, t 16 ’]And establishing an index [ x ] corresponding to the relay control number 1 ,x 2 ,…,x 16 ]，[x 1 ’,x 2 ’,…,x 16 ’]；
The seventh step: establishing 16 valve group starting control timers, and saving the delay starting value of the control timers as 0, t 1 -t 2 , …, t 1 -t 16 ]And 16 valve group closing control timers are established, and the delay starting value is stored as 0, t 1 ’-t 2 ’, …, t 1 ’-t 16 ’]；
The eighth step: when the valve group switch control is needed, the software operates the relay to control the corresponding pneumatic valve according to the index according to the interface function of the relay circuit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a pneumatic valves synchronous control system that high pressure water jet cleaned equipment which characterized in that includes: the calibration component is communicated with the control component, and the control component is respectively communicated with each pneumatic valve in the pneumatic valve group;
the calibration assembly is used for calibrating the mechanical characteristic time of each pneumatic valve in the pneumatic valve group and sending the mechanical characteristic time of each pneumatic valve to the control assembly; the mechanical characteristic time comprises a response time and an opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
the control assembly is used for receiving the mechanical characteristic time of each pneumatic valve, taking the time synchronization of the target opening of each pneumatic valve in place as a target, making a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually controlling each pneumatic valve according to the control time sequence of each pneumatic valve in the synchronous control strategy.
2. The pneumatic valve bank synchronous control system of high-pressure water jet cleaning equipment of claim 1,
the mechanical characteristic time is the sum of response time and opening degree adjusting time;
the calibration component comprises an electromagnetic induction coil, a digital bridge and a processing unit, wherein two ends of the electromagnetic induction coil are connected with the digital bridge, and the digital bridge is also connected with the processing unit; the electromagnetic induction coil is used for being sleeved on the sand supply hose corresponding to the pneumatic valve; the digital bridge is used for capturing the changed real-time inductance data generated by the electromagnetic induction coil due to the changed flow of the sand supply hose and sending the real-time inductance data to the processing unit;
the processing unit is used for sending a target opening control instruction to the pneumatic valve and recording the current time ts; the processing unit is configured to perform smooth filtering on the real-time inductance data, and determine whether the duration inductance data sent by the digital bridge and subjected to smooth filtering rises or falls to target inductance data corresponding to a target opening, and is stable in the target inductance data: and if the inductance data sent by the digital bridge is judged to be increased or decreased to the target inductance data corresponding to the target opening and is stabilized in the target inductance data, recording the time tf of finishing the increase or decrease, and subtracting the time ts from the time tf to obtain the mechanical characteristic time of the pneumatic valve.
3. The pneumatic valve bank synchronous control system of high-pressure water jet cleaning equipment of claim 2,
the processing unit is also used for establishing indexes among the pneumatic valves and the mechanical characteristic time thereof, and sequencing the pneumatic valves and the mechanical characteristic time thereof in a descending order according to the mechanical characteristic time to obtain a descending mechanical characteristic time sequence [ t ] 0 , t 1 , t 2 , …, t n-1 ]And corresponding pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ](ii) a Wherein, mechanical characteristic time t 0 , t 1 , t 2 , …, t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The mechanical property time of (d); and time-sequencing said descending mechanical properties [ t ] 0 , t 1 , t 2 , …, t n-1 ]And corresponding pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ]Sending to the control component;
the control component is used for time sequence [ t ] according to descending mechanical characteristics 0 , t 1 , t 2 , …, t n-1 ]The delay control time sequence is set by using n timers and is marked as [0,t ] 0 -t 1 ,…,t 0 -t n-1 ](ii) a The delay control time sequence [0,t ] 0 -t 1 ,…,t 0 -t n-1 ]With said pneumatic valve sequence [ x ] 0 , x 1 , x 2 , …, x n-1 ]The elements in the table are sequentially matched in a one-to-one correspondence manner, and n corresponding pneumatic valves are sequentially delayed and controlled according to the matching result, wherein 0,t 0 -t 1 ,…,t 0 -t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The delay control time of (3); pneumatic valve with longest mechanical characteristic timeAnd receiving a target opening control instruction, and finally receiving the target opening control instruction by the pneumatic valve with the shortest mechanical characteristic time.
4. The pneumatic valve bank synchronous control system of high-pressure water jet cleaning equipment of claim 3,
the system also comprises a human-computer interaction interface, wherein the human-computer interaction interface is communicated with the processing unit; the human-computer interaction interface is used for a user to issue a target opening control instruction of the pneumatic valve to the processing unit, so that the processing unit sends the target opening control instruction to the pneumatic valve; the processing unit is further used for drawing a waveform diagram according to the smooth filtered continuous time period inductance data sent by the digital bridge and sending the waveform diagram to the human-computer interaction interface for display; and the processing unit is also used for sending the real-time inductance data which is sent by the digital bridge and subjected to smooth filtering to the human-computer interaction interface for displaying.
5. The pneumatic valve bank synchronous control system of high-pressure water jet cleaning equipment of claim 4,
the control assembly is respectively connected with each pneumatic valve through a relay control circuit.
6. The pneumatic valve group synchronous control system of the high-pressure water jet cleaning equipment as claimed in claim 4, wherein the processing unit is connected with the digital bridge through USB; the electromagnetic induction coil is a single-layer hollow compact coil; the relay control circuit is a circuit board card adopting a PCI-E bus interface, the circuit board card comprises a plurality of paths of parallel digital IO output ports, and the plurality of paths of parallel digital IO output ports correspond to the plurality of pneumatic valves one to one and are used for controlling the plurality of pneumatic valves.
7. A pneumatic valve group synchronous control method of high-pressure water jet cleaning equipment is characterized by comprising the following steps:
determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group; the mechanical characteristic time comprises response time and opening degree adjusting time, the response time of the pneumatic valve refers to the time required from the sending of a target opening degree control instruction to the start of the response of the pneumatic valve to the target opening degree control instruction, and the opening degree adjusting time refers to the time required from the start of the response of the target opening degree control instruction to the adjustment of the current opening degree to the target opening degree;
and aiming at the synchronization of the target opening of each pneumatic valve at the in-place moment, establishing a synchronous control strategy according to the mechanical characteristic time of each pneumatic valve, and gradually opening each pneumatic valve according to the opening time sequence of each pneumatic valve in the synchronous control strategy.
8. The pneumatic valve group synchronous control method of high-pressure water jet cleaning equipment of claim 7, wherein the mechanical characteristic time is the sum of response time and opening degree adjusting time; the method comprises the following steps of determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group, and realizing the following steps:
for any one pneumatic valve, an inductance measuring device is sleeved on a sand supply hose corresponding to the pneumatic valve, a target opening control instruction is given, the current time ts is recorded, the inductance data of the change of the sand supply hose is detected in real time through the inductance measuring device, when the inductance data of the sand supply hose rises or falls to the target inductance data corresponding to the target opening, the inductance data is stable in the target inductance data, the time tf when the rising or falling is finished is recorded, and the time ts is subtracted from the time tf to obtain the mechanical characteristic time of the pneumatic valve.
9. The method for synchronously controlling the pneumatic valve set of the high-pressure water jet cleaning equipment as recited in claim 8, wherein the inductance measuring device comprises an electromagnetic induction coil and a digital bridge, two ends of the electromagnetic induction coil are connected with the digital bridge, and the electromagnetic induction coil is used for being sleeved on the sand supply hose corresponding to the pneumatic valve and is a single-layer hollow compact coil.
10. The pneumatic valve group synchronous control method of the high-pressure water jet cleaning equipment according to claim 7, characterized in that a synchronous control strategy is established according to mechanical characteristic time of each pneumatic valve by taking target opening in-place time synchronization of each pneumatic valve as a target, specifically:
the pneumatic valve set comprises n pneumatic valves, and the mechanical characteristic time of the n pneumatic valves is sequenced into t 0 , t 1 , t 2 , …, t n-1 ]And its corresponding pneumatic valve sequence is denoted as [ x ] 0 , x 1 , x 2 , …, x n-1 ]Wherein the mechanical characteristic time t 0 , t 1 , t 2 , …, t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The mechanical property time of (c);
the delay control time is set by using n timers and is recorded as [0,t ] 0 -t 1 ,…,t 0 -t n-1 ]Sequentially controlling n corresponding air-operated valves according to the delay of the timer, wherein 0,t 0 -t 1 ,…,t 0 -t n-1 Respectively being pneumatic valves x 0 , x 1 , x 2 , …, x n-1 The delay control time of (3); the pneumatic valve with the longest mechanical characteristic time receives the target opening control command firstly, and the pneumatic valve with the shortest mechanical characteristic time receives the target opening control command finally.
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