CN115306937B - 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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- CN115306937B CN115306937B CN202210948883.3A CN202210948883A CN115306937B CN 115306937 B CN115306937 B CN 115306937B CN 202210948883 A CN202210948883 A CN 202210948883A CN 115306937 B CN115306937 B CN 115306937B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 39
- 238000004140 cleaning Methods 0.000 title claims abstract description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 16
- 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 26
- 230000005674 electromagnetic induction Effects 0.000 claims description 21
- 230000003993 interaction Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 8
- 230000000630 rising effect Effects 0.000 claims description 6
- 239000002356 single layer Substances 0.000 claims description 6
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 238000009499 grossing Methods 0.000 claims description 3
- 238000000227 grinding Methods 0.000 description 8
- 239000002184 metal Substances 0.000 description 8
- 239000007921 spray Substances 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000004075 alteration Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012530 fluid Substances 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
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism 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
Classifications
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- 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 group synchronous control system and a pneumatic valve group synchronous control method of high-pressure water jet cleaning equipment, wherein the mechanical characteristic time of each pneumatic valve in the pneumatic valve group is determined; and 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 opening each pneumatic valve according to the opening time sequence of each pneumatic valve in the synchronous control strategy, thereby realizing 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 group synchronous control system and method of high-pressure water jet cleaning equipment.
Background
The working principle of the high-pressure water jet metal surface cleaning equipment is that the mixed fluid of high-pressure water and steel shot abrasive is utilized to impact the metal surface, so that impurities such as surface oxide skin and the like are removed. The grinding tanks are parts for loading steel shots in the cleaning equipment, as shown in fig. 1, a sand discharging pipeline structure diagram in one grinding tank is shown, the number of sand discharging ports of each grinding tank is from 8 to 48, and the number ratio of the sand discharging ports, the pneumatic valve and the spray heads is 1:1:1. the steel shots are mixed with high-pressure water through opening the pneumatic valve, so that high-pressure mixed liquid with surface cleaning capacity is formed. In high-pressure water jet cleaning equipment, a plurality of spray heads are required to run simultaneously, so that the cleaning of metal plates with different widths is realized. At present, a processing method of simultaneously supplying power and cutting off power is adopted for controlling a valve group formed by 8 to 48 pneumatic valves, but the method only realizes the synchronization of electrical signals among the pneumatic valves, the opening and closing time among the valves can be different due to the fact that the mechanical characteristics of the valves are inconsistent, the time for reaching the set working flow among the spray heads is not synchronous due to the time difference, and further the defects of chromatic aberration, dark spots and the like are caused on the surface of the cleaned metal plate, so that the cleaning quality is reduced.
Therefore, how to solve the problem of the cleaning quality reduction caused by the time asynchronism of reaching the set working flow between the spray heads in the existing high-pressure water jet metal surface cleaning equipment is 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 cleaning quality reduction caused by asynchronous moment when the existing high-pressure water jet metal surface cleaning equipment reaches a set working flow between spray heads.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
A pneumatic valve set synchronization control system of a high-pressure water jet cleaning device, comprising: the system comprises a calibration assembly and a control assembly, wherein the calibration assembly is communicated with the control assembly, and the control assembly is communicated with each pneumatic valve in the pneumatic valve group respectively;
The calibration component 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 component; wherein the mechanical characteristic time includes a response time and an opening adjustment time, the response time of the air-operated valve is a time required from the issuance of a target opening control instruction to the start of the response of the air-operated valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response of the target opening control instruction to the adjustment of the current opening to the target opening;
The control component 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, formulating 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 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 used for being sleeved on the sand supply hose corresponding to the pneumatic valve; the digital bridge is used for capturing the real-time inductance data generated by the electromagnetic induction coil due to the variable 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, determine whether the inductance data of the duration period after smooth filtering sent by the digital bridge rises or falls to target inductance data corresponding to a target opening, and stabilize the target inductance data: and if the inductance data sent by the digital bridge is judged to rise or fall to the target inductance data corresponding to the target opening degree, recording the time tf when the rising or falling is finished when the inductance data is stabilized in the target inductance data, 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 the time of the mechanical characteristic thereof, and sort each pneumatic valve and the time of the mechanical characteristic thereof in descending order according to the time of the mechanical characteristic, so as to obtain a descending mechanical characteristic time sequence [ t 0, t1, t2, …, tn-1 ] and a corresponding pneumatic valve sequence [ x 0, x1, x2, …, xn-1 ]; wherein, the mechanical characteristic time t 0, t1, t2, …, tn-1 is the mechanical characteristic time of the pneumatic valve x 0, x1, x2, …, xn-1 respectively; and transmitting the descending mechanical property time sequence [ t 0, t1, t2, …, tn-1 ] and the corresponding pneumatic valve sequence [ x 0, x1, x2, …, xn-1 ] to the control component;
The control component is used for setting a delay control time sequence by using n timers according to the descending mechanical characteristic time sequence [ t 0, t1, t2, …, tn-1 ], and the delay control time sequence is marked as [0, t 0-t1,…,t0-tn-1 ]; matching the delay control time sequence [0, t 0-t1,…,t0-tn-1 ] with elements in the pneumatic valve sequence [ x 0, x1, x2, …, xn-1 ] in a one-to-one correspondence manner in sequence, and sequentially delaying and controlling n corresponding pneumatic valves according to a matching result, wherein 0 and t 0-t1,…,t0-tn-1 are delay control times of the pneumatic valves x 0, x1, x2, …, xn-1 respectively; the pneumatic valve with the longest mechanical characteristic time firstly receives the target opening control instruction, and the pneumatic valve with the shortest mechanical characteristic time finally receives the target opening control instruction.
Preferably, the system further comprises a man-machine interaction interface, wherein the man-machine interaction interface establishes communication with the processing unit; the man-machine interaction interface is used for a user to issue the 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 waveform chart according to the inductance data of the duration time period after the smoothing and filtering sent by the digital bridge, and sending the waveform chart to the man-machine 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 is subjected to smooth filtering to the man-machine interaction interface for display.
Preferably, the control assembly is 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 are in one-to-one correspondence with the plurality of pneumatic valves 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 includes a response time and an opening adjustment time, the response time of the pneumatic valve is a time required from the emission of a target opening control instruction to the start of the response of the pneumatic valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response to the target opening control instruction to the adjustment of the current opening to the target opening;
and 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 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 adjustment time; the mechanical characteristic time of each pneumatic valve in the pneumatic valve group is determined by the following steps:
And for any pneumatic valve, sleeving an inductance measuring device on a sand supply hose corresponding to the pneumatic valve, giving a target opening control instruction, recording the current time ts, detecting the changed inductance data of the sand supply hose in real time through the inductance measuring device, recording the time tf of the ending of rising or falling when the inductance data of the sand supply hose rises or falls to the target inductance data corresponding to the target opening and is stabilized in the target inductance data, and subtracting the time ts from the time tf to obtain the mechanical characteristic time of the pneumatic valve.
Preferably, the inductance measurement device comprises an electromagnetic induction coil and a digital bridge, wherein two ends of the electromagnetic induction coil are connected with the digital bridge, and the electromagnetic induction coil is used for being sleeved on a sand supply hose corresponding to the pneumatic valve and is a single-layer hollow compact coil.
Preferably, the target opening of each pneumatic valve is in-place time synchronization is used as a target, and a synchronous control strategy is formulated according to the mechanical characteristic time of each pneumatic valve, specifically:
The pneumatic valve group is provided with n pneumatic valves, the mechanical characteristic time of the n pneumatic valves is ordered as [ t 0, t1, t2, …, tn-1 ] according to descending order, the corresponding pneumatic valve sequence is recorded as [ x 0, x1, x2, …, xn-1 ], and the mechanical characteristic time t 0, t1, t2, …, tn-1 is the mechanical characteristic time of the pneumatic valve x 0, x1, x2, …, xn-1 respectively;
Setting delay control time by using n timers, namely [0, t 0-t1,…,t0-tn-1 ], and sequentially controlling n corresponding pneumatic valves according to the delay of the timers, wherein 0, t 0-t1,…,t0-tn-1 are the delay control time of the pneumatic valve x 0, x1, x2, …, xn-1 respectively; the pneumatic valve with the longest mechanical characteristic time firstly receives the target opening control instruction, and the pneumatic valve with the shortest mechanical characteristic time finally receives the target opening control instruction.
The invention has the following beneficial effects:
the invention provides a synchronous control method aiming at a pneumatic valve group of a grinding tank in water jet cleaning equipment, namely, the on-off characteristic of a valve is firstly measured, the time sequence of mechanical characteristics is used as the starting or closing basis, each pneumatic valve is sequentially controlled, and the actual on-off time synchronization of the valve is ensured. The synchronous control system of the invention replaces the synchronicity of the mechanical opening and closing of the valve group by the time sequence of the electric control of the valve, thereby realizing the process requirement of synchronizing the abrasive flow. The actual cleaning effect shows that the dark spots and the chromatic aberration of the metal surface caused by the asynchronous flow of the abrasive of the spray head are obviously reduced, and the further improvement of the surface cleaning quality is ensured.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The invention will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a single sand feeding pipeline structure diagram of a grinding tank in the prior art, wherein 1 represents the grinding tank, 2 represents a steel shot, 3 represents a sand feeding port, 4 represents a pneumatic valve, 5 represents a sand supply hose, 6 represents a high-pressure water pipeline, and 7 represents a high-pressure spray head;
FIG. 2 is a hardware configuration diagram of a synchronous control system in a preferred embodiment of the present invention;
FIG. 3 is a functional block diagram of control software in a preferred embodiment of the present invention;
fig. 4 is a flowchart of the operation of the synchronous control system in the preferred embodiment of the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Embodiment one:
the utility model discloses a pneumatic valve group synchronous control system of high-pressure water jet cleaning equipment in this implementation, include: the system comprises a calibration assembly and a control assembly, wherein the calibration assembly is communicated with the control assembly, and the control assembly is communicated with each pneumatic valve in the pneumatic valve group respectively;
The calibration component 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 component; wherein the mechanical characteristic time includes a response time and an opening adjustment time, the response time of the air-operated valve is a time required from the issuance of a target opening control instruction to the start of the response of the air-operated valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response of the target opening control instruction to the adjustment of the current opening to the target opening;
The control component 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, formulating 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 group 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 includes a response time and an opening adjustment time, the response time of the pneumatic valve is a time required from the emission of a target opening control instruction to the start of the response of the pneumatic valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response to the target opening control instruction to the adjustment of the current opening to the target opening;
and 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 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 aiming at a pneumatic valve group of a grinding tank in water jet cleaning equipment, namely, the on-off characteristic of a valve is firstly measured, the time sequence of mechanical characteristics is used as the starting or closing basis, each pneumatic valve is sequentially controlled, and the actual on-off time synchronization of the valve is ensured. The synchronous control system of the invention replaces the synchronicity of the mechanical opening and closing of the valve group by the time sequence of the electric control of the valve, thereby realizing the process requirement of synchronizing the abrasive flow. The actual cleaning effect shows that the dark spots and the chromatic aberration of the metal surface caused by the asynchronous flow of the abrasive of the spray head are obviously reduced, and the further improvement of the surface cleaning quality is ensured.
Embodiment two:
The second embodiment is a preferred embodiment of the first embodiment, which 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 specific structures and working flows of a pneumatic valve group synchronous control system of the high-pressure water jet cleaning equipment are introduced.
In this embodiment, for a sand supply tank with n pneumatic valves, the valve numbers from 1 to n, a pneumatic valve group synchronization control method of a high-pressure water jet cleaning device is disclosed, including:
s1, preparing an electromagnetic induction coil: firstly, a single-layer hollow compact coil with the inner diameter slightly larger than that of the sand supply hose is manufactured, and the number of turns is about 40.
S2, measuring the opening mechanical property of the No. 1 pneumatic valve: as shown in fig. 1, the coil was fixed to the sand supply hose of valve No. 1, and the two ends of the coil were connected to a digital bridge, and the initial inductance reading of the coil was recorded. Giving an electric signal for opening the pneumatic valve, recording the current time ts, continuously reading and recording the numerical value of the bridge during the period, when the numerical value rises to be basically stable, considering that the valve mechanical device is opened in place, recording the ending time tf of the numerical value rising, wherein the numerical value tf-ts is the opening in-place time of the No. 1 pneumatic valve, and reflecting the mechanical opening characteristic of the No. 1 pneumatic valve.
S3, measuring the closing mechanical property of the pneumatic valve No. 1: and after the value of the bridge is basically stable and 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 value of the bridge, considering that the valve mechanical device is closed in place when the value is reduced to an initial value, recording the end time tf' of the reduction, and reflecting the closing mechanical characteristics of the No. 1 pneumatic valve when the value of the tf '-ts' is the closing time of the No. 1 pneumatic valve.
S4, measuring the opening and closing mechanical characteristics of the 2~n valve: and (3) detaching the coil S1 from the sand supply hose of the valve No.2, and executing the operations S2 and S3 to obtain the opening time and closing time of the pneumatic valve No.2, and similarly obtaining the opening time and closing time of the remaining n-2 pneumatic valves.
S5, formulating a control strategy: and (3) sequencing the n in-place opening times of S2 and S4 as [ t 0, t1, t2, … tn-1 ] according to a descending order, establishing a corresponding pneumatic valve sequence [ x 0, x1, x2, …, xn-1 ], setting the delayed starting time as [0, t 0-t1,…t0-tn-1 ] by using n timers, and formulating an opening control strategy to sequentially open the corresponding pneumatic valve sequence according to the delay of the timers, so that the slowest opening pneumatic valve receives the starting signal firstly, the fastest opening pneumatic valve receives the starting signal finally, and the moments when all valves reach the mechanical opening in place are consistent. And (3) sequencing the n closing times of S3 and S4 into [ t 0', t1', t2', … tn-1 ' ] according to a descending order, establishing a corresponding pneumatic valve sequence [ x 0', x1', x2', …, xn-1 ' ], setting the delayed closing time to be [0, t 0'-t1',…t0'-tn-1 ' ] by using n timers, and sequentially closing the corresponding pneumatic valve sequence according to the delay of the timers by using a closing control strategy, 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 moment that all valves reach mechanical closing in place is consistent.
In addition, in this embodiment, a pneumatic valve group synchronization control system of high-pressure water jet cleaning equipment is disclosed, including:
As shown in FIG. 2, the synchronous control system consists of an electromagnetic induction coil, 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 is used for inducing the passing condition of the steel shot abrasive; the more abrasive materials pass through 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 digital bridge measurement value gradually increases along with the opening of the pneumatic valve until the steel shot abrasive reaches the design flow and tends to be stable; otherwise, the closing of the pneumatic valve can lead to the gradual decrease of the value, and finally, the value can be reduced to the initial inductance value of the electromagnetic induction coil;
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 logic, calculation, processing and stored data retrieval of software, the static memory (SRAM) of the computer is used for providing running memory space of control software, and the read-only memory (ROM) of the computer is used for storing the control software and calibrated valve mechanical characteristic parameters. The USB bus interface of the computer is used for being connected with the bridge, and the PCI-E bus interface of the computer is used for being connected with the relay control circuit;
From the software level, as shown in fig. 3, the computer-integrated control software consists of a man-machine interface module, a calculation processing module and a communication processing module. The man-machine interface module mainly provides functions of command issuing control, real-time data display, inductance waveform display and the like; the computing processing module completes the functions of software running logic, smoothing of inductance data, indexing establishment, sequencing, 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, and the circuit board card is provided with 16 parallel digital IO outputs and can correspondingly control the driving mechanisms of 16 pneumatic valves.
The workflow of the synchronous control system is as follows:
for 1 grinding pot with 16 pneumatic valves, the valves are numbered 1 to 16, and the corresponding working flow of the method is shown in fig. 4:
The first step: selecting whether the mechanical characteristic measurement of the pneumatic valve group is needed, if so, entering a second step, otherwise, indicating that the opening and closing time parameters of the pneumatic valve group are stored in a computer, and directly entering an eighth step by skipping the measurement step;
And a second step of: a hard wire is used for manufacturing a single-layer compact coil, the inner diameter of the coil is slightly larger than that of the sand supply pipe, the number of turns is about 40, the coil is sleeved on the sand supply pipe connected with the No. 1 pneumatic valve, two ends of the coil are connected with a digital bridge, and the bridge starts a USB communication function;
And a third step of: starting the communication function of the software, performing communication test with the bridge, recording a string of data read through the USB bus as L s1、Ls2、…Lsn, taking an average value as Ls, recording as an initial value of the coil, storing and entering a third step, and stopping the program if a communication error occurs;
Fourth step: and issuing an opening instruction of the pneumatic valve No. 1 through a software interface, and automatically recording the current time as ts by software. At the moment, the inductance value read by the software through the bridge is gradually increased until the inductance value is basically stabilized as Lf, the software automatically analyzes and calculates the data acquired in the period of time, finds the ending point moment of the rising time and marks the ending point moment as tf, and the time corresponding to tf-ts is the opening mechanical characteristic time of the No. 1 pneumatic valve;
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 stabilized, calculating the data in the period of time by the software, finding the time of the ending point of the reduction and recording the time as tf', wherein the time corresponding to tf '-ts' is the closing mechanical characteristic time of the pneumatic valve No. 1;
the coil is disassembled and installed on a sand supply pipe of the pneumatic valve No. 2, and the fourth step and the fifth step are repeated to obtain the opening and closing mechanical characteristic time of the rest 15 pneumatic valves;
Sixth step: the 16 pairs of opening and closing mechanical characteristic time of the pneumatic valve group obtained in the steps are recombined into [ t 1, t2, …, t16],[t1', t2', …, t16 '] according to descending order respectively, and an index [ x 1,x2,…,x16],[x1',x2',…,x16' ] corresponding to a relay control number is established;
Seventh step: establishing 16 valve group opening control timers, wherein the delay starting values of the 16 valve group opening control timers are stored as [0, t 1-t2, …, t1-t16 ], and 16 valve group closing control timers, wherein the delay starting values of the 16 valve group closing control timers are stored as [0, t 1'-t2', …, t1'-t16' ];
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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A pneumatic valve group synchronous control system of high-pressure water jet cleaning equipment is characterized by comprising: the system comprises a calibration assembly and a control assembly, wherein the calibration assembly is communicated with the control assembly, and the control assembly is communicated with each pneumatic valve in the pneumatic valve group respectively;
The calibration component 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 component; wherein the mechanical characteristic time includes a response time and an opening adjustment time, the response time of the air-operated valve is a time required from the issuance of a target opening control instruction to the start of the response of the air-operated valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response of the target opening control instruction to the adjustment of the current opening to the target opening;
The control assembly is used for receiving the mechanical characteristic time of each pneumatic valve, synchronizing the mechanical characteristic time of each pneumatic valve with the target opening in-place moment of each pneumatic valve as a target, formulating 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;
the mechanical characteristic time is the sum of response time and opening 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 used for being sleeved on the sand supply hose corresponding to the pneumatic valve; the digital bridge is used for capturing the real-time inductance data generated by the electromagnetic induction coil due to the variable 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, determine whether the inductance data of the duration period after smooth filtering sent by the digital bridge rises or falls to target inductance data corresponding to a target opening, and stabilize the target inductance data: if the inductance data sent by the digital bridge is judged to rise or fall to the target inductance data corresponding to the target opening degree, and the inductance data is stabilized at the target inductance data, recording the time tf when the rising or falling is finished, and subtracting the time ts from the time tf to obtain the mechanical characteristic time of the pneumatic valve;
The processing unit is further used for establishing indexes among all the pneumatic valves and the mechanical characteristic time thereof, and sequencing all the pneumatic valves and the mechanical characteristic time thereof according to the descending order of the mechanical characteristic time to obtain a descending order mechanical characteristic time sequence [ t 0,t1,t2,…,tn-1 ] and a corresponding pneumatic valve sequence [ x 0,x1,x2,…,xn-1 ]; wherein, the mechanical characteristic time t 0,t1,t2,…,tn-1 is the mechanical characteristic time of the pneumatic valve x 0,x1,x2,…,xn-1 respectively; and transmitting the descending mechanical property time sequence [ t 0,t1,t2,…,tn-1 ] and the corresponding pneumatic valve sequence [ x 0,x1,x2,…,xn-1 ] to the control component;
The control component is used for setting a delay control time sequence by using n timers according to the descending mechanical characteristic time sequence [ t 0,t1,t2,…,tn-1 ], and the delay control time sequence is marked as [0, t 0-t1,…,t0-tn-1 ]; matching the delay control time sequence [0, t 0-t1,…,t0-tn-1 ] with elements in the pneumatic valve sequence [ x 0,x1,x2,…,xn-1 ] in a one-to-one correspondence manner in sequence, and sequentially delaying and controlling n corresponding pneumatic valves according to a matching result, wherein 0 and t 0-t1,…,t0-tn-1 are delay control times of the pneumatic valves x 0,x1,x2,…,xn-1 respectively; the pneumatic valve with the longest mechanical characteristic time firstly receives the target opening control instruction, and the pneumatic valve with the shortest mechanical characteristic time finally receives the target opening control instruction.
2. The synchronous control system of a pneumatic valve group of high-pressure water jet cleaning equipment according to claim 1, further comprising a man-machine interaction interface, wherein the man-machine interaction interface establishes communication with the processing unit; the man-machine interaction interface is used for a user to issue the 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 waveform chart according to the inductance data of the duration time period after the smoothing and filtering sent by the digital bridge, and sending the waveform chart to the man-machine 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 is subjected to smooth filtering to the man-machine interaction interface for display.
3. The synchronous control system of the pneumatic valve group of the high-pressure water jet cleaning equipment according to claim 2, wherein the control assembly is respectively connected with each pneumatic valve through a relay control circuit.
4. A pneumatic valve set synchronization control system of a high pressure water jet cleaning apparatus according to claim 3, wherein the processing unit is connected to the digital bridge via 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 are in one-to-one correspondence with the plurality of pneumatic valves and are used for controlling the plurality of pneumatic valves.
5. The pneumatic valve group synchronous control method of the high-pressure water jet cleaning equipment is characterized by comprising the following steps of:
Determining the mechanical characteristic time of each pneumatic valve in the pneumatic valve group; the mechanical characteristic time includes a response time and an opening adjustment time, the response time of the pneumatic valve is a time required from the emission of a target opening control instruction to the start of the response of the pneumatic valve to the target opening control instruction, and the opening adjustment time is a time required from the start of the response to the target opening control instruction to the adjustment of the current opening to the target opening;
Synchronizing the target opening of each pneumatic valve at the right moment as a target, formulating 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 mechanical characteristic time is the sum of response time and opening adjustment time; the mechanical characteristic time of each pneumatic valve in the pneumatic valve group is determined by the following steps:
For any pneumatic valve, sleeving an inductance measuring device on a sand supply hose corresponding to the pneumatic valve, giving a target opening control instruction, recording the current time ts, detecting the changed inductance data of the sand supply hose in real time through the inductance measuring device, recording the time tf of the ending of rising or falling when the inductance data of the sand supply hose rises or falls to the target inductance data corresponding to the target opening and is stabilized on the target inductance data, and subtracting the time ts from the time tf to obtain the mechanical characteristic time of the pneumatic valve;
The inductance measuring device comprises an electromagnetic induction coil and a digital bridge, wherein two ends of the electromagnetic induction coil are connected with the digital bridge, and the electromagnetic induction coil is used for being sleeved on a sand supply hose corresponding to the pneumatic valve and is a single-layer hollow compact coil;
the target opening in-place time synchronization of each pneumatic valve is taken as a target, and a synchronous control strategy is formulated according to the mechanical characteristic time of each pneumatic valve, specifically:
The pneumatic valve group is provided with n pneumatic valves, the mechanical characteristic time of the n pneumatic valves is ordered as [ t 0,t1,t2,…,tn-1 ] according to descending order, the corresponding pneumatic valve sequence is recorded as [ x 0,x1,x2,…,xn-1 ], and the mechanical characteristic time t 0,t1,t2,…,tn-1 is the mechanical characteristic time of the pneumatic valve x 0,x1,x2,…,xn-1 respectively;
Setting delay control time by using n timers, namely [0, t 0-t1,…,t0-tn-1 ], and sequentially controlling n corresponding pneumatic valves according to the delay of the timers, wherein 0, t 0-t1,…,t0-tn-1 are the delay control time of the pneumatic valve x 0,x1,x2,…,xn-1 respectively;
the pneumatic valve with the longest mechanical characteristic time firstly receives the target opening control instruction, and the pneumatic valve with the shortest mechanical characteristic time finally receives the target opening control instruction.
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