CN115773399A - Electromagnetic valve flexible opening and closing control method based on speed feedback - Google Patents
Electromagnetic valve flexible opening and closing control method based on speed feedback Download PDFInfo
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- CN115773399A CN115773399A CN202211633434.6A CN202211633434A CN115773399A CN 115773399 A CN115773399 A CN 115773399A CN 202211633434 A CN202211633434 A CN 202211633434A CN 115773399 A CN115773399 A CN 115773399A
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Abstract
The invention discloses a speed feedback-based flexible opening and closing control method for an electromagnetic valve, and belongs to the field of electromagnetic valve control. Each stage of the controlled electromagnetic valve is driven by different driving voltages respectively, each driving voltage is switched in the controlled electromagnetic valve through the switching of a selector switch, a magnetoelectric vibration speed sensor is installed on the controlled electromagnetic valve, and the magnetoelectric vibration speed sensor converts a vibration signal of the controlled electromagnetic valve into an electric signal reflecting the movement speed of the valve core; the movement speed of the valve core is detected in real time through the magnetoelectric vibration speed sensor and fed back to the speed feedback controller, the moment of loading and the moment of stopping the negative voltage of the opening movement can be accurately controlled, the moment of loading and the moment of stopping the high voltage of the movement are closed, the speed reduction of the opening and closing movement of the electromagnetic switch valve is realized, and the flexible opening and closing is realized.
Description
Technical Field
The invention belongs to the field of electromagnetic valve control, and particularly relates to a flexible opening and closing control method of an electromagnetic valve based on speed feedback.
Background
The electromagnetic switch valve has the advantages of high precision, small volume, high reliability, pollution resistance and low cost, is a basic control element in the field of digital hydraulic pressure, and discrete fluid generated by high-frequency continuous opening and closing of the electromagnetic switch valve can simulate the behavior of continuous fluid. In the high-frequency opening and closing process, the valve core impacts the valve body at a high speed every time, so that high noise and vibration are generated during impact, and the surface of a component is abraded.
The best method for solving the problems is to provide a method for reducing the impact speed between the valve core and the valve body in the opening and closing processes of the electromagnetic switch valve.
In solving the above problems, the existing research is mainly divided into two ways, namely, the structure optimization and the control strategy adjustment. For the aspect of structural optimization, the research on reducing the impact speed of the solenoid valve at the opening and closing time by adding a squeeze film damper is carried out, but the method can be only used at the initial design stage of the solenoid valve. For the tuning aspect of the control strategy, it is studied to design a closed-loop controller of the spool position based on the measured or estimated value of the spool position, but the closed-loop controller that estimates the spool position by means of the measured parameter has a large position error. Therefore, the best method for solving the problems is to provide a flexible opening and closing control method of the electromagnetic valve based on speed feedback.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a flexible opening and closing control method of an electromagnetic valve based on speed feedback.
The technical scheme of the invention is as follows:
the invention firstly provides a flexible opening and closing control method of an electromagnetic valve based on speed feedback, wherein one opening and closing period of the electromagnetic valve at least comprises an opening stage, an opening maintaining stage, a closing stage and a closing maintaining stage;
the control method comprises the following steps:
1) Each stage of the controlled electromagnetic valve is driven by different driving voltages respectively, and each driving voltage is switched in the controlled electromagnetic valve through the switching of the selector switch; a magnetoelectric vibration speed sensor is arranged on the controlled electromagnetic valve; the magnetoelectric vibration speed sensor converts a vibration signal of the controlled electromagnetic valve into an electric signal reflecting the motion speed of the valve core;
2) In the starting stage, the speed detected by the magnetoelectric vibration speed sensor is compared with a set speed value V1 input by a user in the speed feedback controller, and if the detected speed is greater than V 1 The speed feedback controller enables the voltage output controller to output a section of negative voltage to act on the controlled electromagnetic valve so as to reduce the movement speed of the valve core in the opening stage;
3) In the closing stage, the speed detected by the magnetoelectric vibration speed sensor is compared with a set speed value V2 input by a user in the speed feedback controller, and if the detected speed is greater than V 2 And the speed feedback controller enables the voltage output controller to output a section of positive voltage to act on the controlled electromagnetic valve so as to reduce the movement speed of the valve core in the opening stage.
As a preferable aspect of the present invention, in the step 1), the magnetoelectric vibration speed sensor is mounted on a valve body of the controlled electromagnetic valve, and the magnetoelectric vibration speed sensor and the controlled electromagnetic valve are mounted on the same axis.
Preferably, in step 2), the loading time t when the negative voltage is applied to the controlled solenoid valve 1 To detect a velocity greater than V 1 At the time of the negative voltage application, and at the time of the negative voltage application completion t 2 At the time when the valve core is completely opened, the loading duration of the negative voltage is t 2 -t 1 。
As a preferred embodiment of the present invention, in step 3), the loading time t when a positive voltage acts on the controlled solenoid valve 3 To detect a velocity greater than V 2 At the moment when the positive voltage ends to be applied, and at the moment when the positive voltage ends to be applied, t 4 At the time of completely closing the valve core, the loading duration of the positive voltage is t 4 -t 3 。
In a preferred embodiment of the present invention, the voltage value of the positive voltage is 24V, the voltage value of the negative voltage is-24V, and the negative sign indicates that the direction of the current in the coil of the controlled solenoid valve is opposite to that in the case of the positive voltage application.
In a preferred embodiment of the present invention, the frequency of the vibration signal of the controlled solenoid valve is greater than five times or more the natural frequency of the magnetoelectric vibration speed sensor.
Compared with the prior art, the invention detects the motion speed of the valve core in real time through the magnetoelectric vibration speed sensor and feeds the motion speed back to the speed feedback controller, can accurately control the loading time and the termination time of the opening motion negative voltage, and the loading time and the termination time of the closing motion high voltage, realizes the deceleration of the opening and closing motion of the electromagnetic switch valve, weakens the vibration and the noise of the opening and closing time of the electromagnetic switch valve, prolongs the service life of the electromagnetic switch valve, and further improves the precision and the reliability of the electromagnetic switch valve control hydraulic system.
Drawings
Fig. 1 is a mechanical model diagram of a magnetoelectric vibration velocity sensor.
Fig. 2 is a plot of amplitude versus frequency.
Fig. 3 is a phase frequency curve.
FIG. 4 is a diagram of the connection between the solenoid switch valve and the sensor;
FIG. 5 is a schematic diagram of a flexible opening and closing control device of a solenoid valve according to an embodiment;
fig. 6 is a graph of the effect of deceleration during the opening phase (V1 =0.27 m/s);
fig. 7 is a graph of the effect of deceleration during the opening phase (V1 =0.28 m/s).
Fig. 8 is a graph of the effect of deceleration during the closing phase (V1 =0.42 m/s);
fig. 9 is a graph of the deceleration effect during the closing phase (V1 =0.5 m/s).
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The described embodiments are merely exemplary of the disclosure and are not intended to limit the scope thereof. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
The invention detects the motion speed of the valve core in real time through a magnetoelectric vibration speed sensor, as shown in figure 1, the invention is a mechanical model of the magnetoelectric vibration speed sensor, wherein m is coil mass, k is spring stiffness, c is damping coefficient, and the vibration absolute displacement of a valve body to be detected is set as x 1 The absolute displacement of the coil is x as the input of the sensor 0 The relative displacement of the coil with respect to the housing is x 01 . Therefore, there are:
x 01 (t)＝x 0 (t)-x 1 (t) (1)
the mechanical expression of the coil in the whole motion is:
if one considers the relative displacement of the coil with respect to the housing, equation (2) can be rewritten as:
the transfer function of the output to input is:
wherein the natural frequency
Damping ratio
Substituting s = j ω, a frequency response function can be obtained:
therefore, the expressions of the amplitude-frequency characteristic and the phase-frequency characteristic can be obtained as follows:
the obtained amplitude-frequency and phase-frequency curves are shown in fig. 2 and 3, and according to the curves, when the frequency of the measured signal is far higher than the natural frequency of the sensor, the absolute speed of the movement of the shell, namely the speed of the movement of the valve body, can be replaced by the relative movement of the coil relative to the shell. In the opening and closing process of the electromagnetic switch valve, the acting force between the valve core and the valve body is an interaction force, so that the movement speed of the valve core can be calculated according to the movement speed of the valve body, and the movement speed of the valve core of the electromagnetic switch valve can be acquired in real time by using a magnetoelectric vibration speed sensor.
As shown in fig. 4, the invention connects the magnetoelectric vibration speed sensor with the electromagnetic switch valve, and requires that the magnetoelectric vibration speed sensor and the electromagnetic switch valve are installed coaxially, and the magnetoelectric vibration speed sensor in fig. 5 is installed on the valve cover of the electromagnetic switch valve.
For an electromagnetic switch valve, the whole opening and closing process of a complete cycle at least comprises an opening stage, an opening maintaining stage, a closing stage and a closing maintaining stage. In order to improve the dynamic characteristic of the opening stage, a preloading stage can be arranged before the opening stage, and in the preloading stage, the coil current is firstly increased to a preloading current value which is slightly lower than the valve core opening current; through the setting of the pre-loading current value, once the starting stage is entered, the coil current can quickly reach the starting current, so that the dynamic characteristic of the starting stage is improved. Similarly, a pre-closing stage can be arranged before the closing stage to reduce the current value of the coil in advance, so that the dynamic characteristic of the closing stage is improved. The above is the prior art of the solenoid valve and is not described herein.
As shown in fig. 5, a schematic diagram of a flexible on-off control device for an electromagnetic valve is shown, in which 7 different voltage sources are used to supply power to each stage of an electromagnetic switch valve, and the different voltage sources are connected through a high-speed switch. The 7 voltage sources are respectively: a preload voltage source 1, an on-phase voltage source 2, a negative voltage source 3 to be loaded if deceleration is required in the on-phase, an on-sustain voltage source 4, an off-phase voltage source 5, a high voltage source 6 to be loaded if deceleration is required in the off-phase, and an off-sustain voltage source 7.
Wherein, the pre-loading voltage source 1 acts in the pre-loading stage to increase the coil current to a state slightly lower than the turn-on current (generally 90% -95% turn-on current value); the opening stage voltage source 2 acts on the opening stage and is used for opening the electromagnetic valve, and the negative voltage source 3 is used for decelerating the valve core in the opening stage; the opening maintaining voltage source 4 is a voltage source in an opening maintaining stage and is used for keeping the electromagnetic valve in an opening stage. The closing stage voltage source 5 is used for triggering the electromagnetic valve to enter a switching stage and closing the electromagnetic valve; the high voltage source 6 is used for decelerating the valve core in the closing stage; the closing maintenance voltage source 7 is used to keep the solenoid valve closed for the next on-off cycle. The selection of the output voltage value of each voltage source can be selected according to the specific parameters of the controlled electromagnetic valve and the actual conditions. The voltage values of the opening-stage voltage source 2 and the high-voltage source 6 can be 24V, the voltage values of the closing-stage voltage source 5 and the negative voltage source 3 can be-24V, and the negative sign indicates that the current direction in the coil of the controlled electromagnetic valve is opposite to that in the case of positive voltage loading when negative voltage loading is carried out.
Correspondingly, the high-speed change-over switch 8 comprises 8 contacts for connecting the electromagnetic switch valve to the 7 voltage sources, wherein the first contact 8-1 is connected with a preloading voltage source, the second contact 8-2 is connected with an opening voltage source, the third contact 8-3 is connected with an opening negative voltage source, the fourth contact 8-4 is connected with an opening maintaining voltage source, the sixth contact 8-6 is connected with a closing voltage source, the seventh contact 8-7 is connected with a closing high voltage source, and the eighth contact 8-8 is connected with a closing maintaining voltage source; the fifth contact 8-5 is connected to the coil of the electromagnetic switching valve.
The speed feedback control 11 obtains a speed detection value, and controls a voltage output controller according to a comparison result, wherein the voltage output controller acts on the high-speed change-over switch 8 to enable the high-speed change-over switch to be connected with a corresponding voltage source. The upper computer 13 can regulate and control the voltage output controller to enable the high-speed light-opening valve to have different working states, namely the upper computer 13 outputs an opening and closing signal of the electromagnetic valve to the voltage output controller to enable the voltage output controller to work according to a normal opening and closing period.
In the starting stage process, the speed value collected by the magnetoelectric vibration speed sensor and the speed value V input by the user in the speed feedback controller 1 Comparing if the detection speed is greater than V 1 The speed feedback controller immediately enables the voltage output controller to output a section of negative voltage, and the loading time of the negative voltage is t 1 The end of the negative voltage load time is t 2 ，t 1 At the moment that the detected opening speed is greater than V 1 Time of day t 2 The moment is the moment when the valve core is completely opened. The electromagnetic force of the opening stage of the electromagnetic switch valve is reduced by opening the loading of negative voltage, so that the motion of the valve core is decelerated, and the impact force of the valve core on a valve seat at the opening moment is reduced; in the closing stage process, the speed value collected by the magnetoelectric vibration speed sensor and the speed value V input by the user in the speed feedback controller 2 Comparing if the detection speed is greater than V 2 The speed feedback controller immediately enables the voltage output controller to output a positive voltage, and the loading time of the positive voltage is t 3 The end loading time of the positive voltage is t 4 ，t 3 The moment is that the closing speed is detected to be greater than V 2 Time of day t 4 The moment is the moment when the valve core is completely closed. The electromagnetic force at the closing stage of the electromagnetic switch valve is increased by closing the positive voltage loading to offset the spring reset force during closing, so that the movement of the valve core is decelerated, and the impact force of the valve core to the valve seat at the closing moment is reduced.
In the opening stage, the effect of the method for realizing the opening and closing deceleration of the electromagnetic switch valve based on the speed sensor is shown in fig. 6 and 7, in fig. 6, V 1 =0.27m/s, and the opening and closing of the electromagnetic switch valve are reduced based on a speed sensorAfter the speed method, the impact speed at the opening moment of the valve core is only 0.16m/s. In FIG. 7V 1 And the speed sensor-based speed reduction method for opening and closing the electromagnetic switch valve has the advantages that the impact speed of the valve core at the opening moment is 0.22m/s, and the speed reduction effect is obvious.
In the closing stage, the effect of the method for realizing the opening and closing deceleration of the electromagnetic switch valve based on the speed sensor is shown in fig. 8 and 9, wherein V in fig. 8 2 And =0.42m/s, and the impact speed at the time of opening the valve core is 0.28m/s after the speed sensor-based method for realizing the opening and closing deceleration of the electromagnetic switch valve is adopted. In FIG. 9V 1 And the impact speed of the valve core at the opening moment is 0.39m/s after the speed sensor-based method for opening and closing the electromagnetic switch valve is realized, and the speed reduction effect of the method is still obvious in the closing process.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit of the invention, and these are within the scope of the invention.
Claims (6)
1. A flexible opening and closing control method for an electromagnetic valve based on speed feedback is characterized in that one opening and closing cycle of the electromagnetic valve at least comprises an opening stage, an opening maintaining stage, a closing stage and a closing maintaining stage;
the control method is characterized by comprising the following steps:
1) Each stage of the controlled electromagnetic valve is driven by different driving voltages respectively, and each driving voltage is switched in the controlled electromagnetic valve through the switching of the selector switch; a magnetoelectric vibration speed sensor is arranged on the controlled electromagnetic valve; the magnetoelectric vibration speed sensor converts a vibration signal of the controlled electromagnetic valve into an electric signal reflecting the motion speed of the valve core;
2) In the starting stage, the speed detected by the magnetoelectric vibration speed sensor is compared with a set speed value V1 input by a user in the speed feedback controller, if so, the speed is detected by the magnetoelectric vibration speed sensorDetecting velocity greater than V 1 The speed feedback controller enables the voltage output controller to output a section of negative voltage to act on the controlled electromagnetic valve so as to reduce the movement speed of the valve core in the opening stage;
3) In the closing stage, the speed detected by the magnetoelectric vibration speed sensor is compared with a set speed value V2 input by a user in the speed feedback controller, and if the detected speed is greater than V 2 And the speed feedback controller enables the voltage output controller to output a section of positive voltage to act on the controlled electromagnetic valve so as to reduce the movement speed of the valve core in the opening stage.
2. The flexible opening and closing control method for the electromagnetic valve based on the speed feedback as claimed in claim 1, wherein in the step 1), the magnetoelectric vibration speed sensor is installed on a valve body of the controlled electromagnetic valve, and the magnetoelectric vibration speed sensor and the controlled electromagnetic valve are installed on the same axis.
3. The flexible opening and closing control method for the electromagnetic valve based on the speed feedback as claimed in claim 1, wherein in the step 2), the loading time t when the negative voltage is applied to the controlled electromagnetic valve 1 To detect a speed greater than V 1 At the time of the negative voltage application, and at the time of the negative voltage application completion t 2 At the time when the valve core is completely opened, the loading duration of the negative voltage is t 2 -t 1 。
4. The flexible opening and closing control method for the electromagnetic valve based on the speed feedback as claimed in claim 1, wherein in the step 3), the loading time t when the positive voltage acts on the controlled electromagnetic valve 3 To detect a speed greater than V 2 At the moment of time t when the positive voltage ends loading 4 At the time of completely closing the valve core, the loading duration of the positive voltage is t 4 -t 3 。
5. The flexible opening and closing control method for the electromagnetic valve based on the speed feedback as claimed in claim 1, characterized in that the voltage value of the positive voltage is 24V, the voltage value of the negative voltage is-24V, and the negative sign indicates that the current direction in the coil of the controlled electromagnetic valve is opposite to that in the case of positive voltage loading when the negative voltage is loaded.
6. The flexible opening and closing control method for the electromagnetic valve based on the speed feedback as claimed in claim 1, characterized in that the frequency of the vibration signal of the controlled electromagnetic valve is more than five times greater than the natural frequency of the magnetoelectric vibration speed sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211633434.6A CN115773399A (en) | 2022-12-19 | 2022-12-19 | Electromagnetic valve flexible opening and closing control method based on speed feedback |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211633434.6A CN115773399A (en) | 2022-12-19 | 2022-12-19 | Electromagnetic valve flexible opening and closing control method based on speed feedback |
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| CN115773399A true CN115773399A (en) | 2023-03-10 |
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| CN202211633434.6A Pending CN115773399A (en) | 2022-12-19 | 2022-12-19 | Electromagnetic valve flexible opening and closing control method based on speed feedback |
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- 2022-12-19 CN CN202211633434.6A patent/CN115773399A/en active Pending
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