CN116255371A - Multi-actuator cooperative control device and method for multi-way valve - Google Patents
Multi-actuator cooperative control device and method for multi-way valve Download PDFInfo
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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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
- 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
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a multi-path valve multi-executive component cooperative control device and a method, wherein the device comprises a mechanical compensator arranged in each working link and a control unit connected with each working link, and the control unit comprises an ECU processing unit, an electric proportional pressure reducing valve and a displacement sensor for acquiring the actual position information of a valve core of the working link; the mechanical compensator is used for carrying out mechanical compensation according to load feedback; the ECU processing unit adjusts the control current of the electric proportional pressure reducing valve according to the received external control signal so as to adjust the position of the working connecting valve core; the ECU processing unit calculates the deviation amount of the valve core according to the received actual position information of the valve core of the working linkage, and adjusts the control current of the electric proportional pressure reducing valve according to the deviation amount so as to adjust the position of the valve core of the working linkage in a closed loop. The method and the device fully integrate the mechanical compensation technology and the electronic compensation technology, and can realize high-precision flow distribution.
Description
Technical Field
The invention relates to the technical field of multi-way valves, in particular to a multi-way valve multi-execution element cooperative control device and method.
Background
In modern construction engineering, due to the limitation of construction period and the goal of reducing use cost, high requirements are put on the working efficiency of the crane. The composite control function is used in the crane work, so that the work efficiency of the crane can be greatly improved, and the work intensity of an operator can be reduced. The multi-way valve is a core control element in a hydraulic system of the crane, and the performance level of the multi-way valve directly influences the control characteristics of the whole crane.
The existing multi-way valve core control often adopts a valve post-compensation load sensitivity principle, and the hydraulic system based on the load sensitivity principle can be applied when the flow is not saturated, but when the sum of the flows required by all the execution elements is larger than the maximum flow provided by the pump, the large load is preferentially influenced due to the fact that the capacity of carrying out pressure and flow compensation by cooperative control is not provided, the flow to a large load mechanism is reduced, and the flows with smaller loads are not changed immediately, so that the coordination of the system operation is destroyed.
According to the prior art, compensation is performed through a mechanical compensator, as shown in fig. 1, patent CN207596344U proposes a multiway valve provided with a compensator, which comprises a valve body 1 and a valve rod 2, wherein a plurality of valve groups are arranged on the valve body 1, each valve group is correspondingly provided with a compensator 3, the compensator 3 comprises an oil inlet 31, an oil outlet 32, a pressure pickup port 33, a feedback port 34 and a feedback cavity 35, the oil inlet 31 is communicated with the oil outlet 32, the compensator 3 has a first state in which the oil inlet 31 is communicated with the pressure port of the valve body 1 through the oil outlet 32 during operation and a second state in which the oil outlet 32 is separated from the pressure port of the valve body 1, the pressure pickup port 33 of the compensator 3 is communicated with the working port and picks up the pressure oil of the working port when the compensator 3 is in the first state, a one-way valve 4 is arranged between the pressure pickup port 33 and the feedback port 34 of each valve group, the different compensators 3 on different valve groups are communicated with each other and are reversely blocked through the one-way valve 4, and the feedback ports 34 are communicated with the feedback cavity 35. The opening size of the compensator is used for quickly establishing oil pressure during operation, feedback oil ports of the compensators on different valve groups are communicated, and during compound action, the opening of other compensators is reduced by feedback pressure oil generated by one end with high load pressure, so that pressure oil in unit time is distributed to one end with high load, the pressure compensation function is realized, and the problem that heavy load action is slow or even no action is caused by the flow direction of system hydraulic oil to light load when the conventional crane is in linkage of each compound action is solved. The disadvantage of this mechanical compensation is the large compensation error.
Disclosure of Invention
The invention aims to provide a multi-actuator cooperative control device and method for a multi-way valve, which are used for solving the problem of large error through mechanical compensation in the prior art.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the invention discloses a multi-way valve multi-actuator cooperative control device, which comprises a mechanical compensator arranged in each working link and a control unit connected with each working link, wherein the control unit comprises an ECU processing unit, an electric proportional pressure reducing valve and a displacement sensor for acquiring actual position information of a valve core of the working link;
the mechanical compensator is used for carrying out mechanical compensation according to load feedback;
the ECU processing unit adjusts the control current of the electric proportional pressure reducing valve according to the received external control signal so as to adjust the position of the working connecting valve core; and the ECU processing unit calculates the deviation amount of the valve core according to the received actual position information of the valve core of the working link, and adjusts the control current of the electric proportional pressure reducing valve according to the deviation amount so as to adjust the position of the valve core of the working link in a closed loop.
Further, the mechanical compensator compensates according to load feedback comprising:
opening the mechanical compensator of each working link to enable feedback oil ports of a plurality of mechanical compensators to be communicated;
the feedback pressure generated by the working units with high load pressure is reduced by the mechanical compensator in other working units, so that the pressure oil in unit time is distributed to the working units with high load.
Further, the control current of the electric proportional pressure reducing valve is adjusted according to the received external control signal so as to adjust the position of the working coupling valve core:
acquiring the front and rear oil port pressure difference and the valve core opening area of a working coupling valve core;
calculating actual demand flow according to the front-back oil port pressure difference of the working coupling valve core and the valve core opening area;
according to the comparison result of the actual demand flow and the set flow, regulating the control current of each working link of the multi-way valve;
and adjusting the opening of the valve core in the oil way of the end cover of the working connecting valve according to the control current so as to adjust the position of the working connecting valve core.
Further, the step of obtaining the front-rear oil port differential pressure of the working coupling valve core comprises the following steps:
the pressure of the front and rear oil ports of the valve core is obtained through pressure sensors arranged at the front and rear oil ports of the valve core;
and the differential pressure of the front oil port and the rear oil port of the valve core is calculated through an ECU processing unit in signal connection with the pressure sensor.
Further, taking the working coupling valve core opening area includes:
acquiring the valve core position through the displacement detection sensor;
and calculating the valve element opening area through an ECU processing unit in signal connection with the displacement detection sensor.
Further, the control unit on each work train is in signal connection with the control units of the other work trains so that the ECU processing unit receives displacement signals, flow signals, pressure signals and fault signals of the other trains.
In a second aspect, the invention discloses a multi-actuator cooperative control method for a multi-way valve, comprising the following steps:
the mechanical compensator performs mechanical compensation according to load feedback;
the control unit performs electronic compensation when the oil port pressure difference before and after the working link exceeds a set threshold value;
the electronic compensation includes: controlling the opening degree of the working coupling valve core according to the received external control signal so as to adjust the position of the working coupling valve core; acquiring actual position information of a working linkage valve core, calculating the deviation amount of the valve core, and adjusting the valve core position of the working linkage in a closed loop according to the deviation amount;
and ending the control in response to the pressure before and after the working link being less than the set threshold.
Further, the mechanical compensator compensates according to load feedback comprising:
opening the mechanical compensator of each working link to enable feedback oil ports of a plurality of mechanical compensators to be communicated;
the feedback pressure generated by the working units with high load pressure is reduced by the mechanical compensator in other working units, so that the pressure oil in unit time is distributed to the working units with high load.
Further, the control current of the electric proportional pressure reducing valve is adjusted according to the received external control signal so as to adjust the position of the working coupling valve core:
acquiring the front and rear oil port pressure difference and the valve core opening area of a working coupling valve core;
calculating actual demand flow according to the front-back oil port pressure difference of the working coupling valve core and the valve core opening area;
according to the comparison result of the actual demand flow and the set flow, regulating the control current of each working link of the multi-way valve;
and adjusting the opening of the valve core in the oil way of the end cover of the working connecting valve according to the control current so as to adjust the position of the working connecting valve core.
Further, the step of obtaining the front-rear oil port pressure difference and the valve core opening area of the working coupling valve core comprises the following steps:
the pressure of the front and rear oil ports of the valve core is obtained through pressure sensors of the front and rear oil ports of the valve core, so that the pressure difference of the front and rear oil ports of the valve core is calculated;
and acquiring the valve core position through a valve core displacement detection sensor so as to calculate the valve core opening area.
According to the technical scheme, the embodiment of the invention has at least the following effects: according to the cooperative control device, a mechanical compensation technology and an electronic compensation technology are fully fused, the mechanical compensation technology can quickly feed back a load through a compensator to perform mechanical compensation, then control current is adjusted according to pressure difference to perform electronic compensation, and the electronic compensation technology compensates errors of the mechanical compensation technology, so that high-precision flow distribution is realized; when the electronic compensation is performed, feedback adjustment is utilized, namely, the position of the valve core is adjusted according to an external control signal, then the deviation amount of the valve core is calculated according to the real-time position of the valve core, the adjustment is performed again according to the deviation amount, and the accuracy of valve core position adjustment is ensured.
Drawings
FIG. 1 is a schematic diagram of the background art;
FIG. 2 is a schematic flow chart of the control method in the present application;
FIG. 3 is a schematic diagram of each work unit in the present application;
FIG. 4 is a schematic diagram of the installation of the control unit of the present application;
fig. 5 is a schematic diagram of the internal working logic of the control unit in the present application.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
The invention provides a multi-actuator coordinated control method and a device for a multi-way valve, wherein an independent control unit is added on the side of a working link under the condition that a compensator is arranged in the multi-way valve, and the working link flow is compensated according to working conditions, so that the problem that high-precision flow distribution cannot be realized when the multi-actuator synchronously works in the prior art is solved.
According to the method, the mechanical compensator is opened, oil pressure can be quickly established during operation, feedback oil ports of compensators on different valve groups are communicated, and during compound action, feedback pressure oil generated by one end with high load pressure is closed by openings of other compensators, so that pressure oil in unit time is distributed to one end with high load, and a pressure compensation function is realized; meanwhile, by adding the independent control unit, the current working condition of the work valve, the parameters such as flow and pressure and the like are identified, the opening of the work valve port is controlled, the flow compensation precision is improved, and the problem that the flow distribution cannot be realized with high precision when a plurality of execution elements synchronously work in the prior art is solved.
Term definition and term interpretation, multiway valve: an oil-liquid integrated reversing device for a crane hydraulic system. Load sensitive system: a hydraulic circuit senses system pressure-flow demand and provides only the flow and pressure demanded.
Example 1
The embodiment provides a multi-way valve multi-actuator cooperative control device, which comprises a mechanical compensator arranged in each working link and a control unit connected with each working link, wherein the control unit comprises an ECU processing unit, an electric proportional pressure reducing valve and a displacement sensor for acquiring actual position information of a valve core of the working link; the mechanical compensator is used for carrying out mechanical compensation according to load feedback; the ECU processing unit adjusts the control current of the electric proportional pressure reducing valve according to the received external control signal so as to adjust the position of the working connecting valve core; the ECU processing unit calculates the deviation amount of the valve core according to the received actual position information of the valve core of the working linkage, and adjusts the control current of the electric proportional pressure reducing valve according to the deviation amount so as to adjust the position of the valve core of the working linkage in a closed loop.
According to the cooperative control device, a mechanical compensation technology and an electronic compensation technology are fully fused, the mechanical compensation technology can quickly feed back a load through a compensator to perform mechanical compensation, then control current is adjusted according to pressure difference to perform electronic compensation, and the electronic compensation technology compensates errors of the mechanical compensation technology, so that high-precision flow distribution is realized; when the electronic compensation is performed, feedback adjustment is utilized, namely, the position of the valve core is adjusted according to an external control signal, then the deviation amount of the valve core is calculated according to the real-time position of the valve core, the adjustment is performed again according to the deviation amount, and the accuracy of valve core position adjustment is ensured.
The control unit comprises devices such as a displacement sensor, an ECU processing unit, an electric proportional pressure reducing valve and the like, external control signals (other linked displacement signals, flow signals, pressure signals and fault signals) are sent to the ECU processing unit, the ECU processing unit adjusts the opening of a valve port in an oil way of an end cover by changing control current of the electric proportional pressure reducing valve, so that the pressure in a control cavity of a control linkage valve core is changed, the position of the control linkage valve core is finally changed, the deviation amount of the valve core is obtained according to the actual position of the control linkage valve core fed back by the displacement sensor, the deviation is regulated through an internal algorithm, closed-loop control of valve core displacement is formed, quick response can be realized, and all the linkage control devices can realize flow distribution in a coordinated manner.
Example 2
As shown in fig. 1, a multi-path valve multi-actuator cooperative control method includes: and step 10, compensating by the mechanical compensator according to load feedback. And step 20, the control unit performs electronic compensation in response to the oil port pressure difference before and after the working link exceeds a set threshold value. And step 30, ending the control in response to the pressure before and after the working link being smaller than the set threshold value.
In step 20, the electronic compensation includes: controlling the opening degree of the working coupling valve core according to the received external control signal so as to adjust the position of the working coupling valve core; and acquiring actual position information of the valve core of the working link, calculating the deviation amount of the valve core, and adjusting the valve core position of the working link in a closed loop mode according to the deviation amount. And feedback adjustment is realized through secondary setting, so that the accuracy of valve core position adjustment is ensured.
In step 30, control is ended when the pressure before and after the working link is less than the set threshold, where the pressure before and after the working link may be obtained after being compensated by a mechanical compensator, or may be obtained after being compensated by a mechanical compensator and then being compensated by controlling current adjustment.
Specifically, as shown in fig. 1, the pressure compensation logic in the multi-way valve is firstly compensated by a mechanical compensator, the compensator is arranged in the multi-way valve, feedback oil ports on different valve groups are communicated, oil pressure is established by opening the compensator, flow is quickly compensated, then the pressure difference between the front oil port and the rear oil port of the working link is judged, when the pressure difference between the front oil port and the rear oil port of the working link exceeds a set threshold value, the control current is regulated, the opening of a valve port is controlled, and the flow output is more accurate and meets the current actual working condition requirement.
As shown in fig. 2, the multi-way valve analyzes the control signal through an internal system algorithm and decomposes the control signal into various opening flow and pressure parameters required by actions such as amplitude variation and winding, amplitude variation and expansion, winding and expansion, and the like, and drives the valve core to change the opening of the valve port, so that each control link can be distributed to a proper flow, and the composite action control of the crane is realized.
The electronic compensation technology ensures the valve core opening area through high-precision valve core displacement detection, detects the pressure difference through a valve front-valve rear pressure sensor, calculates the actual demand flow based on the valve core front-rear pressure difference and the valve core opening area, adjusts the control current of each execution link of the multi-way valve according to the comparison of the actual flow and the set flow, and realizes high-precision flow distribution control.
In order to ensure the control precision, each working unit of the multi-way valve is provided with an independent control device, and the control device has the functions of valve core displacement closed-loop control, flow calculation and the like, as shown in fig. 3, an independent control unit is arranged at one end of each control unit of the multi-way valve, and devices such as a displacement sensor, an ECU processing unit, an electric proportional pressure reducing valve and the like are integrated inside the multi-way valve, so that the multi-way valve has the functions of detection, decision making and execution.
The control unit working logic block diagram is shown in figure 4, an external signal is sent to the ECU processing unit, the ECU processing unit adjusts the opening of a valve port in an oil way of an end cover by changing the control current of a proportional reducing valve, so that the pressure in a control cavity of a control valve element is changed, the position of the control valve element is finally changed, the deviation amount is obtained according to the actual position of the control valve element fed back by a displacement sensor, the deviation is regulated through an internal algorithm, closed-loop control of valve element displacement is formed, quick response can be realized, and all the control devices can cooperatively realize flow distribution.
The application has the following advantages: the inside is provided with closed-loop control, so that the response to the external pressure change can be timely made;
the system has the detection function, and can reasonably distribute the total flow according to the working conditions of each link to compensate the large load link; the control unit has decision making and driving capabilities, so that the occupation of a control port of the controller is avoided, and the complexity of the main control unit is reduced.
It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.
Claims (10)
1. The multi-path valve multi-executive component cooperative control device is characterized by comprising a mechanical compensator arranged in each working link and a control unit connected with each working link, wherein the control unit comprises an ECU processing unit, an electric proportional pressure reducing valve and a displacement sensor for acquiring actual position information of a valve core of the working link;
the mechanical compensator is used for carrying out mechanical compensation according to load feedback;
the ECU processing unit adjusts the control current of the electric proportional pressure reducing valve according to the received external control signal so as to adjust the position of the working connecting valve core; and the ECU processing unit calculates the deviation amount of the valve core according to the received actual position information of the valve core of the working link, and adjusts the control current of the electric proportional pressure reducing valve according to the deviation amount so as to adjust the position of the valve core of the working link in a closed loop.
2. The multiple-way valve multiple-actuator cooperative control apparatus according to claim 1, wherein the mechanical compensator compensates according to load feedback, comprising:
opening the mechanical compensator of each working link to enable feedback oil ports of a plurality of mechanical compensators to be communicated;
the feedback pressure generated by the working units with high load pressure is reduced by the mechanical compensator in other working units, so that the pressure oil in unit time is distributed to the working units with high load.
3. The multiple-way valve multiple-actuator cooperative control apparatus according to claim 1, wherein the control current of the electric proportional pressure reducing valve is adjusted according to the received external control signal to adjust the position of the working coupling valve core:
acquiring the front and rear oil port pressure difference and the valve core opening area of a working coupling valve core;
calculating actual demand flow according to the front-back oil port pressure difference of the working coupling valve core and the valve core opening area;
according to the comparison result of the actual demand flow and the set flow, regulating the control current of each working link of the multi-way valve;
and adjusting the opening of the valve core in the oil way of the end cover of the working connecting valve according to the control current so as to adjust the position of the working connecting valve core.
4. The multi-way valve multi-actuator cooperative control apparatus according to claim 3, wherein obtaining the hydraulic fluid pressure difference between the front and rear of the working manifold core comprises:
the pressure of the front and rear oil ports of the valve core is obtained through pressure sensors arranged at the front and rear oil ports of the valve core;
and the differential pressure of the front oil port and the rear oil port of the valve core is calculated through an ECU processing unit in signal connection with the pressure sensor.
5. The multiple-actuator coordinated control device of claim 3, wherein taking the working manifold core opening area comprises:
acquiring the valve core position through the displacement detection sensor;
and calculating the valve element opening area through an ECU processing unit in signal connection with the displacement detection sensor.
6. The multiple-way valve multiple-actuator cooperative control apparatus of claim 1, wherein the control unit on each work train is in signal connection with the control units of the other work trains so that the ECU processing unit receives the displacement signals, the flow signals, the pressure signals and the fault signals of the other trains.
7. The multi-actuator cooperative control method for the multi-way valve is characterized by comprising the following steps of:
the mechanical compensator performs mechanical compensation according to load feedback;
the control unit performs electronic compensation when the oil port pressure difference before and after the working link exceeds a set threshold value;
the electronic compensation includes: controlling the opening degree of the working coupling valve core according to the received external control signal so as to adjust the position of the working coupling valve core; acquiring actual position information of a working linkage valve core, calculating the deviation amount of the valve core, and adjusting the valve core position of the working linkage in a closed loop according to the deviation amount;
and ending the control in response to the pressure before and after the working link being less than the set threshold.
8. The multi-way valve multi-actuator cooperative control method of claim 7, wherein the mechanical compensator compensates according to load feedback comprising:
opening the mechanical compensator of each working link to enable feedback oil ports of a plurality of mechanical compensators to be communicated;
the feedback pressure generated by the working units with high load pressure is reduced by the mechanical compensator in other working units, so that the pressure oil in unit time is distributed to the working units with high load.
9. The method of claim 7, wherein the adjusting the control current of the electric proportional pressure reducing valve according to the received external control signal adjusts the position of the working coupling valve core:
acquiring the front and rear oil port pressure difference and the valve core opening area of a working coupling valve core;
calculating actual demand flow according to the front-back oil port pressure difference of the working coupling valve core and the valve core opening area;
according to the comparison result of the actual demand flow and the set flow, regulating the control current of each working link of the multi-way valve;
and adjusting the opening of the valve core in the oil way of the end cover of the working connecting valve according to the control current so as to adjust the position of the working connecting valve core.
10. The multi-way valve multi-actuator cooperative control method of claim 7, wherein the obtaining the front-back oil port pressure difference and the valve core opening area of the working coupling valve core comprises:
the pressure of the front and rear oil ports of the valve core is obtained through pressure sensors of the front and rear oil ports of the valve core, so that the pressure difference of the front and rear oil ports of the valve core is calculated;
and acquiring the valve core position through a valve core displacement detection sensor so as to calculate the valve core opening area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211652488.7A CN116255371A (en) | 2022-12-22 | 2022-12-22 | Multi-actuator cooperative control device and method for multi-way valve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211652488.7A CN116255371A (en) | 2022-12-22 | 2022-12-22 | Multi-actuator cooperative control device and method for multi-way valve |
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| CN116255371A true CN116255371A (en) | 2023-06-13 |
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| CN202211652488.7A Pending CN116255371A (en) | 2022-12-22 | 2022-12-22 | Multi-actuator cooperative control device and method for multi-way valve |
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