KR101914756B1 - Control method for control valve of Hydraulic supply device using solenoid valve - Google Patents

Abstract

The present invention relates to technique to more effectively manage a system provided with a hydraulic supply device to change the position of a control valve by controlling oil flowing into the control valve in accordance with operation of a solenoid valve. According to the present invention, a control method comprises: a first step of calculating an error; a second step of calculating the final valve opening output value; a third step of providing a drive signal to a solenoid valve; a fourth step of repeatedly performing the first to third steps; and a fifth step of setting a gap.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control valve for a hydraulic supply system using a solenoid valve,

The present invention relates to a hydraulic pressure supply system for changing the position of a control valve by controlling oil flowing into a control valve in accordance with the operation of the solenoid valve, And more particularly, to a technology that makes it possible to operate a system having a hydraulic supply facility more efficiently.

Generally, a control valve control device applied to a hydroelectric power plant operates by using a servo valve to check errors according to input signals, and to control the compensation value by a current signal of 4 to 20 mA.

That is, an input signal required by the operator is input as a reference value of 0 to 100%, an opening signal of the control valve is set as a feedback signal to calculate an error, and an output value including a proportional gain is supplied to the servo valve do.

When the error of the feedback signal relative to the input value is greater than the intermediate value according to the signal, the servo valve performs continuous control so that the error of the feedback signal is minimized by moving the control valve signal in the open direction. On the other hand, And when it is smaller than the intermediate value, the signal of the control valve moves in the close direction to control the error of the feedback signal.

At this time, the maximum supply flow rate of the servo valve for controlling the flow rate should satisfy the open and close time of the guide vane.

Therefore, in plants with high flow rates, precise control is performed using servo valves in plants with high flow rates, but control valves are usually controlled by ON / OFF solenoid valves in plants with low flow rates.

Generally, in the structure for controlling the control valve of the guide vane by using the ON / OFF solenoid valve, the accuracy of the control is deteriorated. Therefore, an error with respect to the request signal is constantly generated, The solenoid valve performs the ON / OFF operation continuously.

However, since the position of the guide vane interlocked with the solenoid valve is continuously changed according to the ON / OFF operation of the solenoid valve, the mechanical wear and the operation speed of the hydraulic pressure supply equipment are delayed.

Therefore, in order to control the control valve more stably using the solenoid valve, there is a need for an ON / OFF solenoid valve control tuning technique which can reduce the continuous movement of the guide vane in the field.

1. Korean Registered Patent No. 10-1455033 (Title: Control Method of Small Hydro Power Generation Device for Flow Rate) 2. Korean Patent Publication No. 10-2017-0025198 (Title: Valve opening control device and method)

Accordingly, the present invention has been made in view of the above-described circumstances, and it is an object of the present invention to provide a solenoid valve which is formed with a dead zone, It is a technical object of the present invention to provide a control valve control method of a hydraulic supply system using a solenoid valve that minimizes mechanical wear of the apparatus by minimizing the change of the operating state and enables control of a stable control valve .

여기서, VT는 평균 밸브연동시간이고, VD는 최종 밸브개도 출력값이며, N은 중립값이고, Bi는 바이어스 값임.According to an aspect of the present invention, there is provided a hydraulic control apparatus for an internal combustion engine, comprising a solenoid valve connected to a control valve through a pipeline, the solenoid valve being operable to control an oil flowing into the control valve, A control valve control method for a hydraulic supply system using a solenoid valve including a supply system and a valve control apparatus for providing an on / off drive signal to the solenoid valve, the method comprising: A first step of calculating an error between the two signals by feeding back a valve opening signal corresponding to driving of a control valve of a hydraulic supply system; generating an output value by applying a proportional gain predetermined to the error calculated in the first step; A second step of calculating a final valve opening output value by adding a predetermined neutral value to the output value, A third step of providing a drive signal to the solenoid valve so that the position of the control valve is moved in the first direction or the second direction in accordance with the result of comparison between the final valve opening output value and the predetermined neutral value, A fourth step of repeating the first to third operations while adjusting the proportional gain to a predetermined unit until the control valve reaches the predetermined position, A solenoid driving condition corresponding to the first direction of the control valve and a second direction of the control valve corresponding to the first direction of the control valve are applied to the neutral value which compares the dead zone value with the final valve opening output value, And a fifth step of setting a gap corresponding to the dead band value between the solenoid drive conditions corresponding to And a dead zone value in the fifth step is set to a value that satisfies the following equation: < EMI ID = 1.0 >

Here, VT is the average valve interlocking time, VD is the final valve opening output value, N is the neutral value, and Bi is the bias value.

delete

In the fourth step, the proportional gain is calculated by calculating an optimum proportional gain value while increasing or decreasing the valve opening signal in a predetermined unit up to the target value of the control valve request signal and the period in which no overshoot and undershoot occur A control valve control method of a hydraulic supply system using a solenoid valve is provided.

The hydraulic pressure supply device may include an open solenoid valve for moving the control valve in the first direction and a close solenoid valve for moving the control valve in the second direction. In the third step, And outputs an ON signal to the open solenoid valve when the condition is satisfied and outputs an ON signal to the close solenoid valve when the condition is equal to or less than a predetermined neutral value. A control valve control method for a hydraulic supply system is provided.

In the fifth step, the neutral abnormality condition is calculated by summing the dead value at the neutral value to set the reference of the neutral value abnormality condition, and the condition below the neutral value is calculated by subtracting the dead value from the neutral value, A control valve control method of a hydraulic supply system using a solenoid valve is provided.

The second step calculates the final valve opening output value by adding the neutral value and the bias value to the output value, and the sum of the neutral value and the bias value is calculated as the intermediate value between the open solenoid valve and the closed solenoid valve The control valve control method of the hydraulic supply system using the solenoid valve is provided.

The hydraulic pressure supply system is provided in the hydraulic control unit to control the hydraulic aberration, and the position of the guide vane is changed by the operation of the solenoid valve. The control valve control of the hydraulic pressure supply system using the solenoid valve Method is provided.

According to the present invention, the reference condition for controlling the solenoid valve is provided with a dead zone which does not control the solenoid valve for a certain period based on the neutral value, so that the change of the operating state of the solenoid valve is minimized, It is possible to provide a hydraulic pressure supply apparatus capable of performing control of a stable control valve while minimizing wear.

Further, by applying the hydraulic pressure supply facility to the aberration of the hydroelectric power plant to perform position control of the guide vane, the operation of the control valve for adjusting the amount of water supplied to the aberration can be optimized to more efficiently operate the power plant .

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view of a hydraulic power generator to which the present invention is applied; Fig.
FIG. 2 is a view schematically showing a configuration of a main portion of a flow rate supply device provided in the aberration 100 shown in FIG. 1; FIG.
FIG. 3 is a diagram illustrating a valve control algorithm performed by the aberration control unit 200 shown in FIG. 1. FIG.
4 is a view for explaining a control valve control method of a hydraulic pressure supply system using a solenoid valve according to the present invention.
Figs. 5 to 6 are diagrams showing the results of experiments by the inventor of the operation of the solenoid valve according to the setting of the dead band. Fig.

The scope of the present invention is not limited to the embodiments and drawings described in the present specification, and the scope of the present invention is not limited to these embodiments. Should not be construed as limited by That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the relevant art and can not be construed as having ideal or overly formal meanings which are not expressly defined in the present invention.

Hereinafter, the configuration of the present invention will be described in detail with reference to the accompanying drawings.

The present invention can be applied to various types of hydraulic pressure supply apparatuses that control a control valve using a solenoid valve. Hereinafter, a case where the present invention is applied to an aberration of a hydraulic power generator will be described.

1 is a schematic view showing a hydraulic power generator to which the present invention is applied.

As shown in FIG. 1, the hydraulic power generator includes an aberration 100 and an aberration control unit 200, and the aberration 100 is rotationally driven corresponding to the water flowing through the transfer pipe 1, Generates mechanical energy and supplies it to the generator (2).

The aberration 100 adjusts the amount of water flowing through the transfer pipe 1 by changing the position of the guide vane (not shown) under the control of the aberration control unit 200.

At this time, the aberration 100 is provided with a hydraulic pressure supply device for changing the position of the guide vane for controlling the flow rate. The hydraulic pressure supply device controls the flow rate of the hydraulic fluid supplied from the transfer pipe 1 by moving the control valve, that is, the guide vane, in conjunction with the solenoid valve.

FIG. 2 is a view schematically showing a configuration of a main part of a flow rate supply apparatus provided in the aberration 100 shown in FIG.

2, the flow rate supply device includes an oil supply unit 110, an emergency stop solenoid valve 120, a close solenoid valve 130, an open solenoid valve 140, a guide vane 150, an oil distribution unit 160, , And a valve opening degree sensor (170).

Oil flowing from the oil supply unit 110 is supplied to the solenoid valves 120, 130 and 140 and one of the solenoid valves 120, 130 and 140 is selectively operated according to a control signal applied from the aberration control unit 200.

At this time, the solenoids 120, 130, and 140 are connected to the guide vane 150 through a pipeline through which oil is supplied, and the pipeline is disposed to form a constant path between the oil supply unit 110 and the oil distribution unit 160.

In accordance with the operation of the solenoid, the oil is supplied to the guide vane 150 through the pipeline of the corresponding path. Since the movement path of the oil is different according to the operated solenoid valve (the closed solenoid valve or the open solenoid valve) (150) is moved. At this time, the close solenoid valve 130 is connected to the closing direction of the guide vane 150 through the pipeline, and the open solenoid valve 140 is connected to the open direction of the guide vane 150 through the pipeline.

That is, when the open solenoid valve 140 is operated, oil is supplied in the open direction of the guide vane 150 so that the guide vane 150 moves in the first direction (open), and the closed solenoid valve The guide vane 150 is supplied in the closing direction and the guide vane 150 is moved in the second direction. When the emergency stop solenoid valve 120 is operated, the flow rate of the oil supplied to the guide vane 150 is supplied to the oil drainage unit 160, and the guide vane 150 is designed to be moved in the second direction do.

The valve opening sensor 170 provides a valve opening signal corresponding to the position of the guide vane 150 to the aberration control unit 200 as a feedback signal to the control valve request signal.

The aberration control unit 200 performs control on the solenoid valve so that the valve control has accuracy and acceleration based on the error between the control valve request signal provided from the operator and the valve opening signal applied as the feedback signal from the aberration 100 do.

FIG. 3 is a diagram illustrating a valve control algorithm performed by the aberration control unit 200.

Referring to FIG. 3, the valve control algorithm determines whether the valve opening signal provided by the operator as a feedback signal from the valve opening sensor 170 of the hydraulic supply device is within a range of 0 to 100% If input in the same range as the signal, the error between these two signals is calculated. Preferably, a value obtained by subtracting the valve opening signal from the control valve request signal, that is, an error is calculated.

Then, an output value within a range of 0 to 100% is generated by applying a proportional gain and an integral gain to the error, and a final valve opening output value within a range of 0 to 100% is generated by adding the predetermined neutral value and the bias value to the output value do.

In this case, the process of adding the neutral value to the output value is used as a signal to stop the movement of the valve when the error is 0%, and the neutral value is generally set to a value of 50%. Accordingly, when the error becomes a positive number, the final valve opening degree output value is increased to 50% (neutral value) or more, and when the error is increased to a negative value, the final valve opening degree output value is 50% .

Then, the aberration control unit 200 determines whether the final valve opening output value satisfies the condition of the predetermined neutral value or more or the neutral value or less, and controls the solenoid valve 150 so that the position of the guide vane 150 is moved corresponding to the determination result. That is, an on or off signal.

When the final valve opening output value is equal to or greater than the predetermined neutral reference value or more, the aberration controller 200 controls the open solenoid valve (open solenoid valve 140) ON), the open solenoid valve 140 is operated. When the final valve opening output value satisfies the condition of the neutral value or less, that is, the condition value is equal to or smaller than the predetermined neutral value, the closing solenoid valve Sol valve 130) to output an excitation signal ON.

At this time, the aberration control unit 220 calculates the final valve opening output value while adjusting the proportional gain to a predetermined unit until no error occurs.

In addition, the aberration control unit 220 monitors whether the position movement direction of the guide vane 150 by the final valve opening output value alternates continuously over a predetermined number of times. When such a situation occurs, And applies it to the driving condition judgment criteria. That is, the condition reference value of neutral value or more is set to a value larger than 50% (neutral value), for example, 51% by applying dead band, and a condition reference value less than neutral value is set to a value smaller than 50% (neutral value) , For example, 49%, so as to form a gap corresponding to the dead zone between the solenoid valve driving conditions. This is because when the dead band is not applied, the final valve opening output value due to the error continuously changes from the neutral value, and thus the solenoid valve to which the excitation signal ON is applied is continuously changed, So that it is prevented from acting as a dissipating element.

Next, a method of controlling a control valve of a hydraulic supply system using a solenoid valve according to the present invention will be described in detail with reference to FIG.

First, the aberration control unit 200 calculates an error by calculating a difference between a control valve request signal input from an operator and a valve opening signal provided from the opening valve sensor (ST100).

Next, the aberration control unit 200 calculates a valve opening output value by checking a follow-up time of a predetermined steady state error and applying a gain including proportional gain to the error (ST200). Preferably, the valve opening output value is calculated by applying a proportional gain and an integral gain to the error.

The aberration control unit 200 calculates a final valve opening demand signal by applying a predetermined neutral value and a bias to the valve opening output value (ST300).

When the final valve opening degree request signal is compared with the neutral value condition, the aberration control unit 200 provides the open solenoid valve 140 with an excitation signal (ON), and if the condition is equal to or more than the neutral value, If it is satisfied, the close solenoid valve 130 provides an excitation signal ON (ST400, ST500).

Further, the aberration control unit 200 repeatedly calculates the final valve opening degree output value while adjusting the proportional gain with respect to the valve opening degree signal newly applied in accordance with the solenoid valve driving, and selectively outputs the excitation signal ON with the corresponding solenoid valve (ST600). The final valve opening output value according to the error is based on a predetermined scan time.

At this time, the aberration control unit 200 derives the proportional gain constant value by increasing or decreasing the valve opening signal to a target value of the control valve request signal and a period where overshoot and undershoot do not occur, And the optimum output value is calculated by applying it to the error. For example, an optimal proportional gain constant value for the control valve request signal can be derived from 5% to 10% over the entire control valve request signal from 0% to 100%.

That is, assuming that the valve control signal is processed in units of 5 msec, and the signal delay time and the solenoid valve excitation time in the system are 40 msec, the movement of the guide vane 150 can be confirmed after 45 msec. When the open time of the entire stroke of the guide vane 150 is set to 10 sec, the closing time is set to 10 sec, and the step input is applied from 0% to 10% of the valve request signal, the request signal is reached after 1045 msec . However, when the error is reduced from 10% to 0% in a state where the open solenoid valve must be kept in the energized state (ON), the open solenoid valve 140 is not in the non-energized state OFF, and the aberration control unit 200 continuously performs a motion to follow the 10% control valve request signal target value.

As described above, when the solenoid valve continuously moves in order to follow the target value, the position of the solenoid valve and the guide vane interlocked with the solenoid valve continuously fluctuates. Accordingly, the mechanical wear of the equipment and the actuation speed of the hydraulic supply equipment A problem of delay occurs.

The main feature of the present invention is to form a dead zone that does not control the solenoid valve within a certain range based on the neutral value in the reference condition for controlling the solenoid valve in order to optimize the movement of the solenoid valve for the target value tracking .

That is, the aberration control unit 200 determines whether the error value between the target value (control valve request signal) and the valve opening signal repeats + or - continuously over a predetermined amount of time based on the previous error value (ST700). In other words, the aberration control unit 200 keeps the open valve solenoid valve 140 and the close solenoid valve 130 in a constant (open or closed) state because the state in which the final valve opening request signal alternately satisfies the neutral- It is determined whether or not the alternate operation is performed continuously.

If it is determined in ST700 that the final valve opening request signal alternates between the neutral condition and the neutral condition, the aberration control unit 100 applies a dead zone to the neutral value, (ST800). Here, when the dead zone is applied to the current neutral value reference, the neutral value reference is changed by applying the present dead zone value to the predetermined neutral value.

That is, the aberration control unit 200 calculates a dead-band value corresponding to the operation state of the solenoid valve for current error control, and applies the calculated dead-band value to the neutral value to adjust the neutral- do.

Thereafter, the aberration control unit 200 selectively outputs the excitation signal ON to the open solenoid valve 140 or the close solenoid valve 130 based on the modified neutral value abnormality condition and the neutral condition value or less condition (ST900).

Next, in more detail,

First, the interlocking time of the valve opening degree is averaged to calculate the valve interlocking time VT. The valve interlocking time VT is determined by the sum of the open time OT until the guide vane 150 moves in the open direction and the closing solenoid valve 130 when the excitation signal ON is applied to the open solenoid valve 140. [ Is calculated by dividing the sum of the close times (CT) until the guide vane 150 moves in the close direction by 2 when the excitation signal (ON) is applied to the guide vane (ON)

The final valve opening output value VD is obtained by multiplying the error value between the control valve request signal Vd and the valve opening signal Vfb of the guide vane 150 by the proportional gain Pg, Is calculated by summing the value (N) and the bias value (Bi).

Under the above conditions, the dead band value DB is set to a value satisfying the following equation (3).

Equation 3 is a proportional expression for setting the dead-band value, and the dead-band value is obtained by dividing the result value (valve operating time) of Equation 1 by a value obtained by multiplying a constant value of 100 by the dead- The resultant value is set to a value that satisfies the same condition as the value obtained by subtracting the neutral value from the bias value.

 Here, the above equation (3) does not consider the delay time and the electrical delay time of the hydraulic supply system. The delay time may vary depending on the system, so that it can be appropriately applied to the above equation.

That is, the aberration control unit 200 changes the reference value of the neutral value abnormal condition and the neutral neutral condition by applying the dead band value calculated by Equation (3) to the neutral value. For example, when the dead zone is 1%, the neutral value abnormality reference value is 51%, and the neutral value and lower condition reference value are set to 49%. Therefore, for a range exceeding 49% but less than 51%, a dead zone (gap) in which the solenoid valve is not adjusted is formed.

5 to 6 are graphs showing experimental results of the operation of the solenoid valve according to whether the dead band is set by the present inventor, and the difference according to whether the dead band is set will be described with reference to FIG. 5 to FIG.

First, when the scan time of the control signal is 5 msec, the solenoid operation delay time is 40 msec, the proportional gain is "1", the open time of the control valve is 10 sec, the closing time of the control valve is 10 sec, The control algorithm calculates the error in a cycle of 5 ms and selectively operates the open solenoid valve or the close solenoid valve in accordance with the final valve opening output value. At this time, since the solenoid delay time is 40 msec, the valve control signal is provided to the solenoid valve in the direction corresponding to the currently calculated error for 45 msec.

The sensitivity of the solenoid valve control signal to the final valve opening output value is adjusted in consideration of the control algorithm and other delay time under the condition that the output change of the control valve is 1% for 1 sec, Should be stabilized.

According to FIG. 5, when the dead zone is set to 0%, an error is generated under the condition that the control valve request signal is transmitted at the 45% interval, so that the open solenoid valve and the close solenoid valve are operated It is possible to confirm that the control signal for repeatedly outputting is repeatedly outputted.

In Fig. 5, 11 (white) denotes a target value required by the operator, that is, a control valve request signal, 12 (red) denotes a valve opening signal corresponding to the position of the hydraulic supply system, that is, the guide vane 150, (Yellow) is the valve control signal provided by the open solenoid valve, and 15 (blue) is the valve control signal provided by the close solenoid valve.

6 is a graph comparing output signals for operation of the open solenoid valve and the close solenoid valve when the dead band is set to 0% (X) and the dead band is set to 10% (Y).

According to FIG. 6, in the case of the same signal condition, the continuous time of the open solenoid valve and the close solenoid valve in the case of setting the dead zone (Y) is smaller than that in the case of not setting the dead zone (the pulse width of the drive signal is ) Can be confirmed.

As the excitation state time of the solenoid valve is reduced, the hydraulic pressure supply time by the solenoid valve is reduced, thereby reducing the movement time of the guide vane.

Further, in the present invention, the neutral value and the bias may be adjusted so as to set the best dead zone, so that the intermediate value of the interval between the open solenoid valve and the closed solenoid valve can be input. That is, the sum of the neutral value and the bias value is set to be equal to the intermediate value of the motion-free period of the open solenoid valve and the close solenoid valve.

For example, assuming that the output value without movement of the guide vane is 50.5%, the neutral value can be set to 50%, and the bias can be set to 0.5%. At this time, the neutral value is held fixed, and the difference between the output value and neutral value of the motionless vane can be set as a bias.

100: aberration, 200: aberration control part,
110: oil supply unit, 120: emergency stop solenoid valve,
130: close solenoid valve, 140: open solenoid valve,
150: guide vane, 160: oil blend,
170: Valve opening sensor.

Claims (7)

A hydraulic pressure supply device connected to the solenoid valve and the pipeline through the pipeline to change the position of the control valve by adjusting the oil flowing into the control valve according to the operation of the solenoid valve; A method of controlling a control valve of a hydraulic supply system using a solenoid valve including a valve control device,
A first step of feeding back a control valve request signal provided from the outside by a valve control device and a valve opening signal corresponding to a control valve driving of a hydraulic pressure supply equipment and calculating an error between the two signals;
A second step of generating an output value by applying a predetermined proportional gain to the error calculated in the first step and calculating a final valve opening output value by summing up the predetermined neutral value to the output value,
A third step of providing a drive signal to the solenoid valve so that the position of the control valve is moved in the first direction or the second direction in accordance with the comparison result of the final valve opening output value and the predetermined neutral value,
A fourth step of repeating the first to third operations while adjusting the proportional gain in a predetermined unit until the valve opening signal reaches the control valve request signal,
If the positional movement direction of the control valve alternates continuously over a certain period of time while performing the fourth step, the dead band value for delaying the fluctuation sensitivity of the solenoid valve is calculated and applied to the neutral value for comparing the dead band value with the final valve opening output value And a fifth step of setting a gap corresponding to a dead-band value between a solenoid driving condition corresponding to the first direction of the control valve and a solenoid driving condition corresponding to the second direction of the control valve,
Wherein the dead zone value DB is set to a value that satisfies the following equation in the fifth step.

Here, VT is the average valve interlocking time, VD is the final valve opening output value, N is the neutral value, and Bi is the bias value.
delete The method according to claim 1,
In the fourth step, the proportional gain is calculated by calculating an optimum proportional gain value while increasing or decreasing the valve opening signal in a predetermined unit up to the target value of the control valve request signal and a period in which no overshoot and undershoot occur, A control valve control method of a hydraulic supply system using a solenoid valve.
The method according to claim 1,
Wherein the hydraulic pressure supply device includes an open solenoid valve for moving the control valve in the first direction and a close solenoid valve for moving the control valve in the second direction,
In the third step, an ON signal is outputted to the open solenoid valve when the predetermined neutral value or more condition is satisfied. When the condition below the predetermined neutral value is satisfied, an ON signal is outputted to the close solenoid valve Wherein the solenoid valve is controlled by a solenoid valve.
5. The method of claim 4,
In the fifth step, the neutral abnormality condition is calculated by adding the dead value at the neutral value to set the reference of the neutral value abnormality condition, and the condition below the neutral value is calculated by subtracting the dead value from the neutral value, Wherein the solenoid valve is controlled by a solenoid valve.
5. The method of claim 4,
The second step calculates a final valve opening output value by summing the neutral value and the bias value to the output value,
Wherein the sum of the neutral value and the bias value is set to be equal to an intermediate value of a period in which there is no motion of the open solenoid valve and the close solenoid valve.
The method according to claim 4 or 5 or 6,
Wherein the hydraulic pressure supply facility is provided in the hydraulic power station governor to control the hydraulic aberration, and the position of the guide vane is changed by operation of the solenoid valve.

Images