KR102493759B1 - Flow control apparatus, flow control method and computer readable recording medium - Google Patents

Abstract

A flow control device (100) for controlling the flow rate of fluid supplied to an actuator by drive-controlling the actual position of the pilot spool (12) to a target position, the actual position PVx of the pilot spool (12) and the pilot spool (12) When positioned at the actual position, the first acquisition unit 31 acquires the value of the flow rate-related parameter related to the flow rate of the fluid flowing through the actuator, and the position command indicating the target position PVs1 of the pilot spool 12 is acquired. A second acquisition unit 32, a correction unit 36 that corrects the target position PVs1 based on the value of the parameter related to the actual position and the flow rate, and a correction unit 36 that drives the pilot spool 12 according to the corrected target position PVs2 A driving control unit 37 is included.

Description

Flow control device, flow control method and computer readable recording medium

The present invention relates to a flow control device, a flow control method, and a flow control program.

Patent Literature 1 describes a servo control system including a servo system using feedback. This servo control system includes a hydraulic cylinder controlled by a servo valve, a load operated by the hydraulic cylinder, and a controller that provides a control input to cancel a deviation between a hydraulic cylinder stroke displacement and a target signal.

Japanese Patent No. 3490561

The present inventors have obtained the following knowledge about a flow control device that controls the flow rate of a fluid supplied to an actuator by controlling the position of a spool of a pilot valve. Even if the position of the spool of the pilot valve is controlled in accordance with a position command from a higher-order controller such as an engine control device, there is a problem that fluid at a desired flow rate does not flow to the actuator depending on the shape of the spool.

In view of the above, an object of the present invention is to provide a flow control device capable of stably controlling the position of an actuator to a desired position in accordance with the position of a spool of a pilot valve.

A flow control device of one aspect of the present invention is a flow control device that controls the flow rate of fluid supplied to an actuator by driving and controlling the actual position of a pilot spool, which is a spool of a pilot valve, to a target position, wherein the actual position of the pilot spool and a first acquiring unit for acquiring a value of a flow rate related parameter related to a flow rate of the fluid flowing through the actuator when the pilot spool is positioned at the actual position, and a position command indicating the target position of the pilot spool. A second acquisition unit that acquires, a correction unit that corrects the target position based on the actual position and the value of the flow rate-related parameter, and a drive control unit that drives the pilot spool according to the corrected target position. do.

In addition, substitution of elements or expressions of the present invention among methods, devices, programs, temporary or non-temporary storage media, systems, etc. in which the programs are recorded is also effective as an aspect of the present invention.

According to the present invention, it is possible to provide a flow control device capable of stably controlling the position of the actuator to a desired position according to the position of the spool of the pilot valve.

1 is a diagram schematically showing the configuration of the periphery of a valve control device of a hydraulic servo valve.
2 is a diagram schematically showing the configuration of a hydraulic servo valve.
3(a) to (c) are schematic diagrams schematically showing the position of the valve element of the pilot spool and the open/closed state of the port.
4 is a configuration diagram schematically showing a valve control device.
5(a) to (c) are diagrams showing states of the pilot spool valve element and the second port in the neutral position.
Fig.6 (a) - (c) is a figure which respectively shows the correlation of the flow volume of the hydraulic oil supplied to the position of the valve element of FIG.5 (a) - (c) and a main valve.
7 (a) to (c) show, respectively, when the width of the valve element of the pilot spool is smaller than the opening width of the second port, the amount of change in the flow rate of hydraulic fluid relative to the position of the valve element 12a increases. It is a drawing to explain the principle.
8 is a flowchart showing the operation of the valve control device.
9 is a flowchart showing the update operation of the valve control device.
10 is a flowchart showing the operation of the valve control device.
Fig. 11 is a diagram showing the correlation between the position of the valve element of the pilot spool and the moving speed of the main spool.
12 is a configuration diagram schematically showing a valve control device.
13 is a flowchart showing an estimation operation of the valve control device.

Hereinafter, in the embodiments and modified examples, the same reference numerals are assigned to the same or equivalent components and members, and appropriately duplicated descriptions are omitted. In addition, the dimensions of the members in each drawing are shown appropriately enlarged or reduced in order to facilitate understanding. In addition, in each figure, in order to explain the embodiment, some of the non-essential members are omitted and displayed.

[First Embodiment]

See Figure 1. The valve control device 100 can be used to control any control valve, but in this embodiment, it controls the hydraulic servo valve 1 used in the engine 80 mounted on a ship. The valve control device 100 is an example of a flow control device.

An engine (80) mounted on a ship is provided with a plurality of cylinders (81). The hydraulic servo valve 1 is provided corresponding to each of the plurality of cylinders 81 and controls fuel injection, exhaust, and the like in each cylinder 81 .

The engine control device 90 transmits a position command described later to the valve control device 100 based on engine output Hs (see FIG. 4 ) input from a control panel (not shown) for controlling navigation of the vessel. Specific control executed by the engine control device 90 will be described later.

The valve control device 100 controls the position of the spool of each pilot valve described later in accordance with a position command from the engine control device 90 . Specific control executed by the valve control device 100 will be described later.

See Figure 2. The hydraulic servo valve 1 includes a pilot valve 10 that controls the operation of an actuator by supplying hydraulic oil (fluid) 48 and a main valve 20 that is an example of an actuator. The pilot valve 10 and the main valve 20 are proportional control valves that proportionally control the pressure or flow rate of the output fluid with respect to the input signal. In this case, since the valve operates in proportion to the control amount, stable feedback control can be realized.

The pilot valve (10) has a pilot spool (12). The pilot spool 12 is moved based on the command of the valve control device 100 and its position is changed. The pilot valve 10 changes the flow rate of hydraulic oil 48 supplied to the main valve 20 according to the position of the pilot spool 12 .

The main valve (20) has a main spool (22). The main spool 22 moves according to the delivery state of the hydraulic oil 48 from the pilot valve 10, and its position changes. The main valve 20 is supplied to other actuators provided to drive an injection valve for injecting fuel into the engine 80 or an exhaust valve for exhausting air in the engine 80 according to the position of the main spool 22. The flow rate of the hydraulic oil 48 is changed. In another example, the main valve 20 may directly drive an injection valve or an exhaust valve by the movement of the main spool 22 .

The hydraulic system of the main valve 20 includes a drain tank 44 that stores hydraulic oil 48 and a hydraulic pump 42 that pressurizes and delivers the hydraulic oil 48 in the drain tank 44 . The hydraulic oil 48 delivered from the hydraulic pump 42 is supplied to the inside of the main valve 20 and to the pilot valve 10 via the pump side piping portion 28p in the main valve 20 . The hydraulic oil 48 discharged from inside the pilot valve 10 and the main valve 20 is returned to the drain tank 44 via the tank side piping portion 28t in the main valve 20.

The pilot valve 10 includes a first position sensor 14s, a sleeve 16, and a spool drive unit 18. The pilot spool 12 has a plurality of valve elements 12p, 12a, and 12t movable in the hollow sleeve 16 . The spool driving unit 18 includes a solenoid (not shown) that advances and retracts the pilot spool 12 in a first direction (the longitudinal direction of the pilot spool 12 in FIG. 1). The spool driver 18 moves the pilot spool 12 based on a command from the valve control device 100 to control the positions of the valve elements 12p, 12a, and 12t. In this example, the three valve bodies 12p, 12a, and 12t are disposed at positions capable of opening and closing three first ports 16p, second ports 16a, and third ports 16t described later, respectively. The three valve bodies 12p, 12a, and 12t change the communication state of the three ports 16p, 16a, and 16t according to their positions. The width of the valve body 12a of the present embodiment in the first direction (hereinafter referred to as "width") is designed to be larger than the width of the second port 16a, assuming a change in shape over time due to wear thereof.

The sleeve 16 extends in the first direction to accommodate the pilot spool 12 . The sleeve 16 includes a first port 16p, a second port 16a, and a third port 16t. The 1st port 16p is connected to the pump side piping part 28p of the main valve 20, and receives supply of the hydraulic oil 48 pressurized from the hydraulic pump 42. The first port 16p inputs the hydraulic oil 48 from the hydraulic pump 42 . The 2nd port 16a is connected to the hydraulic oil accommodating part 28a of the main valve 20. The 2nd port 16a supplies the main valve 20 with the hydraulic oil 48 input from the 1st port 16p. The 3rd port 16t is connected to the tank side piping part 28t, and discharges the hydraulic oil 48 which flowed through the pilot valve 10 to the drain tank 44 via the tank side piping part 28t. The third port 16t discharges the hydraulic oil 48 supplied to the main valve 20 .

The first position sensor 14s detects the position of the pilot spool 12 and outputs the detection result (hereinafter referred to as "actual position PVx") to the valve control device 100.

The main valve 20 includes a main spool 22 and a second position sensor 24s that acquires the position of the main spool 22 . The main spool 22 moves based on the pressure of the hydraulic oil 48 supplied from the pilot valve 10 to the hydraulic oil storage portion 28a, and changes the amount of fuel supplied to the engine 80. That is, the fuel supply amount to the engine changes according to the position of the main spool 22 .

The second position sensor 24s detects the position of the main spool 22, and outputs the detection result (hereinafter referred to as "actual position MVx") to the engine control device 90 and the valve control device 100 do.

The position of each valve element of the pilot valve 10 and the opening/closing state of the port for that position are explained using Fig.3 (a) - (c). Fig. 3(a) shows a state in which the valve bodies 12a and 12p are located in the first region where the second port 16a and the first port 16p communicate with each other. In this state, the 2nd port 16a supplies the hydraulic oil 48 from the 1st port 16p to the hydraulic oil accommodating part 28a (henceforth a "supply mode"). In the supply mode, the hydraulic oil 48 is supplied to the hydraulic oil storage part 28a of the main valve 20 from the hydraulic pump 42 through the first port 16p. By this operation, for example, the main spool 22 of the main valve 20 moves in a direction in which the fuel supply amount to the engine 80 is increased (a direction opposite to the first direction in FIG. 1 ).

(b) of FIG. 3 is a neutral region in which the valve body 12a blocks the second port 16a so that the first port 16p and the third port 16t are not communicated with the second port 16a, respectively. It shows a state located within (hereinafter, a position within a neutral region is also referred to as a "neutral position"). The neutral position is a position serving as the origin when the pilot spool 12 moves in the forward and backward direction. In this state, the 2nd port 16a is shut off, and neither supply nor collection|recovery of the hydraulic oil 48 with respect to the hydraulic oil accommodating part 28a is carried out (it is hereafter called "neutral mode"). In the neutral mode, the oil pressure of the hydraulic oil accommodating part 28a of the main valve 20 is maintained in the state immediately before the valve element 12a is located in the neutral region. By this operation, for example, the main spool 22 of the main valve 20 stops at the immediately preceding position, and the fuel supply amount to the engine 80 is maintained at the immediately preceding state.

Fig. 3(c) shows a state in which the valve elements 12a and 12t are located in the second area where the second port 16a and the third port 16t are communicated. In this state, the 2nd port 16a collects the hydraulic oil 48 from the hydraulic oil accommodating part 28a, and returns it to the tank side piping part 28t (henceforth a "recovery mode"). In the recovery mode, the hydraulic oil 48 of the hydraulic oil accommodating part 28a of the main valve 20 passes through the second port 16a, the third port 16t and the tank side piping part 28t to the drain tank 44. is returned as By this operation, for example, the main spool 22 of the main valve 20 moves in a direction in which the amount of fuel supplied to the engine 80 is reduced (first direction in FIG. 1 ).

The valve control device 100 will be described. Each functional block shown in Fig. 4 can be realized in terms of hardware by an electronic element or mechanical parts including a CPU of a computer, and in terms of software it is realized by a computer program or the like. However, here, functional blocks realized by their association are drawn. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software.

As shown in FIG. 4 , the valve control device 100 includes an information processing unit 30 in which a plurality of functional blocks are integrated, and a storage unit 50 . The information processing unit 30 includes a first acquisition unit 31, a second acquisition unit 32, a determination unit 33, a correlation data generation unit 34, an update unit 35, and a correction unit. (36) and a drive control section (37). The storage unit 50 stores correlation data 51 and correction data 52 described later. In this embodiment, the information processing unit 30 and the storage unit 50 are configured as an integral module.

The first acquisition unit 31 acquires the real position PVx of the pilot spool 12 from the first position sensor 14s provided in the pilot valve 10 . The 1st acquisition part 31 acquires the real position MVx of the main spool 22 from the 2nd position sensor 24s provided in the main valve 20.

The 1st acquisition part 31 acquires the value of the flow rate relation parameter related to the flow rate of the hydraulic fluid 48 flowing through the main valve 20 for every actual position PVx. The flow rate-related parameter in this embodiment is the moving speed of the main spool 22 in the first direction (hereinafter referred to as a moving speed). Since the moving speed changes in proportion to the flow rate of the hydraulic oil 48 flowing through the main valve 20, it is related to the flow rate of the hydraulic oil 48 flowing through the main valve 20. The 1st acquisition part 31 of this embodiment acquires the moving speed based on the displacement of the real position MVx of the main spool 22 acquired by the 1st acquisition part 31 for every real position PVx. Specifically, the first acquisition unit 31 determines the moving speed of the main spool 22 moved by the hydraulic oil 48 flowing from the second port 16a when the pilot spool 12 is positioned at the actual position PVx. Acquire

The second acquisition unit 32 acquires a position command indicating the target position PVs of the pilot spool 12 from the engine control device 90 . The second acquisition unit 32 stores the target position PVs in the storage unit 50 .

The determination unit 33 determines whether update conditions and the like described later are satisfied.

The correlation data generation unit 34 generates correlation data for update. The update correlation data indicates the correlation between each real position PVx acquired by the first acquisition section 31 and the parameter value acquired for each real position PVx when the pilot spool 12 is moved in the forward and backward direction. . Correlation data 51 stored in storage unit 50 similarly shows this correlation.

Update unit 35, based on the actual position PVx of pilot spool 12 obtained after the correlation data is generated and the value of the flow rate relation parameter for the actual position PVx, correlated data stored in storage unit 50 Update (51). The update unit 35 updates the correlation data 51 using the update-use correlation data generated by the correlation data generation unit 34 . Further, the update unit 35 updates the correction data 52 stored in the storage unit 50 based on the correlation data 51 . The correction data 52 of the present embodiment indicates the corresponding target position PVs2 of the pilot spool 12 after correction for each target position PVs1 of the pilot spool 12 . The update method of the data 52 for correction of this embodiment is mentioned later.

The correction unit 36 determines the target target of the pilot spool 12 acquired by the second acquisition unit 32 based on the actual position PVx of the pilot spool 12 and the value of the parameter related to the flow rate at the actual position PVx. Correct position PVs1. Specifically, the correction unit 36 corrects the target position PVs1 using the correction data 52 generated based on the correlation data 51 . In this way, the correction unit 36 generates the corrected target position PVs2 of the pilot spool 12 and outputs it to the drive control unit 37 .

The drive control unit 37 controls the operation of the pilot spool 12 . Specifically, the drive control unit 37 performs predetermined arithmetic processing based on the deviation between the corrected target position PVs2 of the pilot spool 12 and the real position PVx acquired by the first acquisition unit 31, A drive signal for the spool 12 is generated. The spool drive unit 18 acquires a drive signal from the drive control unit 37 and drives the pilot spool 12 based on the drive signal. The drive control unit 37 in this embodiment performs feedback control including PID control based on the calculation result.

By the way, the pilot spool 12 is driven to repeat movement in the forward and backward directions within the hollow sleeve 16 . Therefore, when the pilot valve 10 is used for a long time, wear occurs in the pilot spool 12 due to the frictional force between the inner wall of the pilot spool 12 and the hollow sleeve 16 . Wear of this pilot spool proceeds in the order of Fig. 5(b), Fig. 5(a), and Fig. 5(c) described later. In addition, when this abrasion progresses, foreign matter, such as metal powder of the pilot spool 12, may mix with the hydraulic fluid 48. As a result, the pilot spool 12 may be deformed, for example, foreign matter in the hydraulic fluid 48 may scrape the pilot spool 12. In addition, the pilot spool 12 may have manufacturing errors.

As described above, the pilot spool 12 has individual differences in its shape due to wear conditions, deformation, manufacturing errors, and the like. The shape of the pilot spool 12 (particularly, the valve body 12a that opens and closes the second port 16a) is, as will be described later, hydraulic oil supplied to the main valve 20 relative to the position of the pilot spool 12. (48) affects the correlation of flow rates.

Hereinafter, the reason for influencing this correlation will be described using FIGS. 5(a) to (c) to 7(a) to (c). 5(a) to (c), the center of the valve body 12a is located at a position coincident with the center of the opening of the second port 16a in the first direction. Hereinafter, the position of the valve element 12a at this time is referred to as a "reference position". 6(a) to (c), the horizontal axis represents the position of the center of the valve element 12a, and the vertical axis represents the hydraulic oil 48 flowing through the second port 16a to the main spool 22. represents the flow. The origin of the horizontal axis in Fig. 6 (a) to (c) indicates that the valve body 12a is in the reference position.

In the example of FIG.5(a), the width|variety of the valve body 12a is equal to the opening width of the 2nd port 16a. In this case, the second port 16a is blocked by the valve element 12a at the standard position, and the hydraulic oil 48 does not flow through the second port 16a. On the other hand, when the valve body 12a moves even slightly from the reference position, the second port 16a communicates with other ports, and the hydraulic oil 48 flows through the second port 16a. As a result, as shown in Fig. 6(a), the flow rate of the hydraulic oil 48 supplied to the main valve 20 changes in proportion to the position of the valve body 12a.

On the other hand, in the example of FIG.5(b), the width|variety of the valve body 12a is larger than the opening width of the 2nd port 16a. In this case, even if the valve body 12a moves from the reference position, the second port 16a does not communicate with other ports immediately. As a result, the state in which the second port 16a is blocked by the valve body 12g continues. Therefore, as shown in Fig. 6(b), the flow rate of the hydraulic oil 48 supplied to the main valve 20 becomes zero in a wide position range centering on the reference position. When the second port 16a communicates with the other port due to the movement of the valve body 12a, as shown in FIG. 6(b), the flow rate of the hydraulic oil 48 supplied to the main valve 20 is It changes in proportion to the position of the valve body 12a.

In addition, in the example of FIG.5(c), the width|variety of the valve body 12a is smaller than the opening width of the 2nd port 16a. In this case, even when the valve body 12a is in the standard position, a gap is formed between the valve body 12a and the second port 16a, and the second port 16a is slightly opened. In particular, when there is a gap on both sides of the valve body 12a in the first direction as shown in (c) of FIG. 5, the flow rate of the fluid flowing through the second port 16a is increased compared to the case where there is a gap on one side. . As a result, as shown in (c) of FIG. 6 , in the vicinity of the reference position where a gap is formed on both sides of the valve element 12a, the amount of change in the flow rate of the hydraulic oil 48 relative to the position of the valve element 12a is different. increased compared to

The reason why the amount of change in the flow rate of the hydraulic oil 48 is increased is explained using Fig. 7 (a) to (c). The flow rate of the hydraulic oil 48 is determined by the cross-sectional area of the gap between the valve element 12a and the second port 16a. The cross-sectional area of this gap varies depending on the width of the gap. As shown in (a) of FIG. 7 , in the neutral position where there is a gap of, for example, a width of 1 mm on both sides of the valve body 12a and the second port 16a, from the gap on the first direction side, the width Hydraulic oil 48 at a flow rate corresponding to the gap of 1 mm is discharged from the second port 16a. On the other hand, hydraulic oil 48 of the same flow rate corresponding to the gap with a width of 1 mm is supplied to the second port 16a from the gap on the opposite side. Therefore, the flow volume of the hydraulic oil 48 flowing through the 2nd port 16a becomes zero.

The case where the valve body 12a moves by 0.5 mm in the first direction from the neutral position in Fig. 7 (a) will be described (Fig. 7 (b)). In this case, hydraulic oil 48 having a flow rate corresponding to the gap of 0.5 mm in width from the gap on the first direction side is supplied to the main spool from the second port 16a. On the other hand, from the gap on the opposite side, hydraulic oil 48 of the same flow rate corresponding to the gap of 1.5 mm in width is discharged from the main spool to the drain tank through the second port 16a. Therefore, the flow rate of the hydraulic oil 48 flowing through the second port 16a before and after the movement increases by a flow rate corresponding to a gap of 1.0 mm in width.

The case where the valve body 12a moves by 0.5 mm in the first direction from the state where there is a gap on the side opposite to the first direction with respect to the valve body 12a will be described (Fig. 7(c)). In this case, the flow rate of the hydraulic oil 48 flowing from the gap on the opposite side before and after the movement is increased by a flow rate corresponding to the gap for a width of 0.5 mm.

As described above, before and after the valve body 12a moves by 0.5 mm, in the case of FIG. On the other hand, in the case of Fig. 7(b), the flow rate changes by the flow rate corresponding to the gap of 1.0 mm in width. Therefore, when the valve element 12a moves, the amount of change in the flow rate of the hydraulic oil 48 becomes different for both.

Here, for comparison, a case in which the correction unit 36 is not used will be described.

As described above, the valve control device 100 controls the position of the pilot spool 12 according to a position command from the engine control device 90 . For example, when the correction unit 36 is not used, feedback control is performed based on the deviation between the target position PVs1 and the actual position PVx included in the position command.

However, if the shape of the valve element 12a of the pilot spool 12 is changed, the correlation between the position of the pilot spool 12 and the flow rate of the hydraulic oil 48 supplied to the main valve 20 is changed. For example, as described above, as shown in Fig. 5(b), when the width of the valve body 12a is larger than the opening width of the second port 16a, in Fig. 6(b) As shown, the hydraulic oil 48 is not supplied to the main valve 20 near the neutral position. Therefore, the main spool 22 does not move. On the other hand, as shown in Fig. 5(c), when the width of the valve body 12a is smaller than the opening width of the second port 16a, as shown in Fig. 6(c), it is near the neutral position. In the main valve 20, a relatively large flow rate of hydraulic oil 48 is supplied. Therefore, the main spool 22 moves greatly.

When the target position PVs1 of the pilot spool 12 set by the engine control device 90 is used as it is, the influence of the change in correlation cannot be considered. For example, in the case where the target position is set in the engine control device 90 assuming a state as shown in FIG. 5(b), a relatively small amount of hydraulic oil 48 ) is supplied to the main spool 22. In this case, for example, in FIG. 6(b), a position near where the flow rate rises from 0 is set as the target position. However, when the shape of the valve element 12a is in the state of FIG. 5(c), a large amount of hydraulic oil 48 is supplied to the main spool 22 at the target position, as shown in FIG. 6(c). It becomes. As a result, the main spool 22 moves greatly.

In this way, when the target position PVs1 is used as it is, the hydraulic oil 48 of the target flow rate is not supplied to the main valve 20, and the main spool 22 may not move to the target position PVs1. As a result, there is a problem that the response time of the feedback control becomes long to eliminate the deviation from the target position PVs1, and the responsiveness of the control deteriorates. For this reason, it is preferable that feedback control is performed according to the state of the pilot spool 12.

Based on the above description, the control loop of the feedback control of the engine control device 90 and the valve control device 100 will be described.

First, the operation of the engine control device 90 will be described. The engine control device 90 specifies the target position MVs of the main spool 22 corresponding to the target engine output Hs. The engine control device 90 calculates the target position PVs1 of the pilot spool 12 according to the deviation between the specific target position MVs of the main spool 22 and the actual position MVx of the current main spool 22 . Engine control device 90 transmits a position command indicating the calculated target position PVs1 of pilot spool 12 to valve control device 100 . In this way, the engine control device 90 performs feedback control of the position of the pilot spool 12 based on the deviation between the target position MVs and the actual position MVx of the main spool 22 . As a result, the actual position MVx of the main spool 22 is controlled to follow the target position MVs.

Next, with reference to the flowchart of FIG. 8, operation S10 by the information processing part 30 of the valve control apparatus 100 is demonstrated. Operation S10 is repeatedly executed at regular intervals (eg, 10 milliseconds).

The second acquisition unit 32 determines whether or not a position command indicating the target position PVs1 has been acquired from the engine control device 90 (S11). When the position command is not acquired (NO in S11), operation S10 ends. When the position command is acquired (YES in S11), the second acquisition unit 32 outputs the target position PVs1 indicated by the position command to the correcting unit 36, and operation S10 proceeds to S12. Further, in the present embodiment, when a position command is acquired, the target position PVs1 and the hydraulic pressure of the hydraulic oil 48 supplied by the hydraulic pump 42 (hereinafter referred to as supplied hydraulic pressure) are associated with each other, and the storage unit 50 remembered in The supply hydraulic pressure in this embodiment is obtained from the hydraulic pump 42 when a position command is obtained. This supply hydraulic pressure corresponds to the pressure applied by the fluid to the actuator.

Next, the correction|amendment part 36 acquires the target position PVs2 after correction by correcting the acquired target position PVs1 using the correction data 52 created based on the correlation data (S12). The correction|amendment data 52 of this embodiment is a data table in which the target position PVs2 after correction|amendment was matched for every target position PVs1. The correction|amendment part 36 of this embodiment acquires target position PVs2 after correction|amendment by table processing using acquired target position PVs1 as a key using the data 52 for correction|amendment. Specifically, the correction|amendment part 36 extracts target position PVs2 after correction|amendment corresponding to acquired target position PVs1 from the data 52 for correction|amendment. The correction unit 36 acquires this extracted corrected target position PVs2.

The first acquisition unit 31 acquires the real position PVx of the pilot spool 12 and outputs the acquired real position PVx to the drive control unit 37 (S13). The drive control unit 37 calculates the deviation between the actual position PVx from the first acquisition unit 31 and the corrected target position PVs2 (S14). Next, the drive control unit 37 outputs a drive signal to the spool drive unit 18 based on the deviation calculated in S13, thereby performing feedback control of the position of the pilot spool 12 (S15). The drive control unit 37 outputs a first determination instruction to the determination unit 33 after outputting the drive signal.

Subsequently, the determination unit 33 determines whether or not the update condition is satisfied according to the first determination instruction from the drive control unit 37 (S16). The determination unit 33 of the present embodiment determines the position time of the pilot spool 12 indicated by each of a plurality of position commands acquired from the engine control device 90 within a predetermined period until the position command is acquired in S11. A determination is made with the case where the transition shows a predetermined pattern as an update condition. This predetermined pattern is, for example, a pattern in which the pilot spool 12 is repeatedly moved between a reference position and a position of ±0.5 mm from the reference position 10 times. If the renewal condition is not satisfied (NO in S16), operation S10 ends. If the update condition is satisfied (YES in S16), the determination unit 33 outputs an acquisition instruction to the first acquisition unit 31, and operation S10 proceeds to S17.

Next, the first acquisition unit 31 acquires the actual position PVx and the moving speed after the control in S15 according to the acquisition instruction from the determination unit 33, and outputs these to the correlation data generation unit 34 in association with each other. Do (S17). In this step, the first acquisition unit 31 acquires the real position PVx from the first position sensor 14s and acquires the moving speed based on the real position MVx acquired from the second position sensor 24s.

Then, the correlation data generation unit 34, based on the correlated real position PVx and movement speed from the first acquisition unit 31 and the correlation data 51 stored in the storage unit 50, updates the correlation data is generated and output to the updating unit 35 (S18). The correlation data for update indicates the correlation of the moving speed for each position of the pilot spool 12 . Specifically, in the correlation data 51 stored in the storage unit 50, the correlation data generation unit 34 is the movement speed at a position corresponding to the real position PVx from the first acquisition unit 31. is replaced by the movement speed from the first acquisition unit 31. As a result, the actual position PVx from the first acquisition unit 31 and the corresponding moving speed are reflected in the generated correlation data for update.

Then, the update unit 35 uses the update-use correlation data from the correlation data generation unit 34 to update the correlation data 51 stored in the storage unit 50 (S19). In this updated correlation data 51, the movement speed is updated by the movement speed corresponding to the real position PVx with respect to the position corresponding to the real position PVx obtained in S17.

Next, the updating unit 35 updates the correction data 52 based on the updated correlation data 51 (S20). The update operation of the data 52 for correction|amendment of this embodiment is demonstrated using the flowchart of FIG. The update unit 35 calculates the opening area of the second port 16a when the pilot spool 12 is located at the acquired target position PVs1 (S201). For example, the update unit 35 includes the dimensions of the valve element 12a in the depth direction in FIG. 5 , the valve element 12a when the pilot spool 12 is located at the target position PVs1, and the second port ( 16a) The product of the dimensions of the gaps in the first direction is calculated as the opening area. In this embodiment, as the dimension of the valve body 12a in the depth direction in Fig. 5, the dimension of the hollow portion of the sleeve 16 in the depth direction is used. Further, the update unit 35 acquires the supply hydraulic pressure corresponding to the acquired target position PVs1 from the storage unit 50 (S202). Next, the update part 35 calculates the assumed flow volume of the hydraulic oil 48 in target position PVs1 based on the calculated opening area and the acquired supply hydraulic pressure (S203). This assumed flow rate is a flow rate assumed to be supplied to the main valve 20 at the target position PVs1. Next, the update unit 35 divides the calculated flow rate of the hydraulic oil 48 by the cross-sectional area of the main spool 22, and calculates the assumed moving speed of the main spool 22 at the target position PVs1 (S204 ). This assumed moving speed is the moving speed of the main spool 22 assumed when moving to the target position PVs1. Next, the updating unit 35 specifies the position of the pilot spool 12 when the moving speed coincides with the assumed moving speed calculated from the correlation data 51 (S205). Next, the update unit 35 updates the correction data 52 stored in the storage unit 50 as the corrected target position PVs2 corresponding to the target position PVs1 at the position of the specified pilot spool (S206). In the above, the update operation in S19 ends.

By using this data 52 for correction|amendment, it becomes possible to realize the flow volume of the hydraulic fluid 48 which target position PVs1 targets by target position PVs2 after correction|amendment. Further, according to this method, even when the engine 80 is operating, the correction data 52 can be updated according to the shape of the pilot spool 12 at that time. Therefore, for example, it becomes possible to reflect the shape of the pilot spool 12 to the corrected target position PVs2 in real time during navigation of the ship.

In addition, when the hydraulic servo valve 1 is shipped, correlation data 51 and correction data 52 created by prior experiments or simulations are stored in the storage unit 50 in advance. The same applies to the flow rate and drive current as other examples of flow rate-related parameters, as described in the following modified examples.

After S20, operation S10 ends.

In the present embodiment, the correction unit 36 determines the target position based on the correlation data 51 indicating the correlation between a plurality of real positions PVx and values of the flow rate relation parameters acquired for each of the plurality of real positions PVx. Calibrate PVx. In addition, this flow rate related parameter is a parameter related to the flow rate of the hydraulic oil 48 flowing through the actuator. This flow rate-related parameter changes depending on the state of the pilot spool 12 .

According to this embodiment, the target position PVx is corrected according to the flow rate of the hydraulic oil 48 . As a result, even when there is wear, deformation, manufacturing error, etc. of the pilot spool 12, the hydraulic oil 48 at a controlled flow rate according to the state of the pilot spool 12 is supplied to the main valve 20. Therefore, the position of the main spool 22 can be stably controlled to a desired position.

In particular, even when the pilot spool 12 is driven for a long time and wear of the pilot spool 12 progresses in the order of FIG. 6(b) → FIG. 6(a) → FIG. 6(c), The target position is corrected according to the worn shape. Therefore, since it is possible to suppress that the flow rate flowing through the main spool 22 is greatly separated from the target flow rate, the main valve 20 can be stably controlled. In addition, the supply amount of fuel injected into the engine 80 and the displacement amount of the engine 80 can be stabilized.

Further, in the present embodiment, the flow rate-related parameter of the present embodiment is the moving speed. According to this configuration, since the correlation data 51 can be obtained without using an additional sensor such as a flow meter, an increase in manufacturing cost is suppressed.

In this embodiment, the estimated flow rate of the hydraulic oil 48 is calculated based on the hydraulic pressure of the hydraulic oil 48 supplied from the hydraulic pump 42 further. For example, the hydraulic oil 48 may leak from the gap between the pilot spool 12 and the second port 16a even in the neutral position due to wear or deformation of the pilot spool 12, for example. According to this configuration, even when such leakage occurs, the position of the main spool 22 can be controlled to a desired position with higher precision.

In this embodiment, the first acquisition unit 31 determines the real position PVx when the pilot spool 12 is controlled according to the corrected target position PVs2 and the pilot spool 12 as shown in S17 of FIG. 8 . Acquire the movement speed when positioned at the real position PVx. According to this configuration, the correlation data generation unit 34 can generate update correlation data using the real position PVx and the moving speed after feedback control acquired by the first acquisition unit 31 . As a result, the correlation data generation unit 34 can generate the correlation data for update during the operation of the engine 80 without requiring any special operation other than the feedback control in the present embodiment. Therefore, even when the engine 80 is in operation, the correlation data generation unit 34 can generate update correlation data while stably operating the engine 80.

<Example of modification>

In the present embodiment, correction data is used to acquire target position PVs2 after correction. However, it is not limited to this, and a correction equation expressing a correlation between target position PVs1 and target position PVs2 after correction may be used. In addition, a correction model created using a known machine learning method such as a support vector machine, a neural network (including deep learning), and a random forest may be used.

The update condition in the present embodiment is a case where signals by a group of position commands acquired within a predetermined period show a predetermined pattern, but are not limited to this. Depending on the position of the pilot spool 12, the update condition may be the case where the engine 80 to which fuel is supplied is stopped. For example, when it is determined based on the real position MVx of the main spool 22 that the main spool 22 stays at a position within a predetermined range at which fuel cannot be supplied to the engine 80 for a predetermined time or more, the engine ( 80) is determined to be stopped. If the detected data PVx and MVx are acquired while the engine 80 is operating, errors in the detected data increase depending on operating conditions such as engine control response delay. By setting the state in which the engine is stopped as an update condition, errors in detected data can be suppressed, and highly accurate correlation data 51 and correction data 52 can be created.

In addition, the update condition may be the case where the sticking prevention operation of the main valve 20 or the pilot valve 10 is executed. The sticking prevention operation is performed to prevent sticking of the spool due to solidification of the fluid in the main valve 20 or the pilot valve 10 . In the anti-seize operation, the spool periodically reciprocates so that the valve repeats opening and closing, for example. The anti-sticking operation is sometimes referred to as a dither operation. Thereby, it is possible to acquire the detection data PVx and MVx while preventing the sticking by the sticking prevention operation. In this way, by using the anti-sticking operation, since the operation for data acquisition can also be used, energy saving can be achieved compared to the case where other operations are performed.

In this embodiment, the supplied hydraulic pressure is obtained from the output value of the hydraulic pressure of the hydraulic pump 42, but a pressure gauge for measuring this supplied hydraulic pressure may be used. In addition, there is a case where the supplied hydraulic pressure is constant, such as when there is no gap between the pilot spool 12 and the second port 16a at the neutral position. In this case, a constant such as a set value of the hydraulic pump 42 may be used instead of using the output value of the hydraulic pressure of the hydraulic pump 42 when the position command is obtained.

Although the flow rate-related parameter of this embodiment was set as the moving speed, it is not limited to this. The flow rate-related parameter may be the flow rate of the hydraulic oil 48 supplied to the main valve 20 . In this case, for example, a flow meter that measures the flow rate of the hydraulic oil 48 supplied to the main valve 20 may be used. Further, the flow rate may be calculated from the opening area of the second port 16a determined by the calculated movement speed and the positional relationship between the valve body 12a and the second port 16a at that time. According to this configuration, the target position is corrected based on the correlation between the position of the pilot spool 12 and the flow rate of the hydraulic oil 48 actually supplied to the main valve 20 at that position. Therefore, the main valve 20 can be more accurately controlled according to the shape of the pilot spool 12 .

The flow rate-related parameter may be a drive current that drives the pilot spool 12. In this case, the pilot valve 10 may be provided with a current sensor that detects the value of the driving current flowing through the solenoid coil of the spool drive unit 18 and transmits the detection result to the information processing unit 30. In one embodiment, the flow-related parameter may be a driving current flowing through a solenoid that drives the pilot spool or a driving voltage applied to the solenoid.

In this embodiment, although the target position PVs1 is corrected based on the correction data 52, it is not limited to this. Correction unit 36, in correlation data 51, sets target position PVs2 as the position corresponding to the movement speed that matches the assumed movement speed of main spool 22 at target position PVs1 as target position PVs2 after correction. can be corrected In this case, the correcting unit 36 executes the same operations as those of S201 to S205 in FIG. 9 to move the pilot spool 12 at a moving speed matching the assumed moving speed of the main spool 22 at the target position PVs1. ) to specify the location. Next, the correction unit 36 may correct the target position PVs1 by setting the specific position of the pilot spool 12 as the corrected target position PVs2. In one embodiment, based on the calculated flow rate, it is possible to calculate the value of the parameter related to the flow rate assumed when the pilot spool is located at the target position. In the correlation data, the target position can be corrected by taking the actual position corresponding to the value of the flow rate-related parameter that matches the value of the flow-rate-related parameter that is assumed to be the corrected target position.

In the present embodiment, the corrected target position PVs2 is acquired by creating the correction data 52 based on the correlation data generated by the correlation data generation unit 34, but it is not limited to this. For example, the corrected target position PVs2 may be obtained by creating the correction data 52 based on the actual position of the pilot spool 12 and the corresponding flow rate-related parameter without using correlation data.

In this embodiment, an example in which the information processing unit 30 and the storage unit 50 are configured integrally has been shown, but these may be configured separately.

The update correlation data in this embodiment is generated using the real position PVx when the pilot spool 12 is controlled according to the corrected target position PVs2, but is not limited to this. For example, if the engine 80 is stopped, correlation data for update may be generated using the actual position PVx when the pilot spool 12 is controlled according to the target position PVs1.

Next, the second to seventh embodiments of the present invention will be described.

[Second Embodiment]

The valve control device 100 of the second embodiment will be described. In 2nd Embodiment, the same number is attached|subjected to the same or equivalent component and member as 1st Embodiment. Description overlapping with 1st Embodiment is abbreviate|omitted suitably, and it demonstrates focusing on the structure different from 1st Embodiment.

In 1st Embodiment, in S10 of FIG. 8, the correction|amendment data 52 was updated every time target position PVs1 was acquired, but this invention is not limited to this. 2nd Embodiment differs from 1st Embodiment in the point which updates the correction|amendment data 52 by acquiring the target position PVs2 after correction with respect to each of the some target position PVs1 acquired in the predetermined period. A description is made using the flowchart of FIG. 10 .

As shown in Fig. 10, after going through S31 to S34, which are the same as S11 to S14 described above, the drive control unit 37 performs feedback control in the same manner as in S15 of Fig. 8 (S35). The drive control unit 37 outputs an acquisition instruction to the first acquisition unit 31 after outputting the drive signal.

The first acquisition unit 31 acquires the actual position PVx and the movement speed after the control in S35 according to the acquisition instruction from the drive control unit 37, and stores them in the storage unit 50 in association with them (S36) . Moreover, the 1st acquisition part 31 outputs a 2nd judgment instruction to the judgment part 33 after this storage.

Next, the judgment unit 33 determines whether or not the update conditions are satisfied according to the second judgment instruction from the first acquisition unit 31 (S37). In this case, the renewal condition may be the elapse of a predetermined period (one day, one week, etc.) from the previous update. If the renewal condition is not satisfied (NO in S37), operation S30 ends. If the update condition is satisfied (YES in S37), the determination unit 33 outputs a generation instruction to the correlation data generation unit 34, and operation S30 proceeds to S38.

The correlation data generation unit 34 generates update correlation data according to a generation instruction from the determination unit 33 (S38). In this step, the correlation data generation unit 34 generates update correlation data based on each set of real position PVx and moving speed stored in association with the storage unit 50 . In the present embodiment, for each target position PVs1 acquired during the period from when the update condition was satisfied in the previous operation S30 to when the update condition was satisfied in the current operation S30, the corresponding movement was performed. Correlation data reflecting the speed is obtained.

Next, the update unit 35 updates the correlation data 51 stored in the storage unit 50 using the update correlation data (S39). Since this S39 is the same as S19 in FIG. 8, the description is omitted.

Next, the updating unit 35 updates the correction data 52 based on the updated correlation data 51 (S40). In the present embodiment, the update unit 35, for each target position PVs1 obtained from the time when the update condition was satisfied in the previous operation S30 to the time when the update condition was satisfied in the current operation S30, the main An assumed moving speed of the spool 22 is calculated. The update unit 35 specifies the position of the pilot spool 12 at the time of the moving speed matching each of the calculated assumed moving speeds. The update unit 35 sets each specific position as the target position PVs2 after correction with respect to each target position PVs1, and updates the correction data 52 stored in the storage unit 50.

According to the structure of the second embodiment, since all the data obtained from the previous update to the current update is used at the time of update, it is possible to create highly accurate correlation data 51 and correction data 52.

[Third Embodiment]

A valve control device 100 according to a third embodiment will be described. In 3rd Embodiment, the same number is attached|subjected to the same or equivalent component and member as 2nd Embodiment. Description overlapping with 2nd embodiment is abbreviate|omitted suitably, and a structure different from 2nd embodiment will be intensively demonstrated.

In the second embodiment, in S38 of FIG. 10 , correlation data is generated for each position corresponding to each target position PVs1 acquired during the predetermined period, but the present invention is not limited to this. The third embodiment is different from the first embodiment in that correlation data is generated based on the first position and the second position described later.

In S38 of FIG. 10 , the correlation data generation unit 34 acquires the first position and the second position of the pilot spool 12 . For example, the correlation data generator 34 specifies, as the first position, the actual position PVx of the pilot spool 12 when the value of the flow-related parameter falls within a predetermined low range. Further, the correlation data generator 34 specifies, as the second position, the actual position PVx of the pilot spool 12 when the value of the flow-rate relation parameter does not fall within a predetermined low range. The first position here is the position of the pilot spool 12 when the first port 16p and the second port 16a communicate with each other. The second position is the position of the pilot spool 12 when the second port 16a and the third port 16t communicate with each other.

The method for specifying the first and second positions of the present embodiment will be described with reference to FIG. 11 . As shown in Fig. 11, the predetermined low range is a predetermined low speed range including 0 m/s in the moving speed. Correlation data generator 34 specifies, in correlation data 51, the minimum value as the first position and the maximum value as the second position among the positions of the pilot spool 12 at which the moving speed is within a predetermined low value range. do. The predetermined low range is appropriately determined based on 0 m/s in consideration of the detection error of the real position MVx for calculating the moving speed.

The correlation data generating unit 34 generates correlation data for update based on the specific first and second positions. Here, a method of generating correlation data for update in the present embodiment will be described. For the correlation data in this case, the moving speed is set to 0 m/s for the position between the first position and the second position, and the other positions have a predetermined gradient with respect to each position of the pilot spool 12. Set the movement speed as much as possible. As this predetermined slope, for example, the slope of the moving speed at positions other than between the first and second positions in the correlation data set at the time of shipment of the hydraulic servo valve 1 is used.

The distance between the first position and the second position decreases as wear of the position of the pilot spool 12 progresses. On the other hand, at positions of the pilot spool 12 other than between the first position and the second position, the moving speed changes in proportion to the position of the pilot spool 12. Therefore, even if the distance described above becomes smaller, the amount of change in the moving speed relative to the change in position is constant. In this embodiment, the correlation data generation unit 34 uses these relationships to generate update correlation data from the first and second positions.

According to this embodiment, the correlation data is updated based on the first and second positions also for the positions of the pilot spool 12 that have not been acquired as target positions within a predetermined period. Therefore, the hydraulic oil 48 of the flow rate controlled according to the shape of the pilot spool 12 is supplied to the main valve 20 also at this position. As a result, the position of the main spool 22 can be controlled to a desired position with higher precision.

In this embodiment, the correlation data is updated based on the first and second positions, but it is not limited thereto. For example, different correction data 52 for each combination of the first and second positions is previously stored in the storage unit 50 . The update unit 35 uses the combination of the first and second positions as a retrieval key, and reads the data for correction 52 corresponding to this combination among the plurality of data for correction 52 stored in the storage unit 50. The update unit 35 may update the data for correction 52 using the read data for correction.

[Fourth Embodiment]

A valve control device 100 according to a fourth embodiment will be described. In 4th Embodiment, the same number is attached|subjected to the same or equivalent component and member as 3rd Embodiment. Description overlapping with 3rd embodiment is abbreviate|omitted suitably, and a structure different from 3rd embodiment will be intensively demonstrated.

In the present embodiment, the update condition in S37 of FIG. 10 is the pilot spool 12 indicated by each of a plurality of position commands obtained from the engine control device 90 within a predetermined period until the position command is acquired in S37. This is a case where the time lapse of the position of shows a predetermined pattern. In this predetermined pattern, for example, the pilot spool 12 is rotated 10 times between the reference position and the position of ±50 μm from the reference position, compared to the range in which the pilot spool 12 can move is ±1 mm from the reference position. This is a repeating pattern. That is, the pilot spool 12 repeatedly moves a minute section with respect to the movable range of the pilot spool 12 . Therefore, when this update condition is satisfied, in S36 of Fig. 10, the first acquisition unit 31 acquires the movement speed for each real position PVx in this minute section, and acquires the acquired real position PVx and movement speed. are stored in the storage unit 50 in association with each other. Further, the range in which the pilot spool 12 is moved is not limited to ±50 μm from the reference position, but may be a range including the first position and the second position.

A method for specifying the first position and the second position according to the present embodiment will be described. In this embodiment, the correlation data generation unit 34 calculates the gradient of the movement speed at each position based on the actual position PVx and the movement speed stored in association with the storage unit 50 in S36 of FIG. 10 . . Here, the correlation data generation unit 34 calculates the average value of the moving speed at a plurality of points (for example, 100 points) before and after the position of the object for which the gradient is calculated, for each position. The correlation data generator 34 calculates the slope of the average value for each adjacent position. The correlation data generation unit 34 identifies a position where the difference between the calculated slope and the predetermined slope is smaller than a threshold value and is closest to the reference position in the first direction and on the opposite side. This predetermined inclination is set similarly to the predetermined inclination used in the third embodiment. The correlation data generation unit 34 sets a specific position in the first direction (the minus direction of the x-axis in FIG. 6(c)) as a first position, and sets it in the opposite direction (the + direction of the x-axis in FIG. 6(c)). ), a specific position is referred to as a second position.

Next, an example of a method for generating correlation data for update in the present embodiment will be described. The distance between the first position and the second position decreases as the wear of the valve element 12a progresses from the state in Fig. 5(b), and then returns to 0 as shown in Fig. 5(a). do. After that, when the wear of the valve element 12a further progresses and the width of the valve element 12a becomes smaller than the opening width of the second port 1a, the distance between the first position and the second position increases again. Therefore, when the distance between the first position and the second position becomes 0 and then increases again, for positions other than between the first position and the second position, a predetermined inclination is applied to each position of the pilot spool 12. The moving speed is set to be , and for the position between the first position and the second position, the moving speed is set to be twice the predetermined inclination. In this way, correlation data for update is generated. In addition, in this method, in one example of the generation method described above, each point of the movement speed for the first and second positions needs to be at a point-symmetrical position with respect to the origin on the graph. This is because, when there is no position of point symmetry, correlation data in which each point of the movement speed for the first and second positions is connected on the graph is not obtained.

Next, another example of a method for generating correlation data for update in the present embodiment will be described. In the present embodiment, the flow rate at a specific position between the first position and the second position is stored in the storage unit 50 by driving the pilot spool 12 according to a predetermined pattern in S36 of the present embodiment. has been Therefore, the movement speed for each position stored in the storage unit 50 is used. For positions other than between the first position and the second position, the moving speed is set so as to have a predetermined inclination with respect to each position of the pilot spool 12 . According to this generation method, even when each point of the moving speed for the first and second positions is not at a point-symmetrical position with respect to the origin due to uneven wear of the pilot spool 12 or a detection error of the moving speed, each point on the graph Concatenated correlation data is obtained.

As described above, the correlation data generating unit 34 of the present embodiment generates the correlation data for update.

In the third embodiment, the value of the flow rate-related parameter was specified based on a predetermined low range. However, as shown in Fig. 5(c), when the width of the valve element 12a is smaller than the opening width of the second port 1a, as shown in Fig. 6(c), the flow rate-related parameter The value of is greatly increased near the neutral position. Therefore, the first position and the second position cannot be accurately specified because the value of the flow-related parameter increases beyond a predetermined low value immediately near the neutral position. According to this embodiment, even when the width of the valve body 12a is smaller than the opening width of the second port 1a, the first position and the second position can be specified. In addition, with respect to the movable range of the pilot spool 12, the first distance and the second distance can be specified only by repeatedly moving a minute section. Therefore, compared to the case where the pilot spool 12 is moved over the movable range of the pilot spool 12, energy saving can be achieved.

[Fifth Embodiment]

A valve control device 100 according to a fifth embodiment will be described. In 5th Embodiment, the same number is attached|subjected to the same or equivalent component and member as 1st Embodiment. Description overlapping with 1st Embodiment is abbreviate|omitted suitably, and it demonstrates focusing on the structure different from 1st Embodiment.

As shown in FIG. 12 , the information processing unit 30 further includes a third acquisition unit 61, an estimation unit 62, an output unit 63, and a radio communication unit 64.

In this embodiment, the 3rd acquisition part 61 specifies a 1st position and a 2nd position based on the correlation data 51 similarly to 3rd embodiment. Moreover, the 3rd acquisition part 61 acquires a 1st distance by calculating the 1st distance between a 1st position and a 2nd position.

The estimation unit 62 estimates the state of the pilot spool 12 based on the comparison between the first distance calculated by the third acquisition unit 61 and the reference value. The reference value in this embodiment is the first distance initially calculated with respect to the pilot spool 12 (for example, the first distance at the time of shipment). The state of the pilot spool 12 in this embodiment is the degree of wear of the pilot spool 12 .

The output unit 63 outputs the estimation result of the estimation unit 62 . In addition, when the first distance is equal to or less than the reference value, the output unit 63 notifies that replacement of the pilot valve 10 is recommended.

The wireless communication unit 64 performs wireless communication with the outside. For example, the wireless communication unit 64 performs wireless communication with the remote controller 40 for remotely operating the valve control device 100 from the outside.

Operation S50 of the valve control device 100 of the present embodiment will be described using FIG. 13 . The determination unit 33 determines whether or not the estimation condition is satisfied (S51). Estimation conditions in this embodiment are those that have elapsed for a predetermined period (one day, one week, etc.) from the previous estimation. However, the estimation condition is not limited to this, and may be a case where the renewal condition is satisfied.

If the estimation condition is not satisfied (NO in S51), operation S50 ends. If the estimation condition is satisfied (YES in S51), the determination unit 33 outputs a calculation instruction to the third acquisition unit 61, and operation S50 proceeds to S52.

In S52, the third acquisition unit 61 calculates the first distance between the first position and the second position based on the correlation data 51. The first position and the second position are specified by the same method as the method described in the third embodiment. The third acquisition unit 61 outputs the calculated first distance to the estimation unit 62 .

Next, the estimation unit 62 determines whether or not the first distance calculated by the third acquisition unit 61 is equal to or less than a reference value (S53).

If the calculated first distance is greater than the reference value (NO in S53), operation S50 proceeds to S54. When the calculated first distance is less than or equal to the reference value (YES in S53), operation S50 proceeds to S55.

In S54 and S55, the estimator 62 estimates the state of the pilot spool 12 based on the comparison between the first distance and the reference value. Specifically, the estimator 62 estimates the wear degree of the pilot spool 12 based on the difference between the first distance and the reference value. After S54, the estimation unit 62 outputs the estimation result to the output unit 63, and operation S50 proceeds to S56. After S55, the estimation unit 62 outputs the estimation result and notification instruction to the output unit 63, and operation S50 proceeds to S57.

In S56 and S57, the output unit 63 outputs the estimation result of the condition of the pilot spool 12. Specifically, the output unit 63 outputs this estimation result to the remote controller 40 via the wireless communication unit 64 . As a result, the estimation result is displayed on the display of the remote controller 40 . In addition, the output unit 63 may display the estimation result on a display (not shown) provided on the pilot valve 10 or the valve control device 100 or the like. After S56, operation S50 ends. After S57, operation S50 proceeds to S58.

In S58, the output unit 63 notifies, based on the notification instruction from the estimation unit 62, that replacement of the pilot valve 10 is recommended. For example, the output unit 63 outputs a notification signal to the remote controller 40 via the wireless communication unit 64, and recommends replacement of the pilot valve 10 to the display of the remote controller 40. display The output unit 63 may cause the remote controller 40 to generate a voice to the effect of the above recommendation. After S58, operation S50 ends.

Here, when the operation of the hydraulic servo valve 1 or the engine 80 or the like becomes unstable, it is easy to determine abnormality or deterioration such as wear or deformation of the pilot spool 12 from data related to the operation. On the other hand, in the valve control device 100, the target position PVs are corrected according to the state of the pilot spool 12 as described above. Therefore, even in a state where wear of the pilot spool 12 is progressing in reality, the hydraulic servo valve 1, the engine 80, and the like operate stably. Therefore, in the valve control device 100, it is difficult to determine abnormality or deterioration of the pilot spool 12 such as wear or deformation. As a result, even if the hydraulic servo valve 1, the engine 80, etc. have operated stably up to that point, there are cases where they suddenly stop operating normally.

Further, according to the present embodiment, when the first distance is equal to or less than the reference value, an alarm to the effect of recommending replacement of the pilot valve 10 is generated. Therefore, it becomes possible to replace the pilot valve 10 at an appropriate replacement time. As a result, it is suppressed that the hydraulic servo valve 1, the engine 80, etc. suddenly stop operating normally.

In this embodiment, the reference value to be compared with the first distance is the first distance first obtained in the pilot spool 12 . According to this structure, the wear of the pilot spool 12 from when the use of the hydraulic servo valve 1 was started can be accurately estimated.

In addition, although the reference value of this embodiment was set as the 1st distance calculated initially with respect to the pilot spool 12, it is not limited to this. The reference value may be set based on the first distance calculated at the same timing with respect to the pilot spool 12 of the hydraulic servo valve 1 corresponding to the other cylinder 81. For example, the reference value may be an average value of first distances calculated at the same timing with respect to the pilot valves 10 of the hydraulic servo valves 1 corresponding to the other cylinders 81 . In this case, the relative size of the width of the pilot spool 12 of the hydraulic servo valve 1 corresponding to the other cylinder 81 to the width of the target pilot spool 12 can be grasped. As a result, it is possible to accurately estimate the state of the pilot spool 12 of the object.

In addition, the reference value may be appropriately set depending on the purpose, such as a value equal to the opening width of the second port 16a.

In this embodiment, the estimation unit 62 has estimated the state of the pilot spool 12 based on the first distance, but it is not limited to this. The estimator 62 may estimate the state of the pilot spool 12 based on the value of at least one of the first position, the second position, and the first distance. In this case, the reference value is determined for each of the first position, the second position, and the first distance. For example, the estimator 62 may estimate the state of the pilot spool 12 based on the difference between the first position and the reference value determined for the first position. In this case, the reference value may be the first position specified for the pilot spool 12 first. The second position may be used for this estimation as well as the first position. Moreover, the 3rd acquisition part 61 should just acquire the value of at least one of a 1st position, a 2nd position, and a 1st distance. In one embodiment, the flow control device supplies a first port for inputting fluid and a fluid input from the first port to an actuator based on an actual position of the pilot spool and a value of a flow rate related parameter at the actual position. A first position, which is the position of the pilot spool when the second port communicates with it, a second position, which is the position of the pilot spool when the second port communicates with the third port for discharging the fluid supplied to the actuator, and the first It may further include a third acquisition unit that acquires at least one value of the distance between the position and the second position, and an estimation unit that estimates the state of the pilot spool based on a comparison between the at least one value and a reference value. Further, in one embodiment, the at least one value is a distance, and when the distance is less than or equal to the reference value, the controller may further include an output unit for notifying that replacement of the pilot valve is recommended. In addition, in one embodiment, the flow control device drives the actual position of the pilot spool, which is the spool of the pilot valve, to a target position, so that the fluid supplied from the pilot valve is supplied to the main valve having a main spool, which is a moving spool. A flow control device for controlling the flow rate of fluid, comprising: a first acquisition unit for acquiring an actual position of the pilot spool and a moving speed of the main spool when the pilot spool is located at the actual position; and a plurality of actual positions of the pilot spool. and a correlation data generation unit that generates correlation data indicating a correlation between the acquired moving speeds for each of a plurality of real positions, a second acquisition unit that acquires a position command indicating a target position of the pilot spool, and the correlation data A correction unit for correcting the target position based on the correction, a drive control unit for driving the pilot spool according to the target position after correction, and a first inputting fluid based on the actual position and the moving speed at the actual position. A first position, which is the position of the pilot spool when the port and the second port supplying the fluid input from the first port to the main valve communicate, and the third port and the second port discharging the fluid supplied to the main valve A third acquisition unit that acquires the distance between the second position, which is the position of the pilot spool at the time of communication, and an estimation unit that estimates the condition of the pilot spool based on a comparison between the distance and the reference value; , and may include an output unit for notifying the fact that replacement of the pilot valve is recommended.

[Sixth Embodiment]

A sixth embodiment is a method for controlling a flow rate of a hydraulic servo valve. Although the control method of the present invention can be used for various hydraulic servo valves, in the present embodiment, the actual position of the pilot spool 12 of the pilot valve 10 is driven and controlled so as to reach a target position, thereby reducing the flow rate of the fluid supplied to the actuator. It is exemplified by a flow rate control method for controlling.

The flow rate control method includes the steps of acquiring a value of a flow rate-related parameter related to an actual position of the pilot spool 12 and a flow rate of fluid flowing through an actuator when the pilot spool 12 is positioned at the actual position, the pilot spool Step (12) of obtaining a position command indicating the target position, step of correcting the target position based on the value of the flow rate-related parameter, and step of driving the pilot spool 12 according to the corrected target position. include This fluid control method can be realized by the valve control device 100 .

According to the configuration of the sixth embodiment, the same actions and effects as those of the first embodiment are exhibited.

[Seventh Embodiment]

7th Embodiment is a flow control program (computer program) of a hydraulic servo valve. Although the control program of the present invention can be used for various hydraulic servo valves, in the present embodiment, the actual position of the pilot spool 12 of the pilot valve 10 is driven and controlled so as to reach the target position, thereby reducing the flow rate of the fluid supplied to the actuator. It is exemplified by a computer program for controlling.

The computer program uses the computer of the flow control device to obtain the actual position of the pilot spool 12 and the value of the flow rate-related parameter related to the flow rate of the fluid flowing through the actuator when the pilot spool 12 is positioned at the actual position. a first acquisition unit 31 that acquires a position command indicating the target position of the pilot spool 12; and a correction unit that corrects the target position based on the value of the flow rate-related parameter. It is possible to make it function as a drive control section 37 that drives the pilot spool 12 according to (36) and the target position after correction.

The computer program may be installed in the storage (for example, the storage unit 50) of the valve control device 100 as an application program in which a plurality of modules corresponding to the functional blocks of the valve control device 100 are mounted for these functions. . The computer program may be read and executed in the main memory of the processor (eg, CPU) of the valve control device 100.

According to the configuration of the seventh embodiment, the same actions and effects as those of the first embodiment are exhibited.

In the above, examples of embodiments of the present invention have been described in detail. The embodiments described above only show specific examples in implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as change, addition, and deletion of constituent elements are possible within a range that does not deviate from the spirit of the invention defined in the claims. In the above-described embodiment, descriptions such as "in the embodiment" and "in the embodiment" are attached to descriptions of contents in which such design changes are possible, but design changes are not permitted for contents without such representations.

Any combination of each of the above-described embodiments and modified examples is also useful as an embodiment of the present invention. The new embodiment generated by the combination has both the effects of the combined embodiment and modified example.

The present invention relates to a flow control device, a flow control method, and a flow control program.

30: information processing unit
31: first acquisition unit
32: second acquisition unit
33: Judgment
34: correlation data generation unit
35: renewal unit
36: correction unit
37: drive control unit
50: storage unit
100: valve control device

Claims (19)

A flow control device for controlling the flow rate of a fluid supplied to a main valve having a main spool, which is a spool moved by the fluid supplied from the pilot valve, by driving and controlling the real position of the pilot spool, which is the spool of the pilot valve, to a target position. ,
a first acquisition unit that acquires an actual position of the pilot spool and a value of a flow rate-related parameter related to a flow rate of the fluid flowing through the main valve when the pilot spool is positioned at the actual position;
a second acquiring unit for acquiring a position command indicating a target position of the pilot spool calculated according to a deviation between a target position of the main spool and an actual position of the main spool;
a correction unit correcting a target position of the pilot spool based on the actual position of the pilot spool and the value of the flow rate-related parameter;
A driving control unit for driving the pilot spool according to the corrected target position
Including, flow control device. According to claim 1,
The flow rate-related parameter is a moving speed of the main spool, the flow control device. According to claim 1,
The flow rate-related parameter is the flow rate of the fluid supplied to the main valve. The flow rate control device according to claim 1, wherein the flow rate-related parameter is a drive current flowing through a solenoid that drives the pilot spool or a drive voltage applied to the solenoid. The method of claim 1, further comprising a correlation data generation unit that generates correlation data indicating a correlation between a plurality of actual positions of the pilot spool and a value of the flow rate relation parameter acquired for each of the plurality of actual positions. flow control device. According to claim 5,
The correction unit,
Calculate an assumed flow rate of the fluid assumed to be supplied to the main valve when the pilot spool is located at a target position of the pilot spool based on the target position of the pilot spool;
Based on the calculated estimated flow rate, a value of a parameter related to flow rate assumed when the pilot spool is located at a target position of the pilot spool is calculated;
A flow control device that corrects the target position by taking, in the correlation data, an actual position of the pilot spool corresponding to a value of the flow-rate-related parameter that coincides with the value of the assumed flow-rate-related parameter as the target position after correction . The flow control device according to claim 6, wherein the correction unit calculates the assumed flow rate further based on a pressure applied to the main valve by the fluid. The method of claim 5, wherein the correlation data generating unit is connected to the pilot spool when a first port for inputting the fluid and a second port for supplying the fluid input from the first port to the main valve communicate with each other. 1 position and a second position of the pilot spool when the second port communicates with a third port for discharging the fluid supplied to the main valve;
wherein the correlation data generation unit acquires the correlation data based on the first position and the second position. The method according to claim 5, further comprising: a storage unit for storing the correlation data;
An update unit for updating the correlation data stored in the storage unit based on the actual position of the pilot spool acquired after the correlation data is generated and the value of the flow rate relation parameter with respect to the actual position of the pilot spool
provide more,
wherein the correction unit corrects the acquired target position of the pilot spool based on the updated correlation data. The flow control device according to claim 9, wherein the update unit updates the correlation data when a predetermined update condition is satisfied. 11. The flow rate control device according to claim 10, wherein the predetermined renewal condition includes an operation for preventing sticking of the pilot spool being executed. 11. The flow rate control device according to claim 10, wherein the predetermined update condition includes that an engine to which fuel is supplied is stopped according to the position of the pilot spool. According to claim 12,
The predetermined renewal condition includes that the main spool stays at a position where the fuel is not supplied to the engine for a predetermined time or longer. 2. The method according to claim 1, wherein the first acquisition unit is configured to determine the relationship between an actual position of the pilot spool when the pilot spool is controlled according to the corrected target position and the flow rate when the pilot spool is located at the actual position. A flow control device that acquires parameter values. The first port for inputting the fluid according to any one of claims 1 to 14, based on an actual position of the pilot spool and a value of the flow rate-related parameter at the actual position, and the first port The first position, which is the position of the pilot spool when the second port that supplies the fluid input from the main valve to the main valve communicates with the third port and the second port that discharges the fluid supplied to the main valve. a third acquisition unit that acquires at least one value of a second position, which is a position of the pilot spool at the time of communication, and a distance between the first position and the second position;
An estimator for estimating the state of the pilot spool based on the comparison between the at least one value and a reference value
Further comprising, a flow control device. The method of claim 15, wherein the at least one value is the distance,
The flow control device further includes an output unit for notifying that replacement of the pilot valve is recommended when the distance is equal to or less than the reference value. A flow control method for controlling the flow rate of a fluid supplied to a main valve having a main spool, which is a spool moved by the fluid supplied from the pilot valve, by controlling the position of the pilot spool, which is a spool of the pilot valve,
acquiring a value of a flow rate-related parameter related to an actual position of the pilot spool and a flow rate of the fluid flowing through the main valve when the pilot spool is positioned at the actual position;
acquiring a position command indicating a target position of the pilot spool calculated according to a deviation between a target position of the main spool and an actual position of the main spool;
a correction unit correcting a target position of the pilot spool based on the value of the flow rate-related parameter;
The step of driving the pilot spool according to the target position after correction.
Including, flow control method. A computer of the flow control device for controlling the flow rate of the fluid supplied to the main valve having a main spool, which is a spool moved by the fluid supplied from the pilot valve, by controlling the position of the pilot spool, which is the spool of the pilot valve,
a first acquisition unit that acquires an actual position of the pilot spool and a value of a flow rate-related parameter related to a flow rate of the fluid flowing through the main valve when the pilot spool is positioned at the actual position;
a second acquiring unit for acquiring a position command indicating a target position of the pilot spool calculated according to a deviation between a target position of the main spool and an actual position of the main spool;
a correction unit correcting a target position of the pilot spool based on the value of the flow rate-related parameter;
Drive control unit for driving the pilot spool according to the corrected target position
A computer-readable recording medium in which a flow control program capable of functioning as is stored. Flow control for controlling the flow rate of the fluid supplied to the main valve having the main spool, which is the spool moved by the fluid supplied from the pilot valve, by driving and controlling the real position of the pilot spool, which is the spool of the pilot valve, to a target position. is a device,
a first acquisition unit that acquires an actual position of the pilot spool and a moving speed of the main spool when the pilot spool is located at the actual position;
a correlation data generation unit configured to generate correlation data indicating a correlation between a plurality of real positions of the pilot spool and the moving speed acquired for each of the plurality of real positions;
a second acquiring unit for acquiring a position command indicating a target position of the pilot spool calculated according to a deviation between a target position of the main spool and an actual position of the main spool;
a correction unit correcting a target position of the pilot spool based on the correlation data;
a drive controller for driving the pilot spool according to the corrected target position;
Based on the actual position of the pilot spool and the moving speed at the actual position, a first port for inputting the fluid communicates with a second port for supplying the main valve with the fluid input from the first port. The distance between the first position, which is the position of the pilot spool at one time, and the second position, which is the position of the pilot spool when the third port for discharging the fluid supplied to the main valve communicates with the second port. A third acquisition unit for acquiring;
an estimator for estimating a state of the pilot spool based on the comparison between the distance and a reference value;
An output unit for notifying that replacement of the pilot valve is recommended when the distance is equal to or less than the reference value
Including, flow control device.

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