CN106402456B - A kind of circuit and method controlling hydraulic valve flow - Google Patents
A kind of circuit and method controlling hydraulic valve flow Download PDFInfo
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- CN106402456B CN106402456B CN201610916441.5A CN201610916441A CN106402456B CN 106402456 B CN106402456 B CN 106402456B CN 201610916441 A CN201610916441 A CN 201610916441A CN 106402456 B CN106402456 B CN 106402456B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims description 64
- 230000003750 conditioning effect Effects 0.000 claims description 26
- 238000005070 sampling Methods 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 15
- 230000003321 amplification Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000003111 delayed effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005562 fading Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
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Abstract
The invention discloses a kind of circuits and method for controlling hydraulic valve flow may be implemented digitized forms control hydraulic valve flow using Digital Control circuit, the amplitude-frequency of hydraulic valve flow response is wider than 70Hz, phase frequency is wider than 60Hz, and resolution ratio is less than 0.1%, and lap is less than 0.5%.Relative to other hydraulic valves, amplitude-frequency response is wide, and static characteristic is more stable.By digital telecommunication circuit, realize that the CAN bus between control circuit and host computer communicate, make product have real-time debugging, real-time monitoring parameter, use scope extensively, control parameter strong security.
Description
Technical field
The present invention relates to a kind of circuits and method for controlling hydraulic valve flow, belong to automation field.
Background technique
The control mode of pilot stage fluid valve generallys use analog device and carries out closed-loop control, the mistake of computations and feedback
Difference, output drives pilot stage coil, the final control realized to hydraulic valve to driving unit after being amplified by amplifier.But it is existing
Some control modes do not have a real-time debugging capability, at the same can not real-time monitoring running parameter, TT&C system, which can not understand, works as
The working condition of each closed loop of preceding hydraulic valve, due to using analog form control, all control parameters are given in a manner of capacitance-resistance
Out, it for the hydraulic valve of homologous series different model, needs to adjust different capacitance-resistance values, or change circuit design, is not suitable for general
Change design, control object is single, and control parameter is shown in a manner of resistance capacitance, is easy to be cracked, and does not have digital control
Method.
Summary of the invention
Technology of the invention solves the problems, such as: in order to overcome the deficiencies of the prior art, providing a kind of electricity for controlling hydraulic valve flow
Road and method make product have real-time debugging, real-time monitoring parameter, use to realize that digitized forms control hydraulic valve flow
Range is wide, control parameter strong security feature.
Technical solution of the invention:
A kind of circuit controlling hydraulic valve flow includes hydraulic valve, Displacement Feedback sample circuit, current feedback sampling electricity
Road, instruction conditioning circuit, host computer, power-switching circuit, power driving circuit, digital telecommunication circuit, control circuit；
Its spool displacement signal, valve coil current signal are transferred to Displacement Feedback sample circuit and electric current by hydraulic valve respectively
Feedback sampling circuit；Displacement Feedback sample circuit receives the spool displacement signal of hydraulic valve transmitting, and being processed into control circuit can connect
The voltage signal of receipts, and the voltage signal is transferred to control circuit；Current feedback sample circuit receives the valve of hydraulic valve transmitting
Coil current signal is processed into the receivable voltage signal of control circuit, and the voltage signal is transferred to control circuit；
Host computer sends digitlization level signal to digital telecommunication circuit, and digital telecommunication circuit receives the number of host computer transmitting
Digitlization level signal is converted into the receivable level signal of control circuit, and the level signal is passed by word level signal
It is handed to control circuit；
If digital telecommunication circuit fails, host computer sends dummy instruction to conditioning circuit is instructed, and instruction conditioning circuit receives
Host computer sends dummy instruction, is processed into the receivable voltage signal of control circuit, and the voltage signal is transferred to control electricity
Road；
Control circuit receives the voltage signal of displacement feedback sampling circuit, the transmitting of current feedback sample circuit, and number is led to
Believe the digital signal level of circuit or the voltage signal of instruction conditioning circuit transmitting,
Control circuit carries out digital conversion to above-mentioned voltage signal, and the voltage signal of Displacement Feedback sample circuit is converted to
The voltage signal of current feedback sample circuit is converted to digital current value of feedback by digital displacement value of feedback, by instruction conditioning electricity
The voltage signal on road is converted to digital command controlling value, and the digital signal level of digital telecommunication circuit is resolved to digital command control
Value processed；
Digital command controlling value and digital displacement value of feedback carry out PID arithmetic, result and digital current value of feedback again into
Row PID arithmetic；Calculated final operation result is obtained into valve coil controlling value by PWM control amount generation method, and is converted
Signal is controlled at valve coil；
Control circuit is by digital displacement value of feedback, digital current value of feedback, digital command controlling value and valve coil controlling value
Host computer is transferred to by digital telecommunication circuit；Valve coil control signal is passed to power driving circuit by control circuit, is driven
Circuit receives valve coil control signal and carries out signal amplification, and by treated, signal is transferred to hydraulic valve.
Further include power-switching circuit, primary power source 24V can be converted to 16V, 8V, 5V, 3.3V and 1.9V, is supplied for circuit
Electricity.
The PID arithmetic method are as follows:
(1) position closed loop operation:
Pout=Kcp×Stp+Kpp×(Stp-Fbp)+Tip×∑(Stp-Fbp)
StpFor the digital command controlling value after normalized,
FbpIt is fed back for the digital displacement after normalized,
KcpFor the feedforward term of position closed loop operation, value between 0 to 2,
KppFor the proportional of position closed loop operation, value between 2 to 20,
TipFor the integral term of position closed loop operation, value between 0.01 to 0.3,
PoutFor position closed loop operation result, which is needed to carry out clipping, makes PoutBetween 1.0 to 2.0；
(2) current closed-loop operation:
Cout=Kcc×Pout+Kpc×(Pout-Fbc)+Tic×∑(Pout-Fbc)
FbcFor the digital current value of feedback after normalized,
KccFor the feedforward term of current closed-loop operation, value between 0 to 3,
KpcFor the proportional of current closed-loop operation, value between 2 to 5,
TicFor the integral term of current closed-loop operation, value between 0.01 to 0.5,
CoutFor current closed-loop operation result, which is needed to carry out clipping, makes CoutBetween 0.7 to 1.0.
The PWM control amount generation method are as follows:
O=M+D × Cout
O is valve coil controlling value,
M is the median of pwm signal carrier wave,
D is the maximum/minimum amplitude of pwm signal, and value is between 5000 to 5800.
A method of control hydraulic valve flow, hydraulic valve includes valve coil, jet pipe, spool, specific steps are as follows:
(1) power conversion: primary power source 24V is converted to 16V, 8V, 5V, 3.3V and 1.9V, is powered for circuit；
(2) feedback information acquires: it is anti-that its spool displacement signal, valve coil current signal are transferred to displacement by hydraulic valve respectively
Present sample circuit and current feedback sample circuit；Displacement Feedback sample circuit receives the spool displacement signal of hydraulic valve transmitting, place
The receivable voltage signal of control circuit is managed into, and the voltage signal is transferred to control circuit；Current feedback sample circuit connects
The valve coil current signal for receiving hydraulic valve transmitting, is processed into the receivable voltage signal of control circuit, and the voltage signal is passed
It is handed to control circuit；
(3) command signal is converted: host computer sends digitlization level signal to digital telecommunication circuit, and digital telecommunication circuit connects
Digitlization level signal is converted into the receivable level signal of control circuit by the digitlization level signal for receiving host computer transmitting,
And the level signal is transferred to control circuit；If digital telecommunication circuit fail, host computer send dummy instruction to instruct conditioning
Circuit, instruction conditioning circuit receive host computer and send dummy instruction, are processed into the receivable voltage signal of control circuit, and should
Voltage signal is transferred to control circuit；
(4) closed loop operation: control circuit receives the voltage letter of displacement feedback sampling circuit, the transmitting of current feedback sample circuit
Number and digital telecommunication circuit digital signal level or instruction conditioning circuit transmitting voltage signal, control circuit is to above-mentioned electricity
Signal is pressed to carry out digital conversion, the voltage signal of Displacement Feedback sample circuit is converted to digital displacement value of feedback, and current feedback is adopted
The voltage signal of sample circuit is converted to digital current value of feedback, and the voltage signal of conditioning circuit is instructed to be converted to digital command control
Value, the digital signal level of digital telecommunication circuit resolve to digital command controlling value；Digital command controlling value and digital displacement are anti-
Feedback value carries out PID arithmetic, and result and digital current feedback quantity carry out PID arithmetic again, obtain valve coil controlling value, and be converted into
Valve coil controls signal；
(5) flow control: control circuit by digital displacement value of feedback, digital current value of feedback, digital command controlling value and
Valve coil controlling value is transferred to host computer by digital telecommunication circuit, and valve coil control signal is passed to power and driven by control circuit
Dynamic circuit, driving circuit receive valve coil control signal and carry out signal amplification, and by treated, signal is transferred to hydraulic valve, liquid
Valve coil in pressure valve receives control signal, to control the flow direction of jet pipe oil spout, adjusts the pressure of two control chambers of hydraulic valve
Power keeps spool mobile, the final flow for controlling hydraulic valve.
Signal between control circuit and host computer passes through CAN bus, which can adjust PID control in real time
The parameter of algorithm processed.
The method that CAN bus adjusts pid parameter in real time: in the closed loop control process in each period, real time parsing CAN is total
The pid control parameter of line transmitting, and it is loaded into the pid parameter after parsing in real time in control process, to realize adjustment PID ginseng in real time
Number.
The amplitude-frequency of hydraulic valve flow response is wider than 70Hz, and phase frequency is wider than 60Hz.
The resolution ratio of hydraulic valve flow response is less than 0.1%, and lap is less than 0.5%.
Compared with prior art, the present invention has the following advantages:
(1) present invention uses Digital Control circuit, and digitized forms control hydraulic valve flow, hydraulic valve stream may be implemented
The amplitude-frequency of amount response is wider than 70Hz, and phase frequency is wider than 60Hz, and resolution ratio is less than 0.1%, and lap is less than 0.5%.Relative to
Other hydraulic valves, amplitude-frequency response is wide, and static characteristic is more stable；
(2) present invention realizes that the CAN bus between control circuit and host computer communicates, makes to produce by digital telecommunication circuit
Product have real-time debugging, real-time monitoring parameter, use scope extensively, control parameter strong security.
Detailed description of the invention
Fig. 1 is electrical block diagram of the present invention；
Fig. 2 is the method for the present invention block diagram；
Fig. 3 is the concrete structure diagram of Fig. 1 circuit of the present invention；
Fig. 4 is control instruction of the present invention and hydraulic valve discharge relation figure；
Fig. 5 is hydraulic valve flow hysteresis band schematic diagram of the present invention；
Fig. 6 is the amplitude fading amount and delayed phase magnitude relation figure of frequency point of the present invention；
Fig. 7 is invention software control flow.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, a kind of circuit for controlling hydraulic valve flow, includes hydraulic valve 1, Displacement Feedback sample circuit 2, electric current
Feedback sampling circuit 3, instruction conditioning circuit 4, host computer 5, power-switching circuit 6, power driving circuit 7, digital telecommunication circuit
8, control circuit 9；
Its spool displacement signal, valve coil current signal are transferred to Displacement Feedback sample circuit 2 and electricity by hydraulic valve 1 respectively
Flow feedback sampling circuit 3；Displacement Feedback sample circuit 2 receives the spool displacement signal that hydraulic valve 1 transmits, and is processed into control circuit
9 receivable voltage signals, and the voltage signal is transferred to control circuit 9；Current feedback sample circuit 3 receives hydraulic valve 1
The valve coil current signal of transmitting is processed into the receivable voltage signal of control circuit 9, and the voltage signal is transferred to control
Circuit 9；
Host computer 5 sends digitlization level signal to digital telecommunication circuit 8, and digital telecommunication circuit 8 receives host computer 5 and transmits
Digitlization level signal, digitlization level signal is converted into the receivable level signal of control circuit 9, and the level is believed
Number it is transferred to control circuit 9；
If digital telecommunication circuit 8 fails, host computer 5 sends dummy instruction to instruction conditioning circuit 4, instructs conditioning circuit 4
It receives host computer 5 and sends dummy instruction, be processed into the receivable voltage signal of control circuit 9, and the voltage signal is transferred to
Control circuit 9；
The voltage signal that control circuit 9 receives displacement feedback sampling circuit 2, current feedback sample circuit 3 transmits, and number
The voltage signal that the digital signal level or instruction conditioning circuit 4 of telecommunication circuit 8 transmit,
Control circuit 9 carries out digital conversion to above-mentioned voltage signal, and the voltage signal of Displacement Feedback sample circuit 2 is converted
For digital displacement value of feedback, the voltage signal of current feedback sample circuit 3 is converted into digital current value of feedback, instruction is improved
The voltage signal of circuit 4 is converted to digital command controlling value, and the digital signal level of digital telecommunication circuit 8 is resolved to number and is referred to
Enable controlling value；
Digital command controlling value and digital displacement value of feedback carry out PID arithmetic, result and digital current value of feedback again into
Row PID arithmetic；Calculated final operation result is obtained into valve coil controlling value by PWM control amount generation method, and is converted
Signal is controlled at valve coil；
Control circuit 9 is by digital displacement value of feedback, digital current value of feedback, digital command controlling value and valve coil controlling value
Host computer 5 is transferred to by digital telecommunication circuit 8；Valve coil control signal is passed to power driving circuit 7 by control circuit 9,
Driving circuit 7 receives valve coil control signal and carries out signal amplification, and by treated, signal is transferred to hydraulic valve 1.
Power-switching circuit 6 can convert primary power source 24V to 16V, 8V, 5V, 3.3V and 1.9V, power for circuit.
Specifically, as shown in Figure 3:
Displacement Feedback sample circuit 2 is by difference channel, excitation circuit, demodulator circuit, amplifying circuit and Zero compensation circuit
Composition.Excitation circuit generates frequency 6 to the sine wave of 8KHz, and 6KHz is best.Generated sine wave is for LVDT sensor work
Make, while the signal is transferred to demodulator circuit, for demodulating the feedback signal of LVDT.Difference channel is for converting spool displacement
The output of sensor carries out 2 times of amplifications.The sine for being changed the amplitude of LVDT sensor with change in displacement by demodulator circuit
Signal converts the voltage signal changed to amplitude with change in displacement, while the signal being exported to amplifying circuit.Amplifying circuit
The voltage signal of demodulation is amplified 1 to 10 times, 4 times are best.Zero compensation circuit is finely adjusted the zero bias of amplifying circuit, with
Guarantee its intermediate value near 8V.
Current feedback sample circuit 3 is made of sample circuit, amplifying circuit and Zero compensation circuit.Sample circuit is by adopting
Collection is connected on the voltage value that resistance on valve coil is got and determines coil current.3 to 10 ohm of sampling resistor range, with 4.7 Europe
Nurse is best；Difference channel amplifies 1 to 10 times, is best with 4 times；2 amplification factor of amplifying circuit is 1 to 4 times, with 1 times for most
It is good；Zero compensation circuit 2 is finely adjusted the zero bias of amplifying circuit 2, to guarantee its intermediate value near 8V.
Instruction conditioning circuit 4 is made of difference channel, amplifying circuit and Zero compensation circuit.Difference channel is for acquiring
The dummy instruction that position machine is sent, which is best by 1 to 4 times of attenuation instructions, 1 times；Amplifying circuit is by the signal of difference channel
1 to 4 times of output amplification, 2 times are best；Zero compensation circuit is finely adjusted the zero bias of amplifying circuit, to guarantee that its intermediate value exists
Near 8V.
The power-switching circuit 6 by 16V power circuit, 8V power circuit, 5V power circuit, 3.3V power circuit and
1.9V power circuit composition.It is that each functional circuit is powered that it, which is exported,.According to design of Reducing Rating, the output electric current of 16V power supply should expire
Foot 200 to 800mA, is best with 300mA；The output electric current of 8V power supply should meet 2 to 8mA, be best with 4mA；5V power supply
Output electric current should meet 200 to 800mA, be best with 500mA；The output electric current of 3.3V power supply should meet 800 to 1000mA, with
800mA is best；The output electric current of 1.9V power supply should meet 800 to 1000mA, be best with 800mA.
The result that power driving circuit 7 is used to obtain DSP is amplified, for driving valve coil.Select the function of different model
Adjustable its of rate device exports current capacity.The current output capability of the circuit should be most with 1.5A in 200mA between 2A
It is good.
Digital telecommunication circuit 8 is made of CAN interface circuit.For matching the load resistance of CAN bus communication.
As shown in fig. 7, the DSP control circuit 9 is by internal control algolithm normalized f (1), normalized
F (2), Ki f (3), Kp f (4), Kc f (5), position ring output violent change f (6), normalized f (7), Ki f (8), Kp f
(9), Kc f (10), electric current loop output violent change f (11), PWM generate f (12) and f (13) bus marco composition.
1) Ki f (3) is position ring integral term, and value is best with 0.15 to 0.2 between 0.01 to 0.3；Kp f(4)
For position ring proportional, value is best with 8 to 9 between 2 to 20；Kc f (5) be feedforward term, value between 0 to 2, with
0.1 to 0.5 is best；The output of position ring output violent change value f (6) restriction site closed loop, until between 1.0 to 2.0, with
1.3 to 1.5 be best.
2) Ki f (8) is electric current loop integral term, and value is best with 0.2 to 0.4 between 0.01 to 0.5；Kp f(9)
For position ring proportional, value is best with 1.8 to 2.3 between 2 to 5；Kc f (10) be feedforward term, value 0 to 3 it
Between, it is best with 0.1 to 0.6；The output of position ring output violent change value f (11) restriction site closed loop, until 0.7 to 1.0 it
Between, it is best with 0.8.
3) PWM generates f (12) and generates PWM wave, generating mode for control amount are as follows:
O=M+D × A
O is output valve, and the PWM of result indirect assignment to DSP generates register,
M is the median of pwm signal carrier wave, value with 6000 be it is best,
D be pwm signal maximum/minimum amplitude, value be between 5000 to 5800, with 5500 it is best,
A is the output valve after electric current loop clipping,
4) bus marco f (13) for changing control parameter: position ring normalized f (1) in real time；Position ring Ki f
(3),Kp f(4),Kc f(5)；Electric current loop Ki f (8), Kp f (9), Kc f (10).
PID arithmetic method described above are as follows:
(1) position closed loop operation:
Pout=Kcp×Stp+Kpp×(Stp-Fbp)+Tip×∑(Stp-Fbp)
StpFor the digital command controlling value after normalized,
FbpIt is fed back for the digital displacement after normalized,
KcpFor the feedforward term of position closed loop operation, value between 0 to 2,
KppFor the proportional of position closed loop operation, value between 2 to 20,
TipFor the integral term of position closed loop operation, value between 0.01 to 0.3,
PoutFor position closed loop operation result, which is needed to carry out clipping, makes PoutBetween 1.0 to 2.0；
(2) current closed-loop operation:
Cout=Kcc×Pout+Kpc×(Pout-Fbc)+Tic×∑(Pout-Fbc)
FbcFor the digital current value of feedback after normalized,
KccFor the feedforward term of current closed-loop operation, value between 0 to 3,
KpcFor the proportional of current closed-loop operation, value between 2 to 5,
TicFor the integral term of current closed-loop operation, value between 0.01 to 0.5,
CoutFor current closed-loop operation result, which is needed to carry out clipping, makes CoutBetween 0.7 to 1.0.
PWM control amount generation method are as follows:
O=M+D × Cout
O is valve coil controlling value,
M is the median of pwm signal carrier wave,
D is the maximum/minimum amplitude of pwm signal, and value is between 5000 to 5800.
As shown in Fig. 2, a kind of method for controlling hydraulic valve flow, hydraulic valve includes valve coil, jet pipe, spool, specifically
Step are as follows:
(1) power conversion: primary power source 24V is converted to 16V, 8V, 5V, 3.3V and 1.9V, is powered for circuit；
(2) feedback information acquires: its spool displacement signal, valve coil current signal are transferred to displacement by hydraulic valve 1 respectively
Feedback sampling circuit 2 and current feedback sample circuit 3；Displacement Feedback sample circuit 2 receives the spool displacement letter that hydraulic valve 1 transmits
Number, it is processed into the receivable voltage signal of control circuit 9, and the voltage signal is transferred to control circuit 9；Current feedback sampling
Circuit 3 receives the valve coil current signal that hydraulic valve 1 transmits, and is processed into the receivable voltage signal of control circuit 9, and by the electricity
Pressure signal is transferred to control circuit 9；
(3) command signal is converted: host computer 5 sends digitlization level signal to digital telecommunication circuit 8, digital telecommunication circuit
8 receive the digitlization level signal that host computer 5 transmits, and digitlization level signal is converted into the receivable level of control circuit 9
Signal, and the level signal is transferred to control circuit 9；If digital telecommunication circuit 8 fails, host computer 5 sends dummy instruction extremely
Conditioning circuit 4 is instructed, instruction conditioning circuit 4 receives host computer 5 and sends dummy instruction, is processed into the receivable electricity of control circuit 9
Signal is pressed, and the voltage signal is transferred to control circuit 9；
(4) closed loop operation: the electricity that control circuit 9 receives displacement feedback sampling circuit 2, current feedback sample circuit 3 transmits
Press the digital signal level of signal and digital telecommunication circuit 8 or the voltage signal of the instruction transmitting of conditioning circuit 4, control circuit 9 right
Above-mentioned voltage signal carries out digital conversion, and the voltage signal of Displacement Feedback sample circuit 2 is converted to digital displacement value of feedback, electric current
The voltage signal of feedback sampling circuit 3 is converted to digital current value of feedback, and the voltage signal of instruction conditioning circuit 4 is converted to number
Controlling value is instructed, the digital signal level of digital telecommunication circuit 8 resolves to digital command controlling value；Digital command controlling value and number
Word bit moves value of feedback and carries out PID arithmetic, and result and digital current feedback quantity carry out PID arithmetic again, obtain valve coil controlling value,
And it is converted into valve coil control signal；
(5) flow control: control circuit 9 by digital displacement value of feedback, digital current value of feedback, digital command controlling value and
Valve coil controlling value is transferred to host computer 5 by digital telecommunication circuit 8, and valve coil control signal is passed to function by control circuit 9
Rate driving circuit 7, driving circuit 7 receive valve coil control signal and carry out signal amplification, and by treated, signal is transferred to liquid
Pressure valve 1, the valve coil in hydraulic valve 1 receives control signal, to control the flow direction of jet pipe oil spout, adjusts hydraulic valve 1 two
The pressure of control chamber keeps spool mobile, the final flow for controlling hydraulic valve.
Signal between control circuit 9 and host computer 5 passes through CAN bus, which can adjust PID in real time
The parameter of control algolithm.
The method that CAN bus adjusts pid parameter in real time: in the closed loop control process in each period, real time parsing CAN is total
The pid control parameter of line transmitting, and it is loaded into the pid parameter after parsing in real time in control process, to realize adjustment PID ginseng in real time
Number.
The amplitude-frequency of hydraulic valve flow response is wider than 70Hz, and phase frequency is wider than 60Hz.
The resolution ratio of hydraulic valve flow response is less than 0.1%, and lap is less than 0.5%.
Static characteristic of the present invention can be that 0.02Hz sine wave or triangular wave are tested by instruction: by the control of this control method
System instruction is described in a coordinate system with hydraulic valve flow, if control effect is bad, the stagnant ring (δ of flowM) width can be larger, such as scheme
Shown in 4；The hydraulic valve flow hysteresis band controlled by this patent is smaller, as shown in Figure 5.
Dynamic characteristic can be tested by frequency sweeping method: send one group of signal that frequency is gradually increased, test is each respectively
The amplitude fading amount and delayed phase amount of frequency point, when the amplitude fading δ A amount in a certain frequency point is more than 3dB, delayed phase amount δ φ
When more than 45 °, it is believed that higher frequency point in the frequency point and later controls unstability, which is this control method by frequency.
It is higher by frequency, show that control method is better.Amplitude fading amount δ A and delayed phase amount δ φ signal is as shown in Figure 6.
The present invention is explained in detail above in conjunction with drawings and examples, but the present invention is not limited to above-mentioned implementations
Example, within the knowledge of a person skilled in the art, can also make without departing from the purpose of the present invention
Various change out.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. it is a kind of control hydraulic valve flow circuit, which is characterized in that comprising hydraulic valve (1), Displacement Feedback sample circuit (2),
Current feedback sample circuit (3), instruction conditioning circuit (4), host computer (5), power-switching circuit (6), power driving circuit
(7), digital telecommunication circuit (8), control circuit (9)；
Its spool displacement signal, valve coil current signal are transferred to Displacement Feedback sample circuit (2) and electricity by hydraulic valve (1) respectively
It flows feedback sampling circuit (3)；Displacement Feedback sample circuit (2) receives the spool displacement signal of hydraulic valve (1) transmitting, is processed into control
The receivable voltage signal of circuit (9) processed, and the voltage signal is transferred to control circuit (9)；Current feedback sample circuit (3)
The valve coil current signal for receiving hydraulic valve (1) transmitting, is processed into control circuit (9) receivable voltage signal, and by the electricity
Pressure signal is transferred to control circuit (9)；
Host computer (5) sends digitlization level signal to digital telecommunication circuit (8), and digital telecommunication circuit (8) receives host computer (5)
Digitlization level signal is converted into control circuit (9) receivable level signal by the digitlization level signal of transmitting, and should
Level signal is transferred to control circuit (9)；
If digital telecommunication circuit (8) fails, host computer (5) sends dummy instruction to instructing conditioning circuit (4), instructs conditioning circuit
(4) host computer (5) are received and sends dummy instruction, be processed into control circuit (9) receivable voltage signal, and by the voltage signal
It is transferred to control circuit (9)；
Control circuit (9) receives the voltage signal of displacement feedback sampling circuit (2), current feedback sample circuit (3) transmitting, and number
The digital signal level of word telecommunication circuit (8) or the voltage signal of instruction conditioning circuit (4) transmitting,
Control circuit (9) carries out digital conversion to above-mentioned voltage signal, and the voltage signal of Displacement Feedback sample circuit (2) is converted
For digital displacement value of feedback, the voltage signal of current feedback sample circuit (3) is converted into digital current value of feedback, instruction is adjusted
The voltage signal of reason circuit (4) is converted to digital command controlling value, and the digital signal level of digital telecommunication circuit (8) is resolved to
Digital command controlling value；
Digital command controlling value and digital displacement value of feedback carry out PID arithmetic, and result and digital current value of feedback carry out PID again
Operation；Calculated final operation result is obtained into valve coil controlling value by PWM control amount generation method, and is converted into valve line
Circle control signal；
Control circuit (9) leads to digital displacement value of feedback, digital current value of feedback, digital command controlling value and valve coil controlling value
It crosses digital telecommunication circuit (8) and is transferred to host computer (5)；Valve coil control signal is passed to power drive electricity by control circuit (9)
Road (7), power driving circuit (7) receive valve coil control signal and carry out signal amplification, and by treated, signal is transferred to liquid
Pressure valve (1).
2. a kind of circuit for controlling hydraulic valve flow as described in claim 1, which is characterized in that further include power-switching circuit
(6), primary power source 24V can be converted to 16V, 8V, 5V, 3.3V and 1.9V, is powered for circuit.
3. a kind of circuit for controlling hydraulic valve flow as described in claim 1, which is characterized in that the PID arithmetic method
Are as follows:
(1) position closed loop operation:
Pout=Kcp×Stp+Kpp×(Stp-Fbp)+Tip×∑(Stp-Fbp)
StpFor the digital command controlling value after normalized,
FbpIt is fed back for the digital displacement after normalized,
KcpFor the feedforward term of position closed loop operation, value between 0 to 2,
KppFor the proportional of position closed loop operation, value between 2 to 20,
TipFor the integral term of position closed loop operation, value between 0.01 to 0.3,
PoutFor position closed loop operation result, which is needed to carry out clipping, makes PoutBetween 1.0 to 2.0；
(2) current closed-loop operation:
Cout=Kcc×Pout+Kpc×(Pout-Fbc)+Tic×∑(Pout-Fbc)
FbcFor the digital current value of feedback after normalized,
KccFor the feedforward term of current closed-loop operation, value between 0 to 3,
KpcFor the proportional of current closed-loop operation, value between 2 to 5,
TicFor the integral term of current closed-loop operation, value between 0.01 to 0.5,
CoutFor current closed-loop operation result, which is needed to carry out clipping, makes CoutBetween 0.7 to 1.0.
4. a kind of circuit for controlling hydraulic valve flow as claimed in claim 3, which is characterized in that the PWM control amount generates
Method are as follows:
O=M+D × Cout
O is valve coil controlling value,
M is the median of pwm signal carrier wave,
D is the maximum/minimum amplitude of pwm signal, and value is between 5000 to 5800.
5. a kind of method for controlling hydraulic valve flow, hydraulic valve includes valve coil, jet pipe, spool, which is characterized in that specific step
Suddenly are as follows:
(1) power conversion: primary power source 24V is converted to 16V, 8V, 5V, 3.3V and 1.9V, is powered for circuit；
(2) feedback information acquires: it is anti-that its spool displacement signal, valve coil current signal are transferred to displacement by hydraulic valve (1) respectively
Present sample circuit (2) and current feedback sample circuit (3)；Displacement Feedback sample circuit (2) receives the spool of hydraulic valve (1) transmitting
Displacement signal is processed into control circuit (9) receivable voltage signal, and the voltage signal is transferred to control circuit (9)；Electricity
The valve coil current signal that feedback sampling circuit (3) receive hydraulic valve (1) transmitting is flowed, it is receivable to be processed into control circuit (9)
Voltage signal, and the voltage signal is transferred to control circuit (9)；
(3) command signal is converted: host computer (5) sends digitlization level signal to digital telecommunication circuit (8), digital telecommunication circuit
(8) the digitlization level signal for receiving host computer (5) transmitting, digitlization level signal, which is converted into control circuit (9), can receive
Level signal, and the level signal is transferred to control circuit (9)；If digital telecommunication circuit (8) fails, host computer (5) hair
Send dummy instruction to instructing conditioning circuit (4), instruction conditioning circuit (4) receives host computer (5) and sends dummy instruction, is processed into control
The receivable voltage signal of circuit (9) processed, and the voltage signal is transferred to control circuit (9)；
(4) closed loop operation: control circuit (9) receives displacement feedback sampling circuit (2), current feedback sample circuit (3) transmits
The voltage signal of the digital signal level or instruction conditioning circuit (4) transmitting of voltage signal and digital telecommunication circuit (8), control
Circuit (9) carries out digital conversion to above-mentioned voltage signal, and the voltage signal of Displacement Feedback sample circuit (2) is converted to digital displacement
Value of feedback, the voltage signal of current feedback sample circuit (3) are converted to digital current value of feedback, instruct the electricity of conditioning circuit (4)
Pressure signal is converted to digital command controlling value, and the digital signal level of digital telecommunication circuit (8) resolves to digital command controlling value；
Digital command controlling value and digital displacement value of feedback carry out PID arithmetic, and result and digital current feedback quantity carry out PID fortune again
It calculates, obtains valve coil controlling value, and be converted into valve coil control signal；
(5) flow control: control circuit (9) is by digital displacement value of feedback, digital current value of feedback, digital command controlling value and valve
Coil controlling value is transferred to host computer (5) by digital telecommunication circuit (8), and control circuit (9) transmits valve coil control signal
It gives power driving circuit (7), power driving circuit (7) receives valve coil control signal and carries out signal amplification, by treated
Signal is transferred to hydraulic valve (1), and the valve coil in hydraulic valve (1) receives control signal, so that the flow direction of jet pipe oil spout is controlled,
The pressure for adjusting (1) two control chamber of hydraulic valve keeps spool mobile, the final flow for controlling hydraulic valve.
6. a kind of method for controlling hydraulic valve flow as claimed in claim 5, which is characterized in that control circuit (9) with it is upper
Signal between machine (5) passes through CAN bus, which can adjust the parameter of pid control algorithm in real time.
7. a kind of method for controlling hydraulic valve flow as claimed in claim 5, which is characterized in that CAN bus adjusts PID in real time
The method of parameter: in the closed loop control process in each period, the pid control parameter of real time parsing CAN bus transmitting, and controlling
The pid parameter after parsing is loaded into during system, in real time to realize adjustment pid parameter in real time.
8. a kind of method for controlling hydraulic valve flow as claimed in claim 5, which is characterized in that the width of hydraulic valve flow response
Bandwidth is greater than 70Hz, and phase frequency is wider than 60Hz.
9. a kind of method for controlling hydraulic valve flow as claimed in claim 8, which is characterized in that point of hydraulic valve flow response
Resolution is less than 0.1%, and lap is less than 0.5%.
10. a kind of method for controlling hydraulic valve flow as claimed in claim 5, which is characterized in that the PID arithmetic method
Are as follows:
(1) position closed loop operation:
Pout=Kcp×Stp+Kpp×(Stp-Fbp)+Tip×∑(Stp-Fbp)
StpFor the digital command controlling value after normalized,
FbpIt is fed back for the digital displacement after normalized,
KcpFor the feedforward term of position closed loop operation, value between 0 to 2,
KppFor the proportional of position closed loop operation, value between 2 to 20,
TipFor the integral term of position closed loop operation, value between 0.01 to 0.3,
PoutFor position closed loop operation result, which is needed to carry out clipping, makes PoutBetween 1.0 to 2.0；
(2) current closed-loop operation:
Cout=Kcc×Pout+Kpc×(Pout-Fbc)+Tic×∑(Pout-Fbc)
FbcFor the digital current value of feedback after normalized,
KccFor the feedforward term of current closed-loop operation, value between 0 to 3,
KpcFor the proportional of current closed-loop operation, value between 2 to 5,
TicFor the integral term of current closed-loop operation, value between 0.01 to 0.5,
CoutFor current closed-loop operation result, which is needed to carry out clipping, makes CoutBetween 0.7 to 1.0.
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| CN109599246A (en) * | 2018-11-28 | 2019-04-09 | 南京晨光集团有限责任公司 | A kind of Single electromagnet proportional valve controller based on current automatic adaptation |
| CN109597331A (en) * | 2018-11-28 | 2019-04-09 | 南京晨光集团有限责任公司 | A kind of pilot-operated type double electromagnet proportional valve controller based on current automatic adaptation |
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| KR100437079B1 (en) * | 2002-02-23 | 2004-06-25 | 신혜수 | Micro-processor based high accuracy digital control circuit for motor operated valve |
| CN101629496B (en) * | 2009-07-30 | 2011-08-17 | 杭州和利时自动化有限公司 | Digital electrohydraulic control system of steam turbine with isolated network operation |
| FR2972505B1 (en) * | 2011-03-07 | 2014-02-14 | Snecma | METHOD AND MONITORING DEVICE FOR SERVOVALVE ACTUATION SYSTEM |
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