CN107269864B - A gate valve and gate valve control method - Google Patents

Abstract

The invention discloses a gate valve and a gate valve control method. The gate valve includes a gate plate, a gate valve control device and a hydraulic power device for driving the gate to open and close. The gate valve control device includes a control component for controlling the movement of the hydraulic power device and a hydraulic power device. A detection component for detecting the state of the gate valve; the detection component is used to detect the actual state data of the gate valve at preset time intervals; the control component is used to adjust the input to the gate valve according to the actual state data detected by the detection component control parameters of the hydraulic power unit until the actual state data conforms to the preset state data.

Description

A gate valve and gate valve control method

technical field

The invention relates to the field of water supply and drainage of underground coal mines and oil pipelines, in particular to a gate valve and a gate valve control method.

Background technique

Gate valves are widely used in mines and other water supply and drainage systems due to their simple structure and good sealing properties. The most common gate valve actuator on the market is the handwheel switch. With the development of gate valves in the direction of high pressure, large diameter and automation, the handwheel switch actuator can no longer meet the demand. Therefore, an automatic execution scheme has emerged, mainly through the rotation of the motor and the torque increase of the reducer, instead of the handwheel mechanism. On the one hand, it can reduce the labor intensity, and on the other hand, it is easy to realize remote control.

However, there are still many problems in the existing automatic execution scheme: mainly the problems of poor reliability and high failure rate caused by the difficulty of starting with load and the difficulty in realizing overload protection; Cause serious water hammer phenomenon, resulting in impact damage to gate valves and pipelines.

In response to the above problems, the industry has also proposed solutions at present, such as the invention patent with the publication number CN102182838A and the invention titled "A Mine Submersible Electro-hydraulic Control Gate Valve", which no longer uses the transmission method of motor and screw, but The hydraulic cylinder is used to drive the gate, which saves the complicated mechanical transmission structure, and the limit position of the gate is limited by the proximity switch, which basically solves the problem of difficulty in starting with load and overload, and also solves the problem of poor reliability caused by the motor-driven gate valve. , The problem of high failure rate, but the occurrence of water hammer cannot be avoided.

Another example is the invention patent with the publication number CN105003715A and the invention titled “An Electro-hydraulic Gate Valve Drive System and Gate Valve with Emergency Valve Closing Function”. By setting a buffer device at the end of the actuator, the occurrence of some water hammer can be avoided. However, since the buffer force of the buffer device is fixed, it cannot be adjusted according to the specific conditions in the pipeline, and the water hammer phenomenon cannot be completely avoided.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention are expected to provide a gate valve and a gate valve control method, which can solve the problems of poor reliability and high failure rate of the gate valve, and can effectively avoid the occurrence of the water hammer phenomenon.

In order to achieve the above object, the technical scheme of the present invention is achieved in this way:

An embodiment of the present invention provides a gate valve, the gate valve includes a gate, a gate valve control device and a hydraulic power device for driving the gate to open and close, the gate valve control device includes a control component for controlling the movement of the hydraulic power device and a detection device The detection component of the state of the gate valve; wherein,

The detection component is used to detect the actual state data of the gate valve at preset time intervals;

The control component is configured to adjust the control parameters input to the hydraulic power device according to the actual state data detected by the detection component, until the actual state data conforms to the preset state data.

Preferably, the hydraulic power device includes a hydraulic cylinder, and the piston rod of the hydraulic cylinder is connected with the gate.

Preferably, the control part is a PLC, and the detection part includes a displacement detection part for detecting the displacement of the piston rod.

Preferably, the detection component further comprises: a first speed detection component for detecting the moving speed of the shutter, a second speed detection component for detecting the liquid flow speed in the pipeline, a pressure detection component for detecting the pressure on the inner wall of the pipeline, and a pressure detection component for detecting the vibration value of the pipeline Vibration detection part.

Preferably, the hydraulic power device further comprises a drive motor, and the motor shaft of the drive motor is connected with a hand crank device;

The hand crank device includes a hand rocker, a clutch part for establishing or releasing the linkage connection between the hand rocker and the motor shaft.

Preferably, the hand crank device further includes a planetary gear mechanism, the planetary gear mechanism includes a casing, a ring gear, a planet carrier, a planetary gear and a sun gear;

The inner gear ring is fixed on the inner wall of the box, the hand rocker is fixedly connected with the planet carrier, and the motor shaft is sleeved with the sun gear; the clutch part is used to connect the motor shaft and the planetary carrier. The sun gears are linked in the circumferential direction.

Preferably, one end of the planet carrier is provided with two planetary gear shafts, and each of the planetary gear shafts is provided with a first planetary gear and a second planetary gear that are axially arranged and distributed and rotate synchronously with the planetary gear shaft ;

The first planetary gear is meshed with the ring gear, and the second planetary gear is meshed with the sun gear; the number of teeth of the first planetary gear is smaller than the number of teeth of the ring gear and the number of teeth of the second planetary gear , the number of teeth of the sun gear is smaller than the number of teeth of the second planetary gear.

The embodiment of the present invention also provides a gate valve control method, the method includes:

After the gate valve is started, the actual state data of the gate valve is detected at preset time intervals;

The control parameters input to the hydraulic power device are adjusted according to the actual state data until the actual state data conforms to the preset state data.

Preferably, the detection of the actual state data of the gate valve at preset time intervals includes:

The actual displacement data of the transmission components of the hydraulic power unit are regularly detected at preset time intervals.

Preferably, the adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data, including:

Comparing the actual displacement data of the transmission part of the hydraulic power device with the preset displacement data to obtain a displacement error value;

The control parameters input to the hydraulic power device are adjusted according to the displacement error value until the displacement error value is smaller than a preset displacement error threshold.

Preferably, the detecting the actual state data of the gate valve at preset time intervals further includes:

The actual moving speed of the gate, the liquid flow speed in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline are regularly detected at preset time intervals.

Preferably, the method further includes:

A fuzzy calculation is performed on the detected liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline to determine the target moving speed of the gate.

Preferably, the adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data, further includes:

Comparing the actual moving speed of the gate with the target moving speed of the gate to obtain a speed error value;

The control parameters input to the hydraulic power unit are adjusted according to the speed error value until the speed error value is less than a preset speed error threshold.

Preferably, the adjustment of the control parameters input to the hydraulic power device according to the speed error value includes:

The speed error value is input into the proportional-integral-derivative control part, and the control parameter input to the hydraulic power device is adjusted by the proportional-integral-derivative control part.

The gate valve and the gate valve control method provided by the embodiments of the present invention include a gate, a gate valve control device, and a hydraulic power device for driving the gate to open and close, the gate valve control device including a control component for controlling the movement of the hydraulic power device and for detecting the A gate valve state detection component; the detection component is used to detect the actual state data of the gate valve at preset time intervals; the control component is used to adjust the input to the hydraulic power device according to the actual state data detected by the detection component until the actual state data conforms to the preset state data; it can be seen that the gate valve control device of the embodiment of the present invention adjusts the control parameters of the hydraulic power device according to the detection results of the detection components, and can accurately control the hydraulic power device. It can effectively solve the problems of poor reliability and high failure rate of the gate valve, and can effectively avoid the occurrence of water hammer.

Description of drawings

1 is a schematic diagram of the composition and structure of a gate valve according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the composition structure of the second gate valve according to the embodiment of the present invention;

3 is a schematic diagram of a hydraulic power device of a three-gate valve according to an embodiment of the present invention;

Fig. 4 is the cross-sectional schematic diagram of the hand crank device in Fig. 3;

Fig. 5 is the planetary gear meshing schematic diagram of the hand crank device in Fig. 4;

6 is a schematic flowchart of a four-gate valve control method according to an embodiment of the present invention;

7 is a schematic flow chart of controlling the gate valve by monitoring the displacement of the piston rod according to the fifth embodiment of the present invention;

8 is a schematic structural diagram of a gate valve control device with a self-learning fuzzy controller according to Embodiment 6 of the present invention;

FIG. 9 is a schematic flow chart of the gate valve control device with the self-learning fuzzy controller to close the gate according to the sixth embodiment of the present invention.

Detailed ways

An embodiment of the present invention provides a gate valve, the gate valve includes a gate, a gate valve control device and a hydraulic power device for driving the gate to open and close, the gate valve control device includes a control component for controlling the movement of the hydraulic power device and a detection device The detection component for the state of the gate valve; the detection component is used to detect the actual state data of the gate valve at preset time intervals; the control component is used to adjust and input the hydraulic power according to the actual state data detected by the detection component control parameters of the device until the actual state data conforms to the preset state data.

The principle of the embodiment of the present invention is to detect the actual state data of the gate valve, and feed back the detection result to the gate valve control device, and adjust the control parameters input to the hydraulic power device until the actual state data conforms to the preset state data; that is, It is said that through the control principle of negative feedback, the movement of the hydraulic power device can be accurately controlled; the problems of poor reliability and high failure rate of the gate valve can be solved, and the occurrence of water hammer can be effectively avoided.

In order to be able to understand the features and technical contents of the embodiments of the present invention in more detail, the present invention will be further described below with reference to the accompanying drawings and specific application embodiments. The accompanying drawings are for reference only and are not intended to limit the present invention. Example.

Example 1

FIG. 1 is a schematic structural diagram of a gate valve according to an embodiment of the present invention. As shown in FIG. 1 , the gate valve includes a gate valve control device 11 , a hydraulic power device 12 and a gate 13 ;

The gate valve control device 11 includes: a control part for controlling the movement of the hydraulic power device 12 and a detection part for detecting the state of the gate valve, the control part and the detection part are connected; wherein,

The detection component is used to detect the actual state data of the gate valve at preset time intervals;

The control component is configured to adjust the control parameters input to the hydraulic power device 12 according to the actual state data detected by the detection component, until the actual state data conforms to the preset state data.

The hydraulic power unit 12 includes a hydraulic pump 121 and a hydraulic cylinder 122. The piston rod of the hydraulic cylinder 122 is connected to the gate 13, so that the gate can be driven by the linear reciprocating motion of the piston rod of the hydraulic cylinder 122. 13 opening and closing;

Correspondingly, in the embodiment of the present invention, the control component is a programmable logic controller (PLC, Programmable Logic Controller) 111, and the detection component is a displacement detection component 112 that detects the displacement of the piston rod of the hydraulic cylinder 122;

Specifically, the displacement detection component 112 may be a displacement sensor, specifically a grating type displacement sensor.

In this way, based on the embodiment of the present invention, the gate valve control device 11 detects the actual displacement data of the piston rod of the hydraulic cylinder 122 at preset time intervals through the displacement detection component 112, and uses the PLC 111 to detect the actual displacement data according to the detected actual displacement data. The control parameters input to the hydraulic power device 12 are adjusted until the actual displacement data conforms to the preset displacement data, so as to achieve the purpose of precisely controlling the movement of the hydraulic power device 12 . It can solve the problems of poor reliability and high failure rate of gate valves, and effectively avoid the occurrence of water hammer.

Embodiment 2

FIG. 2 is a schematic diagram of the composition structure of the second gate valve according to the embodiment of the present invention. As shown in FIG. 2 , the gate valve includes a gate valve control device 21 , a hydraulic power device 22 and a gate 23 ;

The gate valve control device 21 includes: a control part for controlling the movement of the hydraulic power device 22 and a detection part for detecting the state of the gate valve, the control part and the detection part are connected; wherein,

The detection component is used to detect the actual state data of the gate valve at preset time intervals;

The control component is configured to adjust the control parameters input to the hydraulic power device 22 according to the actual state data detected by the detection component, until the actual state data conforms to the preset state data.

The hydraulic power unit 22 includes a hydraulic pump 221 and a hydraulic cylinder 222. The piston rod of the hydraulic cylinder 222 is connected to the gate 23, so that the gate can be driven by the linear reciprocating motion of the piston rod of the hydraulic cylinder 222. 23 opening and closing;

In the embodiment of the present invention, the control component is PLC211, and the detection component includes: a displacement detection component 212, a first speed detection component 213, a second speed detection component 214, a pressure detection component 215, and a vibration detection component 216; wherein,

the displacement detection part 212 is used to detect the displacement of the piston rod of the hydraulic cylinder 222;

The first speed detection part 213 is used to detect the moving speed of the shutter 23;

the second speed detection part 214 is used to detect the liquid flow speed in the pipeline;

The pressure detection part 215 is used to detect the inner wall pressure of the pipeline;

The vibration detection component 216 is used to detect the vibration value of the pipeline.

Specifically, the displacement detection component 212 may be a displacement sensor, the first speed detection component 213 may be a speed sensor, and the second speed detection component 214 may be a flow meter. The detection component 215 may be a pressure sensor, and the vibration detection component 216 may be a vibration monitor.

Similar to the first embodiment, the gate valve control device 21 of the embodiment of the present invention can precisely control the movement of the hydraulic power device 22, can solve the problems of poor reliability and high failure rate of the gate valve, and effectively avoid the occurrence of water hammer.

Further, the embodiment of the present invention is also provided with a self-learning fuzzy controller;

The self-learning fuzzy controller is used to perform fuzzy calculation on the detected liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline, and determine the target moving speed of the gate 23;

Specifically, the self-learning fuzzy controller may be manufactured by using a fuzzy controller based on the fuzzy control principle combined with a gate valve control method.

In this way, the gate valve control device 21 of the embodiment of the present invention determines the target moving speed of the gate plate 23 through the second speed detection part 214 , the pressure detection part 215 and the vibration detection part 216 , and uses the first speed detection part 213 to press The actual moving speed of the gate 23 is detected at a preset time interval, and then the PLC 211 adjusts the control parameters input to the hydraulic power device 22 according to the speed error value between the actual moving speed of the gate 23 and the target moving speed, until The speed error value is smaller than the preset speed error threshold, so as to achieve the purpose of precisely controlling the movement of the hydraulic power device 22 . It can solve the problems of poor reliability and high failure rate of gate valves, and effectively avoid the occurrence of water hammer.

Specifically, the working principle of the hydraulic power device 22 is as follows: the drive motor drives the hydraulic pump 221 to discharge oil, the discharged oil enters the hydraulic cylinder 222, and drives the piston rod of the hydraulic cylinder 222 to move, so that the gate 23 can be opened and closed;

Further, the inner cavity of the hydraulic cylinder 222 includes a rod cavity and a rodless cavity. When the gate 23 is opened, the piston rod moves from the rodless cavity to the rod cavity. When the gate 23 is closed, the piston rod moves from The rod cavity moves to the rodless cavity; in this way, when the motor power and the cylinder diameter of the hydraulic cylinder remain unchanged, the oil supply when the gate 23 is opened is larger, so the opening force of the gate valve to open the gate 23 is greater than that of closing the gate 23. The closing force makes better use of the power of the gate valve; because of the existence of scale and other factors, it is more difficult to open the gate 23 than to close the gate 23;

Further, the drive motor can be an explosion-proof motor, which is safer.

It can be understood that the hydraulic power device is not limited to the combination of the hydraulic pump and the hydraulic cylinder described in the first and second embodiments, and can also be other hydraulic equipment that can provide power, such as a hydraulic motor plus a screw rod, etc.;

The control component may also be other components other than PLC, such as a single-chip microcomputer, an industrial control computer, etc.; the detection component may be provided with more detection components according to control requirements.

Embodiment 3

FIG. 3 is a schematic diagram of a hydraulic power device of a three-gate valve according to an embodiment of the present invention. As shown in FIG. 3 , the hydraulic power device includes a hydraulic pump 31 and a hydraulic cylinder 32. The piston rod of the hydraulic cylinder 32 and the gate ( FIG. 3 ) (not visible in the middle) connection; the gate is arranged in the pipeline 33;

The hydraulic pump 31 includes a drive motor 34, and the motor shaft of the drive motor 34 is connected with a hand crank device 35;

The hand crank device 35 is used to manually open or close the gate valve in emergency situations such as power failure or failure;

Under normal circumstances, the hydraulic power device of the embodiment of the present invention opens and closes the gate according to the instructions of the gate valve control device, that is, according to the instructions of the gate valve control device, the hydraulic pump 31 is driven by the driving motor 34 to discharge oil, and the discharged oil enters the hydraulic pressure The cylinder 32, which drives the piston rod of the hydraulic cylinder 32 to move, can also open and close the gate; but in emergency situations such as power failure or failure, the hydraulic power device loses power and cannot open and close the gate. Complete the opening and closing of the gate.

It can be understood that manually opening or closing the gate valve may be a mechanism not associated with the drive motor 34, such as a manual hydraulic pump; compared with the manual hydraulic pump, the hand crank device 35 in the embodiment of the present invention directly Connected to the motor shaft, there is no need to lay additional components such as pipes, solenoid valves, etc., and the structure is simpler.

FIG. 4 is a schematic cross-sectional view of the hand crank device 35 in FIG. 3 . As shown in FIG. 4 , the hand crank device 35 includes a hand rocker 351 to establish or release the linkage between the hand rocker 351 and the motor shaft 341 Connected clutch member 352 .

In order to make the hand crank device 35 more efficient, the hand crank device 35 also includes a planetary gear mechanism, and the planetary gear mechanism includes a casing 353, a ring gear 354, a planet carrier 355, a planetary gear and a sun gear 356; the The inner gear 354 is fixed on the inner wall of the box body 353 , the hand rocker 351 is fixedly connected with the planet carrier 355 , the motor shaft 341 is sleeved with the sun gear 356 ; the clutch member 352 is used to connect the The motor shaft 341 and the sun gear 356 are linked in a circumferential direction.

In the embodiment of the present invention, one end of the planet carrier 355 is provided with two planetary gear shafts 357, and the two planetary gear shafts 357 are axially symmetrical based on the motor shaft 341;

Each of the planetary gear shafts 357 is provided with a first planetary gear 358 and a second planetary gear 359 which are axially arranged and distributed and rotate synchronously with the planetary gear shaft 357 ; the first planetary gear 358 and the inner The ring gear 354 meshes with the second planetary gear 359 and the sun gear 356; the number of teeth of the first planetary gear 358 is smaller than the number of teeth of the ring gear 354 and the number of teeth of the second planetary gear 359, the sun gear The number of teeth of the gear 356 is smaller than that of the second planetary gear 359 .

In this way, through the hand crank device 35, a relatively large speed-up ratio can be obtained, making the hand crank device 35 more efficient;

Further, the motor shaft 341 is also sleeved with a clutch connection sleeve 342, and the outer circle of the clutch connection sleeve 342 is sleeved with the sun gear 356; the clutch connection sleeve 342 is fixed on the motor shaft 341 by a key ;

Under normal circumstances, when the hand rocker 351 is pulled out, the clutch member 352 is released, and the clutch connecting sleeve 342 is radially separated from the sun gear 356, so that when the drive motor 34 is running, the planetary gear mechanism is stationary;

When emergencies such as power failure or failure occur, the hand rocker 351 is pushed into the planetary gear mechanism, the clutch member 352 works, and the clutch connecting sleeve 342 is radially fixed with the sun gear 356, so that the rotating hand rocker 351 , the motor shaft 341 is driven to rotate through the planetary gear mechanism, and the hydraulic power device is driven to act.

It can be understood that, the hand crank device 35 and the motor shaft can also be connected by other means of transmission, such as common gear transmission, worm gear transmission, belt transmission, chain transmission and so on.

In order to be able to understand the characteristics and technical content of the hand crank device in the embodiment of the present invention in more detail, take FIG. 5 as an example to further illustrate:

5 is a schematic diagram of the planetary gear meshing of the hand crank device 35 in FIG. 4; the first planetary gear 358 meshes with the ring gear 354, and the second planetary gear 359 meshes with the sun gear 356;

The modules of the gears in FIG. 5 are all 2, the number of teeth of the first planetary gear 358 is 8, the number of teeth of the second planetary gear 359 is 29, the number of teeth of the sun gear 356 is 10, and the number of teeth of the ring gear 354 is 48, so that , the transmission reaches 18.4, that is, the speed increase ratio is 18.4;

Specifically, the calculation process of the speed increase ratio is as follows:

Assuming that the sun gear 356 is gear 1, the second planetary gear 359 is gear 2, the first planetary gear 358 is gear 3, the ring gear 354 is gear 4, and the planet carrier is H, according to the calculation principle of the planetary gear ratio, it can be obtained:

表示假设行星架静止情况下，齿轮1和齿轮4之间的传动比，n表示转速，Z表示齿数，如n₁表示齿轮1的转速，Z₁表示齿轮1的齿数，以此类推；in,

Indicates the transmission ratio between gear 1 and gear 4 under the assumption that the planet carrier is stationary, n represents the rotational speed, Z represents the number of teeth, such as n ₁ represents the rotational speed of gear 1, Z ₁ represents the number of teeth of gear 1, and so on;

Because the ring gear is fixed, n ₄ is zero, which can be obtained from expression (1):

Substitute the number of teeth into the calculation:

From (3) we can get:

From (4) we can get:

That is to say, the rotation speed of gear 1, that is, the sun gear 356 is 18.4 times that of the planet carrier 355, and the planet carrier 355 and the hand rocker 351 are fixedly connected, so the speed increase ratio of the manual device 35 is 18.4.

In the prototype test, when the water pressure in the pipeline is 4.5MPa, when the hand lever 351 reaches the speed of 1 revolution per second, it can drive the motor to rotate 18.4 revolutions, and the piston rod of the hydraulic cylinder can move 1.73mm to complete the entire valve closing operation. The time used is 104 seconds, which can meet the valve closing operation in emergency situations;

Of course, the speed can be adjusted at any time by the torque applied by the arm.

It can be understood that, the gears in the planetary gear mechanism can be designed with different numbers of teeth from the present embodiment as required.

In order to express concisely and conform to industry standards, the module of the gear in Figure 5 is represented by the letter M, and the number of teeth is represented by the letter Z. For example, the module of the first planetary gear 358 is 2 and the gear is 8, which can be expressed as "M= 2, Z = 8".

Embodiment 4

FIG. 6 is a schematic flowchart of a fourth gate valve control method according to an embodiment of the present invention. The execution body of the method may be a gate valve control device. As shown in FIG. 6 , the method includes:

Step 601: After the gate valve is started, the actual state data of the gate valve is detected at preset time intervals;

Specifically, the detection of the actual state data of the gate valve at preset time intervals includes:

The actual displacement data of the transmission components of the hydraulic power unit are regularly detected at preset time intervals.

More specifically, what detects the actual state data of the gate valve is a detection component in the gate valve control device, and the detection component sends the actual state data to the control component in the gate valve control device after detecting the actual state data;

Here, the detection component may be a displacement detection component; the control component may be a PLC;

That is, the displacement detection component will send the actual displacement data of the transmission component of the hydraulic power device to the PLC, and the PLC will perform further processing, that is, step 602 is executed.

Further, the detection of the actual state data of the gate valve at preset time intervals further includes:

The actual moving speed of the gate, the liquid flow speed in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline are regularly detected at preset time intervals.

Here, the detection component may be a first speed detection component for detecting the moving speed of the shutter, a second speed detection component for detecting the liquid flow speed in the pipeline, a pressure detection component for detecting the pressure of the inner wall of the pipeline, and a vibration detection component for detecting the vibration value of the pipeline; The control part can be a PLC;

Similarly, the detection component sends the above detection data to the PLC, and the PLC performs further processing, that is, step 602 is executed.

Step 602: Adjust the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data.

Specifically, adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data includes:

Comparing the actual displacement data of the transmission part of the hydraulic power device with the preset displacement data to obtain a displacement error value;

The control parameters input to the hydraulic power device are adjusted according to the displacement error value until the displacement error value is smaller than a preset displacement error threshold.

Here, the preset displacement data can be calculated according to the moving speed of the transmission part of the hydraulic power device in each time period; and the moving speed of the transmission part of the hydraulic power device in each time period can be obtained according to calculation or experimentation The moving speed of the transmission parts of the hydraulic power unit in each time period can be the same or different;

Preferably, in order to make the opening and closing of the gate valve smooth and not overloaded, the transmission components of the hydraulic power device can be set to be slow at the beginning of opening and closing of the gate, fast in the middle, and also slow when the opening and closing are completed quickly;

Further, the preset displacement data of the transmission component of the hydraulic power device can be represented as a graph with time on the horizontal axis and displacement on the vertical axis;

Further, the preset displacement data of the transmission components of the hydraulic power unit may be determined according to calculation or experiment, or may be determined by continuously summarizing the operating conditions in actual use.

The preset displacement error threshold value is set according to the precision of the movement of the hydraulic cylinder, and if it is smaller than the preset displacement error threshold value, no further adjustment is necessary, which is more energy-saving.

Adjusting the control parameters input to the hydraulic power device according to the displacement error value may include: adjusting the flow of hydraulic oil entering the hydraulic cylinder according to the displacement error value; specifically, adjusting the control parameters may be through a servo valve;

Adjusting the flow of hydraulic oil entering the hydraulic cylinder can adjust the movement speed of the piston rod of the hydraulic cylinder, thereby reducing the displacement error value.

Further, the gate is provided with a pressure detection component (not shown in the figure) to detect the pressure at the bottom of the gate, so as to stop the action of the hydraulic power device in time; meanwhile, a relief valve is also provided in the hydraulic pipeline of the hydraulic power device. In this way, after the opening or closing of the gate is completed, that is, after reaching the predetermined position, the hydraulic power device can stop in time, and the hydraulic oil in the hydraulic pipeline is unloaded through the relief valve to avoid the occurrence of motor stall and gate overtravel. The problem of deformation of the gate or other parts.

Based on the embodiment of the present invention, the displacement of the piston rod of the hydraulic cylinder can precisely meet the preset requirements, which avoids the damage to the hydraulic power device caused by the overload caused by lag or advance, and also avoids the blockage of the driving motor in the hydraulic power device. The actual displacement of the transmission part of the hydraulic power device can also be adjusted according to the preset displacement data of the transmission part of the hydraulic power device, so as to avoid the occurrence of the water hammer phenomenon. It can be understood that, in order to achieve precise control of the movement of the hydraulic power unit, the displacement or speed of other transmission components other than the piston rod of the hydraulic cylinder can also be detected.

Further, the adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data, further includes:

Compare the actual moving speed of the gate with the target moving speed of the gate to obtain the speed error value;

The control parameters input to the hydraulic power unit are adjusted according to the speed error value until the speed error value is less than a preset speed error threshold.

Here, the actual moving speed of the shutter is detected by the first speed detection component, and the first speed detection component will send the detection data to the PLC;

The target moving speed of the gate is obtained by fuzzy calculation of the detected liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline.

That is to say, the target moving speed of the gate is constantly changing, and corresponding corrections will be made according to the specific conditions in the pipeline.

Determining the target moving speed of the gate according to the above method can avoid the water hammer phenomenon to the greatest extent; the liquid flow speed in the pipeline, the pressure of the inner wall of the pipeline and the vibration value of the pipeline are the key factors to determine the water hammer phenomenon determined through experiments.

More specifically, adjusting the control parameters input to the hydraulic power device according to the speed error value includes: using proportional-integral-derivative (PID, proportional, integral, derivative) control components to adjust the servo valve according to the speed error value flow, and then adjust the movement speed of the hydraulic cylinder.

PID control part is a common feedback loop part in industrial control applications, which consists of proportional unit P, integral unit I and differential unit D. The basis of PID control is proportional control; integral control can eliminate steady-state errors, but may increase overshoot; differential control can speed up the response speed of large inertia systems and reduce the tendency of overshoot. PID control components are suitable for systems that require high-precision measurement and control. They can automatically calculate the optimal PID control parameters according to the controlled object. The use is simple and easy to understand, and does not require precise system models and other prerequisites, thus becoming the most widely used control device.

The PID control component can be realized by PLC, for example, it can be a module of PLC, or it can be a separate component.

The preset speed error threshold value is set according to the accuracy of the movement of the hydraulic cylinder, and if it is smaller than the preset speed error threshold value, no further adjustment is required, which is more energy-saving.

Further, the gate valve is provided with a self-learning fuzzy controller, and the self-learning fuzzy controller is used to perform fuzzy calculation on the detected liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline, so as to obtain the target of the gate. The moving speed of the gate does not need to be determined by manual calculation or experiment, so that it is more scientific and intelligent to determine the target moving speed of the gate.

Based on the embodiment of the present invention, the water hammer phenomenon can be avoided to the greatest extent, and the gate valve and the pipeline are prevented from being damaged by impact;

It can be understood that, by determining the target moving speed of the gate, more monitoring items can be added in addition to the liquid flow speed in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline.

Embodiment 5

FIG. 7 is a schematic diagram of the process of controlling the gate valve by monitoring the displacement of the piston rod according to the fifth embodiment of the present invention. As shown in FIG. 7 , the process includes:

Step 701: read the displacement data of the piston rod;

Specifically, the displacement detection component detects the displacement of the piston rod of the hydraulic cylinder, and obtains displacement data of the piston rod.

Step 702: Whether the opening or closing of the shutter is completed;

In this step, according to the displacement data of the piston rod, it is determined whether the opening or closing of the gate is completed, if the opening or closing of the gate is completed, the process ends;

Step 703: Send the displacement data to the PLC;

Specifically, the acquired displacement data of the piston rod is sent to the PLC.

Step 704: Compare the displacement data with the preset piston rod displacement data;

Specifically, comparing the displacement data of the piston rod with the preset displacement data of the piston rod to obtain a displacement error value;

Step 705 : Determine whether the displacement error value is smaller than the preset displacement error threshold, if the displacement error value is smaller than the preset displacement error threshold, go to step 701 ; otherwise, go to step 706 .

Step 706: Send the adjustment instruction to the servo valve;

Specifically, the adjustment instruction is sent to the servo valve, and the piston rod of the hydraulic cylinder is adjusted through the servo valve.

Step 707: Adjust the movement speed of the piston rod.

Specifically, the servo valve adjusts the flow of hydraulic oil entering the hydraulic cylinder, thereby adjusting the movement speed of the piston rod of the hydraulic cylinder.

Embodiment 6

8 is a schematic structural diagram of a gate valve control device with a self-learning fuzzy controller according to Embodiment 6 of the present invention. As shown in FIG. 8 , the gate valve control device includes a PLC, a self-learning fuzzy controller and an electric servo hydraulic control valve, wherein:

The PLC is used to receive the "theoretical speed of the gate" sent by the self-learning fuzzy controller, compare it with the actual speed of the gate to obtain the speed error value, and adjust the electric servo hydraulic control valve according to the speed error value, that is, through PID control. Realize closed-loop control of gate valve;

The self-learning fuzzy controller is used to collect the liquid flow rate, pipeline vibration and impact pressure in the pipeline, and calculate the "theoretical speed of the gate" according to the liquid flow rate, pipeline vibration and impact pressure in the pipeline and send it to the PLC ;

The electric servo hydraulic control valve is used for receiving the control signal of the PLC to adjust the moving speed of the gate.

Since the closing of the gate valve is more likely to cause the water hammer phenomenon, the following will introduce the gate closing process of the gate valve control device with the self-learning fuzzy controller in the sixth embodiment of the present invention; of course, it can be understood that the control method of this embodiment is It can also be used for gate opening control.

9 is a schematic flowchart of a gate valve control device with a self-learning fuzzy controller to close a gate according to Embodiment 6 of the present invention. As shown in FIG. 9 , the process includes:

Step 901: initialization procedure;

Here, the initialization includes: starting the control device and starting the main program.

Step 902: start the gate valve closing procedure;

Specifically, the control device commands the hydraulic power unit to start.

Step 903 : whether to enable the self-learning function, if not, proceed to step 904 ; if it is enabled, proceed to step 905 .

Step 904: Read the preset shutter target moving speed, and execute Step 907;

Here, the preset target moving speed of the gate may be a graph with time on the horizontal axis and speed on the vertical axis;

The graph may be determined according to calculations or experiments, or may be determined by continuously summarizing the operating conditions in actual use.

Step 905: collect data in the pipeline;

In the embodiment of the present invention, the data in the pipeline includes: the liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline, and the vibration value of the pipeline.

Step 906: perform fuzzy calculation according to the collected data in the pipeline;

In this step, according to a preset data model, the liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline are input into the data model for calculation.

Step 907: Determine the target moving speed of the gate;

In this step, the target moving speed of the gate is determined according to the preset moving speed of the gate target or the result of the fuzzy calculation.

Step 908: Detect the actual moving speed of the gate;

Here, the actual moving speed of the shutter is detected by the speed detection means.

Step 909: determine whether the gate valve is closed;

In this step, according to the actual moving speed of the gate plate, it is determined whether the gate valve has been closed.

Step 910: the speed error value is less than the preset speed error threshold;

In this step, the actual moving speed and the target moving speed are compared to obtain a speed error value. If the speed error value is less than the preset speed error threshold, go to step 903 ; otherwise, go to step 911 .

Step 911: perform PID operation;

Here, the proportional-integral-derivative operation is performed on the speed error value to obtain the corresponding feedback control parameters.

Step 912: adjust the flow of the servo valve;

Here, according to the feedback control parameters, the flow rate of the servo valve is adjusted, that is, the moving speed of the hydraulic cylinder is adjusted;

After step 912 is executed, step 903 is re-entered.

The above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.

Claims (9)

1. A gate valve, characterized in that, the gate valve comprises a gate, a gate valve control device and a hydraulic power device that drives the opening and closing of the gate, and the gate valve control device includes a control component and a detection unit that control the movement of the hydraulic power device. The detection component of the state of the gate valve; wherein, The detection component is used to detect the actual state data of the gate valve at preset time intervals; The control component is configured to adjust the control parameters input to the hydraulic power device according to the actual state data detected by the detection component, until the actual state data conforms to the preset state data; The gate is provided with a pressure detection part for detecting the pressure at the bottom of the gate, and the pressure detection part is connected to the control part; when the pressure at the bottom of the gate exceeds a preset value, the control part controls the hydraulic pressure The power plant stops running; The control component is a PLC, and the detection component includes a displacement detection component for detecting the displacement of the piston rod, a first speed detection component for detecting the moving speed of the gate, a second speed detection component for detecting the liquid flow speed in the pipeline, and a detection component. the pressure detecting component for the pressure of the inner wall of the pipeline and the vibration detecting component for detecting the vibration value of the pipeline; The gate valve control device determines the target moving speed of the gate plate through the second speed detection part, the pressure detection part and the vibration detection part, and detects the target moving speed of the gate plate at preset time intervals through the first speed detection part The actual moving speed of the gate, and then adjust the control parameters input to the hydraulic power device through the PLC according to the speed error value between the actual moving speed of the gate and the target moving speed, until the speed error value is less than Presetting the speed error threshold to achieve the purpose of precisely controlling the movement of the hydraulic power device; The hydraulic power device further includes a drive motor, and the motor shaft of the drive motor is connected with a hand crank device; The hand crank device includes a hand rocker, a clutch component for establishing or releasing the linkage between the hand rocker and the motor shaft; The hand crank device further includes a planetary gear mechanism, the planetary gear mechanism includes a casing, an inner gear, a planet carrier, a planetary gear and a sun gear; The inner gear ring is fixed on the inner wall of the box, the hand rocker is fixedly connected with the planet carrier, and the motor shaft is sleeved with the sun gear; the clutch part is used to connect the motor shaft and the planetary carrier. The sun gear is linked in the circumferential direction; One end of the planet carrier is provided with two planetary gear shafts, and each of the planetary gear shafts is provided with a first planetary gear and a second planetary gear that are axially arranged and distributed and rotate synchronously with the planetary gear shaft; The first planetary gear is meshed with the ring gear, and the second planetary gear is meshed with the sun gear; the number of teeth of the first planetary gear is smaller than the number of teeth of the ring gear and the number of teeth of the second planetary gear , the number of teeth of the sun gear is smaller than the number of teeth of the second planetary gear. 2 . The gate valve according to claim 1 , wherein the hydraulic power device comprises a hydraulic cylinder, and the piston rod of the hydraulic cylinder is connected with the gate plate. 3 . 3. A gate valve control method, wherein the method comprises: After the gate valve is started, the actual state data of the gate valve is detected at preset time intervals; Adjust the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data; When the pressure at the bottom of the gate exceeds a preset value, the control component controls the hydraulic power device to stop running; The gate is provided with a pressure detection part for detecting the pressure at the bottom of the gate, and the pressure detection part is connected to the control part; the control part is a PLC, and the detection part includes a displacement detection part for detecting the displacement of the piston rod, and a detection part for detecting the displacement of the piston rod. a first speed detection component for the moving speed of the gate, a second speed detection component for detecting the liquid flow speed in the pipeline, the pressure detection component for detecting the pressure of the inner wall of the pipeline, and the vibration detection component for detecting the vibration value of the pipeline; The gate valve control device determines the target moving speed of the gate plate through the second speed detection part, the pressure detection part and the vibration detection part, and detects the speed of the gate at preset time intervals through the first speed detection part The actual moving speed of the gate, and then the PLC adjusts the control parameters input to the hydraulic power device according to the speed error value between the actual moving speed of the gate and the target moving speed, until the speed error value is less than the preset value The speed error threshold is used to precisely control the movement of the hydraulic power unit. 4. The method according to claim 3, wherein the detecting the actual state data of the gate valve at preset time intervals comprises: The actual displacement data of the transmission components of the hydraulic power unit are regularly detected at preset time intervals. 5. The method according to claim 4, wherein the adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data, comprising: Comparing the actual displacement data of the transmission part of the hydraulic power device with the preset displacement data to obtain a displacement error value; The control parameters input to the hydraulic power device are adjusted according to the displacement error value until the displacement error value is smaller than a preset displacement error threshold. 6. The method according to claim 3, wherein the detecting the actual state data of the gate valve at preset time intervals further comprises: The actual moving speed of the gate, the liquid flow speed in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline are regularly detected at preset time intervals. 7. The method according to claim 6, wherein the method further comprises: A fuzzy calculation is performed on the detected liquid flow velocity in the pipeline, the pressure on the inner wall of the pipeline and the vibration value of the pipeline to determine the target moving speed of the gate. 8. The method according to claim 7, wherein the adjusting the control parameters input to the hydraulic power device according to the actual state data until the actual state data conforms to the preset state data, further comprising: Comparing the actual moving speed of the gate with the target moving speed of the gate to obtain a speed error value; The control parameters input to the hydraulic power unit are adjusted according to the speed error value until the speed error value is less than a preset speed error threshold. 9. The method according to claim 8, wherein the adjusting the control parameters input to the hydraulic power device according to the speed error value comprises: The speed error value is input into the proportional-integral-derivative control part, and the control parameter input to the hydraulic power device is adjusted by the proportional-integral-derivative control part.

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