Fault handling method, system, electronic device and storage medium for electromagnetic proportional valve

Abstract

The present invention discloses a fault handling method, system, and electronic device, namely, a storage medium, for an electromagnetic proportional valve. The fault handling method includes the following steps: obtaining physical data of the electromagnetic proportional valve during operation; determining whether the electromagnetic proportional valve has failed based on the physical data; if so, determining the type of failure; obtaining a corresponding control strategy based on the failure type; and controlling the operation of the electromagnetic proportional valve based on the control strategy. In the present invention, when a fault occurs in a vulnerable link of the proportional valve, such as the position sensor, electromagnet, or current detection circuit, the fault link can be identified online, the corresponding fault type can be automatically obtained, and the corresponding control strategy can be obtained based on the fault type. The control method of the electromagnetic proportional valve can be automatically and timely corrected to ensure stable operation of the proportional valve, achieve a safe and stable transition of the entire hydraulic system, and improve the reliability of the hydraulic system.

Description

Technical Field

[0001] The present invention relates to the field of industrial control, and in particular to a fault handling method, system, and electronic equipment, namely, a storage medium, for an electromagnetic proportional valve. Background Art

[0002] Solenoid proportional valves are core components in hydraulic transmission and servo systems, playing a crucial role in hydraulic control technology and widely used in industrial hydraulic products and construction machinery. Proportional valves typically use a proportional solenoid as a driver, which drives the valve spool to regulate hydraulic flow and pressure. Their operating principle is as follows: The external input signal and the proportional valve feedback signal are processed by the proportional valve amplifier using a control method. A power circuit then generates a PWM (pulse width modulation) wave, which drives the proportional solenoid and moves the valve spool.

[0003] When the electromagnetic proportional valve fails, it cannot operate stably, which in turn affects the safe and stable operation of the entire hydraulic system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the electromagnetic proportional valve cannot operate stably when a fault occurs, thereby affecting the safe and stable operation of the entire hydraulic system, and to provide a fault handling method, system, electronic device, and storage medium for an electromagnetic proportional valve that can still maintain stable operation when a fault occurs, thereby ensuring the safe and stable operation of the entire hydraulic system.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a fault handling method for an electromagnetic proportional valve, the fault handling method comprising the following steps:

[0007] Obtain the physical data of the electromagnetic proportional valve during operation;

[0008] determining whether the electromagnetic proportional valve has failed based on the physical data: if so, determining the type of failure;

[0009] Obtaining a corresponding control strategy according to the fault type;

[0010] The electromagnetic proportional valve is controlled to operate according to the control strategy.

[0011] Preferably, the fault type includes a position loop fault;

[0012] When the fault type is the position loop fault, the step of obtaining a corresponding control strategy according to the fault type includes:

[0013] Obtain the corresponding position setting according to the external input signal;

[0014] Obtaining a corresponding target current setting according to the position setting;

[0015] The control strategy is to control the position loop of the electromagnetic proportional valve according to the target current.

[0016] Preferably, the step of obtaining the corresponding target current given according to the position given includes:

[0017] Acquire a first corresponding relationship between a given current and a given position of the electromagnetic proportional valve during normal operation;

[0018] A target current setting corresponding to the position setting is acquired according to the first corresponding relationship.

[0019] Preferably, the fault type includes a current loop fault;

[0020] When the fault type is the current loop fault, the step of obtaining a corresponding control strategy according to the fault type includes:

[0021] Obtain the corresponding position setting according to the external input signal;

[0022] Get position feedback;

[0023] Obtaining a target current setting according to the position setting and position feedback;

[0024] Obtaining a corresponding target duty cycle according to the target current;

[0025] The control strategy is to control the current loop of the electromagnetic proportional valve according to the target duty cycle.

[0026] Preferably, the solenoid proportional valve includes a double solenoid proportional valve, the double solenoid proportional valve includes a first electromagnet and a first current detection circuit located on a first side, and a second electromagnet and a second current detection circuit located on a second side, the current loop fault includes at least one of a first fault type, a second fault type, and a third fault type, the first fault type being a fault of the first electromagnet in the double solenoid proportional valve, the second fault type being a simultaneous fault of the first electromagnet and the first current detection circuit in the double solenoid proportional valve, and the third fault type being a fault of the first current detection circuit;

[0027] When the fault type is the first fault type or the second fault type, the step of obtaining the corresponding target duty cycle according to the target current includes:

[0028] Acquire a second corresponding relationship between a given current and a duty cycle of a single electromagnetic proportional valve during normal operation, the single electromagnetic proportional valve including the second electromagnet;

[0029] Acquire a target duty cycle corresponding to the given target current according to the second corresponding relationship;

[0030] The step of controlling the current loop of the electromagnetic proportional valve according to the target duty cycle includes: controlling the current loop of the second side according to the target duty cycle;

[0031] When the fault type is the third fault type, the step of obtaining the corresponding target duty cycle according to the target current includes:

[0032] Obtaining a third corresponding relationship between a given current of the dual electromagnetic proportional valve during normal operation and a duty cycle corresponding to the first electromagnet;

[0033] Acquire a target duty cycle corresponding to the given target current according to the third corresponding relationship;

[0034] The step of controlling the current loop of the electromagnetic proportional valve according to the target duty cycle includes: controlling the current loop of the first side according to the target duty cycle.

[0035] Preferably, the step of controlling the current loop of the second side according to the target duty cycle includes:

[0036] When the position sensor is not faulty, controlling the current loop of the second side according to the target duty cycle;

[0037] When the position sensor fails, the current loop on the second side is controlled by the dither signal generated by the dither signal generator and the target duty cycle.

[0038] Preferably, the fault type includes system instability, and the system instability indicates that the position feedback exceeds a first preset value and the current feedback exceeds a second preset value;

[0039] The step of obtaining a corresponding control strategy according to the fault type includes:

[0040] Get external input signal;

[0041] Obtaining a target position setting and a target current setting corresponding to the external input signal;

[0042] The control strategy is to control the position loop of the electromagnetic proportional valve according to the target position setting and to control the current loop of the electromagnetic proportional valve according to the target current setting.

[0043] The present invention also provides a fault processing system for an electromagnetic proportional valve, the fault processing system comprising: a data acquisition module, a fault judgment module, a strategy acquisition module and an operation control module;

[0044] The data acquisition module is used to acquire physical data of the electromagnetic proportional valve during operation;

[0045] The fault judgment module is used to judge whether the electromagnetic proportional valve has a fault based on the physical data; if so, determine the fault type;

[0046] The strategy acquisition module is used to acquire the corresponding control strategy according to the fault type;

[0047] The operation control module is used to control the operation of the electromagnetic proportional valve according to the control strategy.

[0048] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fault handling method for the electromagnetic proportional valve as described in any one of the above items when executing the computer program.

[0049] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the fault handling method of the electromagnetic proportional valve as described above.

[0050] The positive progressive effect of the present invention is that: in the present invention, after a fault occurs in the position sensor, electromagnet, current detection circuit and other easily damaged links of the proportional valve, the fault link can be identified online, the corresponding fault type can be automatically obtained, and the corresponding control strategy can be obtained according to the fault type, and the control mode of the electromagnetic proportional valve can be automatically and timely corrected to ensure the stable operation of the proportional valve, realize the safe and stable transition of the entire hydraulic system, and improve the reliability of the hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a flow chart of a fault handling method for an electromagnetic proportional valve in Example 1 of the present invention.

[0052] Figure 2 This is a flowchart of the implementation of step 103 when the position loop fails in embodiment 1 of the present invention.

[0053] Figure 3 This is a flowchart of the implementation method of step 1031 in embodiment 1 of the present invention.

[0054] Figure 4 This is a flowchart of the implementation method of step 103 when the current loop fails in embodiment 1 of the present invention.

[0055] Figure 5This is a schematic diagram of an overall fault handling method under a specific example in Example 1 of the present invention.

[0056] Figure 6 This is a module schematic diagram of the fault handling system of the electromagnetic proportional valve in Example 2 of the present invention.

[0057] Figure 7 This is a module diagram of the electronic device in Example 3 of the present invention. DETAILED DESCRIPTION

[0058] For ease of understanding, the following explains the terms that frequently appear in the embodiments:

[0059] [Definition of including] As used herein, the terms "having", "may have", "including" or "may include" indicate the existence of the corresponding functions, operations, elements, etc. of the present disclosure, and do not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that as used herein, the terms "including" or "having" indicate the existence of the features, numbers, steps, operations, elements, parts or their combination described in the specification, and do not exclude the existence or addition of one or more other features, numbers, steps, operations, elements, parts or their combination.

[0060] [Definition of and / or] As used herein, the terms "A or B", "at least one of A and / or B", or "one or more of A and / or B" include any and all combinations of the words listed therewith. For example, "A or B", "at least one of A and B", or "at least one of A or B" means (1) including at least one A, (2) including at least one B, or (3) including at least one A and at least one B.

[0061] [Definition of First and Second] The terms "first," "second," and so on, appearing in the embodiments of this application are for illustration and distinction purposes only. They are not in any order, do not represent a specific limit on the number of devices in the embodiments of this application, and do not constitute any limitation on the embodiments of this application. For example, a first element could be referred to as a second element without departing from the scope of this disclosure. Similarly, a second element could be referred to as a first element.

[0062] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0063] Example 1

[0064] This embodiment provides a method for troubleshooting an electromagnetic proportional valve. The electromagnetic proportional valve in this embodiment is applied to a hydraulic system. It should be understood that in other embodiments, the electromagnetic proportional valve can also be applied to other industrial systems, such as Figure 1 As shown, the troubleshooting method includes the following steps:

[0065] Step 101: Acquire physical data of the electromagnetic proportional valve during operation.

[0066] The physical data includes external input signals, position feedback, position setting, current setting, current feedback, duty cycle, and the like. When the solenoid proportional valve is a dual-solenoid proportional valve, the physical data also includes physical data for each side. A dual-solenoid proportional valve is preferably used in this embodiment because it is a proportional valve controlled by two electromagnets and has advantages such as a robust structure, strong anti-contamination capability, and low cost.

[0067] Step 102: Determine whether the electromagnetic proportional valve has a fault based on the physical data. If so, determine the fault type.

[0068] If the result of determining whether the electromagnetic proportional valve has failed is no, the process returns to step 101 to continue detecting the operation of the electromagnetic proportional valve.

[0069] The fault types may specifically include power supply failure, current loop failure, position loop failure, system instability, etc. The detection methods for various fault types may be selected according to actual conditions. The fault detection methods in this embodiment are illustrated below with several specific examples. It should be understood that the following methods should not be considered as limitations of this embodiment:

[0070] The power supply fault detection method is as follows: if the power supply voltage value obtained by sampling the ADC (analog-to-digital converter) chip is not within the normal operating range, it is considered that the power supply has failed;

[0071] Position loop failure: Current loop failure can specifically include position sensor (such as LVDT) failure. The detection method for position sensor failure is as follows: Assume that the position set value is S and the corresponding position feedback theoretical value is P. If P differs significantly from the LVDT output value Pref obtained by sampling the ADC chip, the LVDT is considered to have failed.

[0072] Current loop failure: Current loop failure includes electromagnet failure, simultaneous failure of electromagnet and current detection circuit, and current detection circuit failure.

[0073] When the solenoid proportional valve is specifically a single solenoid proportional valve, that is, the single solenoid proportional valve includes an electromagnet and a current detection circuit:

[0074] The electromagnet fault detection method is as follows: Assume that the current set value is Iset and the corresponding electromagnet theoretical current feedback value is I. If I differs greatly from the actual electromagnet current value Iact sampled by the ADC chip, the electromagnet is considered to have failed.

[0075] The method for detecting a fault in the current detection circuit is as follows: if the current value sampled by the ADC chip is 0 when the given current is not 0, it is considered that the current detection circuit is faulty.

[0076] When the electromagnetic proportional valve is specifically a double electromagnetic proportional valve, that is, the double electromagnetic proportional valve includes a first electromagnet and a first current detection circuit located on a first side, and a second electromagnet and a second current detection circuit located on a second side, the detection method of a single electromagnetic proportional valve can be referred to to detect whether the electromagnets and current detection circuits on both sides are normal.

[0077] Step 103: Obtain a corresponding control strategy according to the fault type;

[0078] Step 104: Control the operation of the electromagnetic proportional valve according to the control strategy.

[0079] Among them, the control strategy includes a control method that can control the temporary normal operation of the electromagnetic proportional valve under the corresponding fault type. The control strategy can further include generating and sending prompt information. Specifically, it can generate fault prompt information corresponding to the fault type and send the fault prompt information to relevant users.

[0080] In this embodiment, after a fault occurs in the position sensor, electromagnet, current detection circuit and other vulnerable links of the proportional valve, the fault link can be identified online and the corresponding fault type can be automatically obtained. The corresponding control strategy can be obtained according to the fault type, and the control method of the electromagnetic proportional valve can be automatically and timely corrected to ensure the stable operation of the proportional valve, achieve a safe and stable transition of the entire hydraulic system, and improve the reliability of the hydraulic system.

[0081] In a specific implementation, when the fault type is a position loop fault, such as Figure 2 As shown, step 103 may specifically include the following steps:

[0082] Step 1031: Obtain a corresponding position setting according to an external input signal.

[0083] Specifically, if Figure 3 As shown, step 1031 may specifically include the following steps:

[0084] Step 10311: Obtain a first corresponding relationship between a given current and a given position of the electromagnetic proportional valve during normal operation.

[0085] The following is a specific example to illustrate how to obtain the first correspondence:

[0086] Obtain the relationship between position feedback, position setting, and position controller current setting during normal operation. Specifically, assuming that the maximum value of the position setting S is S max , the minimum value is S min, the corresponding current is given by I set The maximum value is I setmax , the minimum value is I setmin , the corresponding position feedback P ref The maximum value of P refmax , the minimum value is P refmin Taking a preset number of points (e.g. 20 points) means taking the position given S as the reference and dividing it into 20 equal parts, i.e. S min 、S min +(S max -S min ) / 20, S min +2*(S max -S min ) / 20,…,S max ; and record the corresponding current given I set and position feedback P ref The purpose of 20 points is that it is impossible to record all the points, and on the other hand, it makes up for the nonlinearity between position setting, position feedback and current setting. In each interval, such as (S min , S min +(S max -S min ) / 20), calculate the first expression I of the current given and position given by the two-point formula set =K1*S+b1, that is, the first correspondence between the current setting and the position setting of the electromagnetic proportional valve during normal operation. Of course, the second expression P of position feedback and position setting can be further obtained ref =G1*S+l1, the theoretical position feedback under the given position can be obtained according to the second expression. According to the given position, the corresponding theoretical position and the feedback output value obtained by ADC chip sampling, it can be detected whether the position sensor is faulty.

[0087] Step 10312: Obtain a target current setting corresponding to the position setting according to the first corresponding relationship.

[0088] In this embodiment, a first correspondence between a theoretical current setting and a position setting can be obtained based on the position setting, position feedback, and current setting of the electromagnetic proportional valve during normal operation. Based on the first correspondence, a target current setting that can be used to control the normal operation of the electromagnetic proportional valve when a position loop fails can be obtained.

[0089] Step 1032: Obtain the corresponding target current setting according to the position setting.

[0090] The control strategy in the above case is to control the position loop of the electromagnetic proportional valve according to the target current.

[0091] In this embodiment, when the position loop fails, the target current setting can be obtained according to the position setting. Therefore, even in the case of a failure in the position loop, the position loop can be controlled to work normally according to the target current setting.

[0092] In a specific implementation, when the fault type is a current loop fault, such as Figure 4 As shown, step 103 specifically includes:

[0093] Step 1131: Obtain a corresponding position setting according to an external input signal;

[0094] Step 1132: Obtain position feedback;

[0095] Step 1133: Obtain a target current setting according to the position setting and position feedback.

[0096] Specifically, the corresponding relationship between the theoretical current setting and the duty cycle can be obtained based on the measured current setting, the corresponding feedback current, and the corresponding duty cycle during normal operation. The corresponding relationship between the theoretical current setting and the feedback current can also be obtained to detect whether the electromagnet is damaged or whether the current detection circuit is damaged.

[0097] Step 1134: Obtain the corresponding target duty cycle according to the target current.

[0098] The control strategy in the above case is to control the current loop of the electromagnetic proportional valve according to the target duty cycle.

[0099] In this embodiment, when the electromagnetic proportional valve is a single electromagnetic proportional valve, if the current loop fault is a current detection circuit fault, the target current setting can be obtained based on the correspondence between the theoretical current setting and the duty cycle. The target current setting can be used to control the electromagnetic proportional valve to continue to work normally when a current detection circuit fault occurs.

[0100] When the solenoid proportional valve includes a double solenoid proportional valve, the current loop fault includes at least one of a first fault type, a second fault type and a third fault type. The first fault type is a fault of the first electromagnet in the double solenoid proportional valve, the second fault type is a simultaneous fault of the first electromagnet and the first current detection circuit in the double solenoid proportional valve, and the third fault type is a fault of the first current detection circuit.

[0101] When the fault type is the first fault type or the second fault type, step 1134 specifically includes:

[0102] Obtaining a second corresponding relationship between a given current and a duty cycle of a single electromagnetic proportional valve during normal operation, the single electromagnetic proportional valve including a second electromagnet;

[0103] Obtaining a target duty cycle corresponding to a given target current according to a second corresponding relationship;

[0104] Step 1135 specifically includes: controlling the current loop on the second side according to the target duty cycle.

[0105] In this case, the current loop is actually controlled by a single electromagnetic proportional valve, so there is no need to use a shunt for diversion.

[0106] In a preferred embodiment, the above control method is different depending on whether the position sensors fail at the same time. Specifically, controlling the current loop on the second side according to the target duty cycle includes the following steps:

[0107] When the position sensor is not faulty, controlling the current loop on the second side according to the target duty cycle;

[0108] When the position sensor fails, the current loop on the second side is controlled by the dither signal generated by the dither signal generator and the target duty cycle.

[0109] A dither signal is a frequency signal that varies according to a certain pattern. Applying it to a MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) generates a regularly varying current in the electromagnet, causing it to move back and forth within a small displacement range. At this point, the electromagnet is in operation. Without a dither signal, the electromagnet would experience significant static friction. Superimposing the dither signal generated by a dither signal generator on the current loop can improve the stability of the current loop control.

[0110] In this embodiment, when the electromagnetic proportional valve is a double electromagnetic proportional valve, if it is detected that the electromagnet on one side fails or the electromagnet and the current detection circuit on one side fail at the same time, the normal operation of the current loop of the electromagnetic proportional valve can be controlled by the electromagnet on the other side in the control mode of a single electromagnetic proportional valve. Specifically, the second correspondence between the current setting and the duty cycle of the single electromagnetic proportional valve during normal operation, that is, the target current setting, can be used to obtain the corresponding target duty cycle, and the current loop can be controlled according to the target duty cycle. In this way, the electromagnetic proportional valve can still maintain normal operation when the first fault type or the second fault type occurs.

[0111] When the fault type is the third fault type, step 1134 specifically includes:

[0112] Obtaining a third corresponding relationship between a given current of the dual electromagnetic proportional valve and a duty cycle corresponding to the first electromagnet during normal operation;

[0113] Obtaining a target duty cycle corresponding to a given target current according to a third corresponding relationship;

[0114] Step 1135 specifically includes: controlling the current loop of the first side according to the target duty cycle.

[0115] It should be understood that the current loop of the second side can be controlled according to the existing technology, that is, the current given by the shunt to the second side and the current feedback.

[0116] In this embodiment, when the electromagnetic proportional valve is a dual electromagnetic proportional valve, if a fault is detected in the current detection circuit on one side, the target duty cycle corresponding to the target current setting can be obtained through the third corresponding relationship on the side where the fault occurs to control the current loop on that side. On the side where the fault does not occur, it can still be controlled by the original current setting and current feedback calculation method. In this way, the electromagnetic proportional valve can still maintain normal operation when the third fault type occurs.

[0117] In a specific implementation, when the fault type is system instability (i.e., system instability indicates that the position feedback exceeds a first preset value and the current feedback exceeds a second preset value), the step of obtaining a corresponding control strategy according to the fault type includes:

[0118] Get external input signal;

[0119] Obtain target position setting and target current setting corresponding to external input signals;

[0120] The control strategy is to control the position loop of the electromagnetic proportional valve according to the target position and to control the current loop of the electromagnetic proportional valve according to the target current.

[0121] In this embodiment, when it is detected that the position feedback exceeds the first preset value and the current feedback exceeds the second preset value, pure open-loop control is adopted, that is, the target position setting and target current setting corresponding to the external input signal are directly obtained. In this way, the normal operation of the electromagnetic proportional valve can be maintained even when the system is unstable.

[0122] In order to better understand this embodiment, the following describes this embodiment through a specific example of a dual electromagnetic proportional valve:

[0123] The working principle of the dual-solenoid proportional valve is that the positive pole of the power supply (usually 24V) is connected to one end of the two electromagnets of the proportional valve, and the other end of the electromagnet is connected to the D pole of the power MOSFET tube, while the S pole of the power MOSFET tube is connected to the ground of the power supply. Controlling the MOSFET switching action at a certain frequency will generate power PWM at both ends of the electromagnet, thereby achieving the purpose of controlling the average current passing through the electromagnet. Figure 5 A schematic diagram of the overall fault handling process in this embodiment is shown.

[0124] After receiving an external input signal, the position reference can be obtained. Specifically, the position reference is input by the user into the controller via communication or analog signals, and the controller then obtains the position value set by the user. Under normal circumstances, since the proportional valve spool and position sensor are mechanically linked, an ADC chip is used to obtain the LVDT output voltage or current value and reverse-calculate the spool position, which is the position feedback. Based on the position reference and position feedback, the position controller can obtain the current reference. Based on the current reference, the position error is adjusted to control the position loop. The position controller generally uses PID (a specific control method) for control.

[0125] The differentiator is used to divide the current setting into two paths. Under normal circumstances, the left side (i.e., the first side) current controller can obtain the left side electromagnet duty cycle by obtaining the left side proportional electromagnet current detection value (i.e., the current feedback of the first side) and the given value. The left side current loop can be controlled by the left side electromagnet duty cycle; similarly, the right side current controller can control the right side current loop by the right side electromagnet duty cycle.

[0126] Under normal operating conditions, a dual-loop differential control method using the position and current loops is employed, eliminating the need for a dither signal generator. The relationship between position feedback, position reference, and position controller current reference is recorded, typically at 20 points. The relationship between the reference current, feedback current, and duty cycle on the left and right sides is also recorded, typically at 20 points.

[0127] When operating a dual electromagnetic proportional valve, the fault type can be obtained according to steps 101 and 102. For example, assuming that a position sensor fault is detected at this time (such as: if it is found that the position sensor feedback value is greatly different from the position feedback value calculated through the current setting recording link, the fault diagnosis link considers that the position sensor has failed), the differential control of the single current loop can be performed according to steps 1031 and 1032, that is, the corresponding position setting is obtained according to the external input signal, the current setting value is calculated according to the position setting through the current setting recording link, and then converted into a differential current through the differentiator to control the current of the proportional electromagnets on the left and right sides.

[0128] During the online operation of the dual electromagnetic proportional valve, it is assumed that a fault is detected in the left electromagnet and the corresponding current detection circuit (i.e., a second type of fault). If it is found that the duty cycle setting of a certain electromagnet is normal, but the current feedback is abnormal, the fault diagnosis link believes that the electromagnet and its current detection are faulty. Then, the dual-loop control method of the position loop and the current loop can be adopted for the other electromagnet through steps 1131-1134, that is, the corresponding target duty cycle is obtained according to the target current setting, and the current loop is controlled on one side so that the current loop of the electromagnetic proportional valve can operate normally. The current setting value is calculated by the current setting recording link in the figure.

[0129] During the online operation of the dual electromagnetic proportional valve, if it is found that the position sensor and a certain electromagnet (the left electromagnet) and its current detection are all faulty, then while obtaining the target duty cycle according to steps 1131-1134, the dither signal generated by the dither signal generator is superimposed on the current link to control the current loop.

[0130] During the online operation of the dual solenoid proportional valve, if it is found that the system operating parameters are greatly different from the normal operating parameters, the fault diagnosis link considers that the system is unstable and adopts pure open-loop control. The current given value is calculated by the current given recording link (directly obtained according to the input signal), and the duty cycle given value is calculated by the electromagnet duty cycle given recording link (that is, directly obtained according to the input signal).

[0131] Example 2

[0132] This embodiment provides a fault handling system for an electromagnetic proportional valve. Figure 6 As shown, the fault handling system includes: a data acquisition module 201 , a fault judgment module 202 , a strategy acquisition module 203 and an operation control module 204 .

[0133] The data acquisition module 201 is used to acquire the physical data of the electromagnetic proportional valve during operation;

[0134] The fault determination module 202 is used to determine whether the electromagnetic proportional valve has a fault based on the physical data: if so, determine the fault type;

[0135] The strategy acquisition module 203 is used to obtain the corresponding control strategy according to the fault type;

[0136] The operation control module 204 is used to control the operation of the electromagnetic proportional valve according to the control strategy.

[0137] The implementation of each of the above modules can refer to the corresponding implementation in Example 1, and will not be repeated in this embodiment.

[0138] In this embodiment, after a fault occurs in the position sensor, electromagnet, current detection circuit and other vulnerable links of the proportional valve, the fault judgment module can identify the fault link online and automatically obtain the corresponding fault type. The strategy acquisition module can obtain the corresponding control strategy according to the fault type. The operation control module can automatically and timely correct the control mode of the electromagnetic proportional valve to ensure the stable operation of the proportional valve, realize the safe and stable transition of the entire hydraulic system, and improve the reliability of the hydraulic system.

[0139] Example 3

[0140] This embodiment provides an electronic device, which can be expressed in the form of a computing device (for example, a server device), including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can implement the fault handling method of the electromagnetic proportional valve in Example 1 when executing the computer program.

[0141] Figure 7 The hardware structure diagram of this embodiment is shown in FIG. Figure 7 As shown, the electronic device 9 specifically includes:

[0142] At least one processor 91, at least one memory 92, and a bus 93 for connecting different system components (including the processor 91 and the memory 92), wherein:

[0143] The bus 93 includes a data bus, an address bus, and a control bus.

[0144] The memory 92 includes a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read-only memory (ROM) 923 .

[0145] Memory 92 also includes a program / utility 925 having a set (at least one) of program modules 924, such program modules 924 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0146] The processor 91 executes various functional applications and data processing by running the computer programs stored in the memory 92 , such as the fault handling method for the electromagnetic proportional valve in Example 1 of the present invention.

[0147] The electronic device 9 can further communicate with one or more external devices 94 (e.g., a keyboard, pointing device, etc.). Such communication can be performed via an input / output (I / O) interface 95. Furthermore, the electronic device 9 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 96. The network adapter 96 communicates with other modules of the electronic device 9 via a bus 93. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 9, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0148] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, depending on the embodiment of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0149] Example 4

[0150] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the fault handling method for the electromagnetic proportional valve in Embodiment 1 is implemented.

[0151] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0152] In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the fault handling method for the electromagnetic proportional valve in Example 1.

[0153] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0154] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A method for troubleshooting an electromagnetic proportional valve, characterized in that: The fault handling method comprises the following steps: Obtain the physical data of the electromagnetic proportional valve during operation; determining whether the electromagnetic proportional valve has failed based on the physical data: if so, determining the type of failure; Obtaining a corresponding control strategy according to the fault type; Controlling the operation of the electromagnetic proportional valve according to the control strategy; the fault type includes a position loop fault; When the fault type is the position loop fault, the step of obtaining a corresponding control strategy according to the fault type includes: Obtain the corresponding position setting according to the external input signal; Obtaining a corresponding target current setting according to the position setting; The control strategy is to control the position loop of the electromagnetic proportional valve according to the target current; or, The fault type includes current loop fault; When the fault type is the current loop fault, the step of obtaining a corresponding control strategy according to the fault type includes: Obtain the corresponding position setting according to the external input signal; Get position feedback; Obtaining a target current setting according to the position setting and position feedback; Obtaining a corresponding target duty cycle according to the target current; The control strategy is to control the current loop of the electromagnetic proportional valve according to the target duty cycle; or, The fault type includes system instability, wherein the system instability indicates that the position feedback exceeds a first preset value and the current feedback exceeds a second preset value; The step of obtaining a corresponding control strategy according to the fault type includes: Get external input signal; Obtaining a target position setting and a target current setting corresponding to the external input signal; The control strategy is to control the position loop of the electromagnetic proportional valve according to the target position setting and to control the current loop of the electromagnetic proportional valve according to the target current setting.

2. The fault handling method of the electromagnetic proportional valve according to claim 1, characterized in that: The step of obtaining a corresponding target current given according to the position given includes: Acquire a first corresponding relationship between a given current and a given position of the electromagnetic proportional valve during normal operation; A target current setting corresponding to the position setting is acquired according to the first corresponding relationship.

3. The fault handling method of the electromagnetic proportional valve according to claim 1, characterized in that: The solenoid proportional valve includes a double solenoid proportional valve, the double solenoid proportional valve includes a first electromagnet and a first current detection circuit located on a first side, and a second electromagnet and a second current detection circuit located on a second side, the current loop fault includes at least one of a first fault type, a second fault type, and a third fault type, the first fault type being a fault of the first electromagnet in the double solenoid proportional valve, the second fault type being a simultaneous fault of the first electromagnet and the first current detection circuit in the double solenoid proportional valve, and the third fault type being a fault of the first current detection circuit; When the fault type is the first fault type or the second fault type, the step of obtaining the corresponding target duty cycle according to the target current includes: Acquire a second corresponding relationship between a given current and a duty cycle of a single electromagnetic proportional valve during normal operation, the single electromagnetic proportional valve including the second electromagnet; Acquire a target duty cycle corresponding to the given target current according to the second corresponding relationship; The step of controlling the current loop of the electromagnetic proportional valve according to the target duty cycle includes: controlling the current loop of the second side according to the target duty cycle; When the fault type is the third fault type, the step of obtaining the corresponding target duty cycle according to the target current includes: Obtaining a third corresponding relationship between a given current of the dual electromagnetic proportional valve during normal operation and a duty cycle corresponding to the first electromagnet; Acquire a target duty cycle corresponding to the given target current according to the third corresponding relationship; The step of controlling the current loop of the electromagnetic proportional valve according to the target duty cycle includes: controlling the current loop of the first side according to the target duty cycle.

4. The fault handling method of the electromagnetic proportional valve according to claim 3, characterized in that: The step of controlling the current loop of the second side according to the target duty cycle includes: When the position sensor is not faulty, controlling the current loop of the second side according to the target duty cycle; When the position sensor fails, the current loop on the second side is controlled by the dither signal generated by the dither signal generator and the target duty cycle.

5. A fault handling system for an electromagnetic proportional valve, characterized in that: The fault handling system includes: a data acquisition module, a fault judgment module, a strategy acquisition module and an operation control module; The data acquisition module is used to acquire physical data of the electromagnetic proportional valve during operation; The fault judgment module is used to judge whether the electromagnetic proportional valve has a fault based on the physical data; if so, determine the fault type; The strategy acquisition module is used to acquire the corresponding control strategy according to the fault type; The strategy acquisition module is used to obtain a corresponding position setting according to an external input signal when the fault type is a position loop fault; obtain a corresponding target current setting according to the position setting; and the control strategy is to control the position loop of the electromagnetic proportional valve according to the target current setting; or, The strategy acquisition module is used to, when the fault type is a current loop fault, acquire a corresponding position setting according to an external input signal; acquire position feedback; acquire a target current setting according to the position setting and position feedback; acquire a corresponding target duty cycle according to the target current setting; and the control strategy is to control the current loop of the electromagnetic proportional valve according to the target duty cycle; or, The strategy acquisition module is used to, when the fault type is system instability, the system instability indicates that the position feedback exceeds a first preset value and the current feedback exceeds a second preset value; obtain an external input signal; obtain a target position setting and a target current setting corresponding to the external input signal; the control strategy is to control the position loop of the electromagnetic proportional valve according to the target position setting and to control the current loop of the electromagnetic proportional valve according to the target current setting; The operation control module is used to control the operation of the electromagnetic proportional valve according to the control strategy.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the fault handling method of the electromagnetic proportional valve according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fault handling method of the electromagnetic proportional valve according to any one of claims 1 to 4 is implemented.

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