Method and apparatus for determining position of a continuous flow valve spool

Abstract

The application provides a method and device for determining the position of a continuous flow valve core. In the method, the measurement noise and the measurement position of a plurality of sensors are first obtained, wherein the measurement noise is used for the accuracy of the measurement position. When the measurement noise satisfies a Gaussian distribution, a first target function is determined according to the measurement position of the plurality of sensors, the first target function being used for estimating the position of the continuous flow valve core. A second target function related to the accuracy of the position is determined according to the first target function. A first parameter is determined according to the second target function and an evaluation index. Finally, the position of the continuous flow valve core is determined according to the first parameter and the first target function. In this way, the signal fusion function of the plurality of sensors is constructed through the relationship between the measurement position and the measurement noise. The signal fusion function avoids the problem that the measurement result of the same position is deviated due to the influence of the distance of the permanent magnet on a single sensor. The measurement accuracy of the stroke position of the continuous flow valve core is improved.

Description

Technical Field

[0001] This application relates to the field of engines, and in particular to a method and apparatus for determining the position of a continuous flow valve core. Background Technology

[0002] Continuous flow valves are mainly used in natural gas engine units to control the amount of gas injected by continuously changing the outlet pressure and the valve core position. Accurate measurement of the valve core position is crucial for improving the precision of gas injection control.

[0003] Existing technologies, addressing the relatively long stroke of continuous flow valve spools, often employ multiple Hall effect sensors placed within the valve spool's stroke range. These Hall effect sensors acquire the position information of the valve spool as it reaches its current location and directly feed it back to determine the spool's stroke position. However, because the permanent magnet on the valve spool is at varying distances from the Hall effect sensors, different voltage values ​​are generated on the sensors, leading to inconsistent position measurement results. Therefore, this method results in different values ​​from multiple acquisitions at the same location, affecting the accuracy of the valve spool stroke position measurement.

[0004] Improving the measurement accuracy of the valve core position of a continuous flow valve is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, this application provides a method and apparatus for determining the position of a continuous flow valve core, aiming to improve the measurement accuracy of the continuous flow valve core position, thereby improving the accuracy of the gas injection quantity.

[0006] In a first aspect, embodiments of this application provide a method for determining the position of the valve core of a continuous flow valve, the method comprising:

[0007] The measurement noise and measurement position of multiple sensors are acquired; the measurement noise is used to represent the accuracy of the measurement position of the continuous flow valve core; the multiple sensors are arranged along the movement pattern of the continuous flow valve core.

[0008] In response to the measurement noise satisfying a Gaussian distribution, a first objective function is determined based on the measurement positions of the plurality of sensors; the first objective function represents the correspondence between the position of the continuous flow valve spool and the measurement positions of the plurality of sensors;

[0009] Based on the first objective function, a second objective function is determined; the coefficients of the second objective function are determined by the measurement noise; the second objective function represents the position error of the continuous flow valve core; the position error is the deviation between the obtained position of the continuous flow valve core and the actual position of the continuous flow valve core.

[0010] Based on the second objective function and the evaluation index, a first parameter is obtained; the first parameter is used to describe the correlation between the position of the continuous flow valve core and the measurement positions of the multiple sensors; the evaluation index is the variance function of the second objective function;

[0011] The position of the valve core of the continuous flow valve is determined based on the first objective function and the first parameter.

[0012] Optionally, the plurality of sensors include a first Hall sensor and a second sensor, and determining the first objective function based on the measurement positions of the plurality of sensors includes:

[0013] A first measurement noise and a first measurement position are obtained, wherein the first measurement noise and the first measurement position are obtained by the first sensor.

[0014] A second measurement noise and a second measurement position are obtained, the second measurement noise and the second measurement position being measured by the second sensor;

[0015] Based on the first measurement position and the second measurement position, a first objective function is constructed; the constant term of the first objective function is the first measurement position; the coefficient of the first linear term of the first objective function is the difference between the first measurement position and the second measurement position.

[0016] Optionally, the first parameter is obtained based on the second objective function and the evaluation index, including:

[0017] Obtain the variance function of the second objective function;

[0018] In response to the variance function taking a minimum value, the derivative of the variance function is obtained;

[0019] The first parameter is determined based on the derivative function.

[0020] Optionally, determining the valve core position of the continuous flow valve based on the first objective function and the first parameter includes:

[0021] Substitute the first parameter into the first objective function to determine the value of the first objective function; the value of the first objective function is the position of the valve core of the continuous flow valve.

[0022] Optionally, the plurality of sensors includes a third sensor, and determining the first objective function based on the measurement positions of the plurality of sensors further includes:

[0023] A third measurement noise and a third measurement position are obtained, wherein the third measurement noise and the third measurement position are measured by the third sensor;

[0024] Based on the third measurement position and the value of the first objective function, a third objective function is constructed. The constant term of the third objective function is the value of the first objective function, and the coefficient of the first-order term of the third objective function is the difference between the third measurement position and the value of the first objective function. The third objective function is the second estimated position value of the continuous valve core.

[0025] Adjust the first objective function according to the third objective function.

[0026] Secondly, embodiments of this application provide a device for determining the position of a continuous flow valve spool, the device comprising:

[0027] An acquisition unit is used to acquire the measurement noise and measurement position of multiple sensors; the measurement noise is used to represent the accuracy of the measurement position of the continuous flow valve core; the multiple sensors are arranged along the movement pattern of the continuous flow valve core;

[0028] A first determining unit is configured to determine a first objective function based on the measurement positions of the plurality of sensors in response to the measurement noise satisfying a Gaussian distribution; the first objective function represents the correspondence between the position of the continuous flow valve core and the measurement positions of the plurality of sensors;

[0029] The second determining unit is used to determine a second objective function based on the first objective function; the coefficients of the second objective function are determined by the measurement noise; the second objective function represents the position error of the continuous flow valve core; the position error is the deviation between the obtained position of the continuous flow valve core and the actual position of the continuous flow valve core.

[0030] The third determining unit is used to obtain a first parameter based on the second objective function and the evaluation index; the first parameter is used to describe the correlation between the position of the continuous flow valve core and the measurement positions of the plurality of sensors; the evaluation index is the variance function of the second objective function;

[0031] The position calculation unit is used to determine the position of the valve core of the continuous flow valve based on the first objective function and the first parameter.

[0032] Optionally, the acquisition unit is configured to acquire a first measurement noise and a first measurement position, the first measurement noise and the first measurement position being measured by the first sensor; it is also configured to acquire a second measurement noise and a second measurement position, the second measurement noise and the second measurement position being measured by the second sensor;

[0033] Optionally, the plurality of sensors include a first Hall sensor and a second sensor, and the first determining unit includes: an objective function construction module, configured to construct a first objective function based on the first measurement position and the second measurement position; the constant term of the first objective function is the first measurement position; and the coefficient of the first linear term of the first objective function is the difference between the first measurement position and the second measurement position.

[0034] Thirdly, a continuous flow valve spool position generation device, characterized in that the device comprises: a memory and a processor;

[0035] The memory is used to store program code and transmit the program code to the processor;

[0036] The processor is configured to execute the steps of the method for determining the position of the continuous flow valve spool as described in any one of the first aspects, according to the instructions in the program code.

[0037] Fourthly, embodiments of this application provide a computer-readable storage medium storing a program or code that, when executed by a processor, implements the steps of the method for determining the position of the continuous flow valve spool as described in the first aspect above.

[0038] This application provides a method and apparatus for determining the position of a continuous flow valve spool. When executing the method, firstly, the measurement noise and measurement positions of multiple sensors are acquired, where the measurement noise is used to determine the accuracy of the measurement position. If the measurement noise follows a Gaussian distribution, a first objective function is determined based on the measurement positions of the multiple sensors to estimate the position of the continuous flow valve spool. A second objective function related to the position accuracy is then determined based on the first objective function. A first parameter is determined based on the second objective function and an evaluation index. Finally, the position of the continuous flow valve spool is determined based on the first parameter and the first objective function. Thus, a signal fusion function of multiple sensors is constructed through the relationship between the measurement position and the measurement noise. Signal fusion avoids the problem of deviations in position measurement results caused by the distance of a single sensor to the permanent magnet, thereby improving the measurement accuracy of the continuous flow valve spool stroke position. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1This is a schematic diagram of the sensor arrangement within the stroke range of the continuous flow valve core provided in the embodiments of this application;

[0041] Figure 2 A flowchart illustrating a method for determining the position of a continuous flow valve core, provided in an embodiment of this application;

[0042] Figure 3 A flowchart illustrating another method for determining the position of the valve core of a continuous flow valve provided in this application embodiment;

[0043] Figure 4 A flowchart illustrating another method for determining the position of the valve core of a continuous flow valve provided in this application embodiment;

[0044] Figure 5 This is a schematic diagram of a device for determining the position of a continuous flow valve core, provided in an embodiment of this application. Detailed Implementation

[0045] The method and apparatus for determining the position of a continuous flow valve spool provided by this invention can be used in the engine field or other fields. For example, it can be used for valve spool position calibration in the engine field to determine the gas injection quantity. Other fields refer to fields other than the engine field, such as the electric motor field. The above are merely examples and do not limit the application areas of the method and apparatus for determining the position of a continuous flow valve spool provided by this invention.

[0046] The terms "first," "second," "third," and "fourth," etc., used in this application specification, claims, and drawings are used to distinguish different objects, not to limit a specific order.

[0047] In the embodiments of this application, the terms "as an example" or "for example" are used to indicate that they are examples, illustrations, or explanations. Any embodiment or design that is described as "as an example" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of terms such as "as an example" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0049] As mentioned earlier, to determine the position of the continuous flow valve spool during its stroke, multiple Hall effect sensors are often used for measurement along the spool's stroke direction. Specifically, when the continuous flow valve spool reaches the position indicated by the Hall effect sensors, the sensors acquire and feed back the spool's stroke position to obtain the valve spool's position. However, due to the varying distances between the permanent magnet on the spool and the Hall effect sensors, different voltage values ​​are generated on the sensors, resulting in different position measurement results. Therefore, this method leads to multiple measurements at the same position yielding different results, affecting the accuracy of the spool stroke position measurement.

[0050] This application provides a method for determining the position of a continuous flow valve spool. The method first acquires the measurement noise and measurement positions of multiple sensors, where the measurement noise is used to determine the accuracy of the measurement position. When the measurement noise satisfies a Gaussian distribution function, the following operations are performed: based on the measurement positions of the multiple sensors, a first objective function is determined to estimate the position of the continuous flow valve spool; based on the first objective function, a second objective function for position accuracy is determined; based on the second objective function and evaluation indicators, a first parameter is determined. Finally, based on the relevant parameter values ​​and the first objective function, the position of the continuous flow valve spool is determined. Thus, by considering the relationship between the measurement position and the measurement noise, a signal fusion function from multiple sensors is constructed. This multi-sensor signal fusion avoids the problem of deviations in measurement results at the same position caused by the distance of a single sensor to the permanent magnet. This improves the measurement accuracy of the continuous flow valve spool's stroke position.

[0051] The continuous flow valve spool position determination method provided in this application is primarily used in scenarios where multiple sensors are arranged according to the stroke pattern of the continuous flow valve spool. An example is provided. Figure 1 The diagram shows a specific arrangement of a method for determining the position of a continuous flow valve core according to an embodiment of this application. Two Hall sensors, Hall sensor A and Hall sensor B, are arranged inside the pipe within the stroke range of the continuous flow valve core, according to the direction of movement of the permanent magnet. The distance between Hall sensor A and Hall sensor B can be randomly preset. It should be noted that the continuous flow valve core refers to the valve core containing a permanent magnet.

[0052] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0053] Figure 2A flowchart illustrating a method for determining the position of a continuous flow valve spool, provided in an embodiment of this application, is applicable to engine processing systems. According to... Figure 2 The method includes at least the following steps:

[0054] S201: Acquire measurement noise and measurement position from multiple sensors.

[0055] To determine the valve spool position, the engine processing system first needs to acquire measurement noise and measurement position data from multiple sensors. In this embodiment, the sensors can be Hall effect sensors. Hall effect sensors acquire the voltage generated by a permanent magnet as the valve spool moves, and use a pre-established correspondence between the voltage and the measurement position to obtain the measurement position. Measurement accuracy is the positional error between the actual acquired measurement position and the actual position of the valve spool's stroke. For Hall effect sensors, the measurement accuracy generally meets the requirement of a Gaussian distribution.

[0056] In this embodiment, to obtain more accurate measurement results, multiple sensors are arranged along the movement pattern of the continuous valve core. The number of sensors can be set as needed.

[0057] S202: In response to the measurement noise satisfying a Gaussian distribution, determine the first objective function based on the measurement positions of multiple sensors.

[0058] After the engine processing system acquires measurement noise and measurement locations from multiple sensors, not all sensor-collected measurement noise conforms to a Gaussian distribution, requiring assessment. Specifically, before using the sensors, a large amount of data can be collected and curve fitted to determine if a Gaussian distribution is satisfied. For sensors that do conform to a Gaussian distribution, multiple data points need to be collected during actual data acquisition for verification.

[0059] Under the premise that the measured noise determined by the engine processing system conforms to a Gaussian distribution, a first objective function is determined based on the measurement positions of multiple sensors. In this embodiment, the first objective function is an estimate of the true position. This estimate is used to indicate the position of the continuous flow valve core in this embodiment. In this embodiment, a correspondence between the measurement positions of multiple sensors and the first objective function is established by setting a random variable in the range [0,1].

[0060] Example illustration: The random variable is set to K, K∈[0,1]. For example, establish the measurement positions x1 and x2 of two sensors. The first objective function can be set as f(K)=x2+K(x1-x2) or f(K)=x1+K(x2-x1). Once the value of K is determined, the position of the continuous flow valve can be determined.

[0061] Example explanation: Let the random variables be set to K∈[0,1]. For example, establish the measurement positions x1, x2, and x3 of three sensors. The first objective function can be initially set as f(K)=x2+K(x1-x2). The value of K is obtained through subsequent processing, assumed to be 1. Then, x1 is replaced by f(K)=2x1-x2, and x2 is replaced by x3, thus adjusting and optimizing the first objective function.

[0062] S203: Determine the second objective function based on the first objective function.

[0063] The engine processing system determines a second objective function based on a first objective function, composed of measurement noise from multiple sensors and a set random variable. In this embodiment, the sensors can be Hall sensors, and the measurement noise is the difference between the measured position and the actual position of the continuous flow valve spool. That is, the measured position can be represented by the sum of the measurement noise and the actual position of the continuous flow valve spool. The actual position of the continuous flow valve spool is unknown and can be represented by an unknown variable. In this embodiment, the first objective function can be obtained by subtracting the first objective function from the position variable of the actual position of the continuous flow valve spool. In this embodiment, the variable of the actual position of the continuous flow valve spool can be eliminated by subtraction, thereby obtaining the second objective function related to the measurement noise and the set random variable.

[0064] Example Explanation: Let the random variable be K, K∈[0,1]. For example, establish the measurement positions x1 and x2 of two sensors, and the first objective function is f(K)=x2+K(x1-x2). The measurement noise is ω and υ. The actual position of the continuous flow valve spool is set as the unknown x. Then x1=x+ω, x2=x+υ. Therefore, the second objective function g(K)=x-[x2+K(x1-x2)]=-(1-K)ω-Kν. The second objective function is independent of the actual position of the continuous flow valve spool.

[0065] In this embodiment, the coefficients of the second objective function are determined by the measurement noise; the second objective function can be used to represent the position error of the continuous flow valve spool. The position error is the deviation between the obtained position of the continuous flow valve spool and the actual position of the continuous flow valve spool.

[0066] S204: Obtain the first parameter based on the second objective function and evaluation index.

[0067] The first parameter describes the correlation between the position of the continuous flow valve spool and the measurement positions of multiple sensors. In this embodiment, the first parameter is a random number taking values ​​within the range [0,1]. When the engine processing system obtains the second objective function, to accurately measure the position of the continuous flow valve spool, the value of the first objective function needs to be as close as possible to the actual position of the continuous flow valve spool. That is, the variance function of the second objective function should take its minimum value. In this embodiment, the variance function of the second objective is used as an evaluation index to obtain the first parameter.

[0068] In this embodiment, the derivative of the variance function can be obtained by taking the derivative of the variance function. To ensure that the variance is minimized, the derivative of the variance function should be 0. In this way, the first parameter can be obtained.

[0069] S105: Determine the position of the continuous flow valve core based on the first objective function and the first parameter.

[0070] After obtaining the first objective function and the first parameter through the above steps, the first parameter is substituted into the first objective function, and the obtained value of the first objective function is the actual position of the valve core of the continuous flow valve.

[0071] This application provides a method for determining the position of a continuous flow valve spool. When executing the method, firstly, the measurement noise and measurement positions of multiple sensors are acquired, where the measurement noise is used to determine the accuracy of the measurement position. If the measurement noise follows a Gaussian distribution, a first objective function is determined based on the measurement positions of the multiple sensors to estimate the position of the continuous flow valve spool. A second objective function related to the position accuracy is then determined based on the first objective function. A first parameter is determined based on the second objective function and an evaluation index. Finally, the position of the continuous flow valve spool is determined based on the first parameter and the first objective function. Thus, a signal fusion function of multiple sensors is constructed through the relationship between the measurement position and the measurement noise. Signal fusion avoids the problem of position measurement deviations caused by the distance of a single sensor to the permanent magnet, which can lead to the same position being measured incorrectly. This improves the measurement accuracy of the continuous flow valve spool stroke position.

[0072] Figure 3 A flowchart illustrating another method for determining the position of a continuous flow valve spool, provided in this application embodiment, is applied to an engine processing system. This method utilizes two Hall sensors, Hall sensor A and Hall sensor B, arranged within the stroke range of the continuous flow valve spool. The method includes at least the following steps:

[0073] S301: Obtain the measurement noise and measurement position of Hall sensors A and B.

[0074] Obtain the measurement noise ω and measurement position x1 of Hall sensor A. Obtain the measurement noise υ and measurement position x2 of Hall sensor B.

[0075] S302: Determine whether the measurement noises ω and υ both conform to a Gaussian distribution. If yes, proceed to step S203.

[0076] Before application, the measurement noise of Hall sensor A and Hall sensor B is verified through multiple measurements to determine whether the measurement noise ω and υ follow a Gaussian distribution. If so, the standard deviation σ1 of Hall sensor A and the standard deviation σ2 of Hall sensor B are obtained.

[0077] S303: Set intermediate variables.

[0078] Let the actual position of the valve core of the continuous flow valve be x, and the estimated value of the actual position be x. e is the error function. K is the coefficient. Then we have, x1 = x + ω, where, x² = x + υ, where,

[0079] S304: Based on the measured positions x1 and x2, construct a mapping function between the estimated value of the true position and K.

[0080] Specifically, the estimated true location is constructed. Where K∈[0,1]

[0081] S305: Construct a mapping function between the estimated true location and K, and determine the location error function.

[0082] That is, the error function is determined by subtracting the estimated value of the true position from the actual position of the valve core in the continuous flow valve, i.e.:

[0083]

[0084] Therefore, it can be seen that the error function has a mapping relationship with K, and the error function is related to the measurement noise.

[0085] S306: Calculate the variance of the error function, obtain the variance function, and determine the value of K based on the variance function.

[0086] Specifically, as in the aforementioned error function The variance D(e) reaches its minimum value. Therefore, the variance function D(e) is constructed as follows:

[0087]

[0088] If the variance D(e) is to be minimized, then to obtain the optimal estimate of K, J must be minimized. min That is, the derivative function is obtained by taking the derivative of the variance function J with respect to K. Right now:

[0089]

[0090] At this point, let the derivative function The requirement is met when K is 0, that is:

[0091] make have to

[0092] Since σ1 and σ2 can be estimated by referring to the Hall sensor manual and considering the sensor's measurement accuracy range at that location, the value of K can be obtained from σ1 and σ2.

[0093] S307: Substitute the value of K into the mapping function between the estimated value of the true position and K to determine the position of the continuous flow valve core.

[0094] Figure 4 A flowchart illustrating another method for determining the position of a continuous flow valve spool provided in this application embodiment is shown. This method is applied to an engine processing system. The method utilizes three Hall sensors arranged within the stroke range of the continuous flow valve spool: Hall sensor A, Hall sensor B, and Hall sensor C. The method includes at least the following steps:

[0095] S401: Obtain the measurement noise and measurement position of Hall sensors A, B, and C.

[0096] Obtain the measurement noise ω and measurement position x1 of Hall sensor A. Obtain the measurement noise υ and measurement position x2 of Hall sensor B. Obtain the measurement noise λ and measurement position x3 of Hall sensor C.

[0097] S402: Determine whether the measured noise conforms to a Gaussian distribution. If so, proceed to step S403.

[0098] The measurement noise of the Hall sensor is verified through multiple measurements to determine whether the measurement noise ω, υ, and λ conform to a Gaussian distribution. If so, the standard deviation σ1 of Hall sensor A, the standard deviation σ2 of Hall sensor B, and the standard deviation σ3 of Hall sensor C are obtained.

[0099] S403: Set intermediate variables.

[0100] Let the actual position of the valve core of the continuous flow valve be x, and the estimated value of the actual position be x. e is the position error. K is the coefficient. Therefore, x1 = x + ω. x² = x + υ x3 = x + λ

[0101] S404: Based on the measured positions of Hall sensors A and B, construct a mapping function between the estimated true position and the random variable K.

[0102] S405: Determine the position error function based on the mapping relationship function between the estimated value of the true position and the random variable K.

[0103] S406: Calculate the variance of the error function, obtain the variance function, and determine the value of K based on the variance function.

[0104] The above S404-S406 and Figure 2 The corresponding S304-S306 are the same, so they will not be discussed further here.

[0105] S407: Substitute the value of K into the mapping function between the estimated value of the true location and the random variable K, and use it as the new measurement location and measurement noise for subsequent processing.

[0106] In this embodiment of the application, the new measurement position is x4 and the measurement noise is ρ.

[0107] Where x4=x1+K(x2-x1), and the measurement noise ρ=-ω+K(ω-υ) satisfies a Gaussian distribution, i.e., ρ~[0,(σ1+Kσ2-Kσ1)] 2 ]

[0108] S408: Check if the number of position Hall sensors processed is less than 3. If not, proceed to step S409. If yes, proceed to step S404.

[0109] Step S404 specifically includes: replacing measurement position x1 and measurement noise w with the newly measured position x4 and measurement noise ρ. Replacing measurement position x2 and measurement noise v with measurement noise λ and measurement position x3. Then returning to step S404.

[0110] S409: Output an estimate of the true location.

[0111] In this embodiment, by fusing information from multiple sensors, the position of the continuous flow valve spool is determined to be closer to its actual position. That is, the estimated value of the output true position is more accurate.

[0112] Furthermore, embodiments of this application also provide a device for determining the position of the valve core of a continuous flow valve. Figure 5 A schematic diagram 500 of a device for determining the position of a continuous flow valve core is provided for an embodiment of this application. The device 500 includes at least the following modules:

[0113] The acquisition unit 501 is used to acquire the measurement noise and measurement position of multiple sensors; the measurement noise is used to represent the accuracy of the measurement position of the continuous flow valve core; the multiple sensors are arranged along the movement mode of the continuous flow valve core;

[0114] The first determining unit 502 is used to determine a first objective function based on the measurement positions of multiple sensors in response to the measurement noise satisfying a Gaussian distribution; the first objective function represents the correspondence between the position of the continuous flow valve core and the measurement positions of the multiple sensors.

[0115] The second determining unit 503 is used to determine a second objective function based on the first objective function; the coefficients of the second objective function are determined by the measurement noise; the second objective function represents the position error of the continuous flow valve core; the position error is the deviation between the determined position of the continuous flow valve core and the actual position of the continuous flow valve core;

[0116] The third determining unit 504 is used to obtain the first parameter based on the second objective function and the evaluation index; the first parameter is used to describe the correspondence between the position of the continuous flow valve core and the measurement positions of multiple sensors; the evaluation index is the variance function of the second objective function;

[0117] The position calculation unit 505 is used to determine the position of the valve core of the continuous flow valve based on the first objective function and the first parameter.

[0118] Optionally, the acquisition unit 501 is further configured to acquire a first measurement noise and a first measurement position, the first measurement noise and the first measurement position being obtained by a first sensor; and to acquire a second measurement noise and a second measurement position, the second measurement noise and the second measurement position being obtained by a second sensor.

[0119] Optionally, the multiple sensors include a first Hall sensor and a second sensor. The first determining unit 502 includes: an objective function construction module, used to construct a first objective function based on the first measurement position and the second measurement position; the constant term of the first objective function is the first measurement position; and the coefficient of the first linear term of the first objective function is the difference between the first measurement position and the second measurement position.

[0120] This application also provides a device for determining the position of a continuous flow valve spool. The device includes a memory and a processor.

[0121] The memory is used to store program code and transfer program code to the processor.

[0122] Processor: Used to execute the steps of the method for determining the position of the continuous flow valve spool according to the instructions in the program code.

[0123] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method for determining the position of the continuous flow valve core according to this application.

[0124] In practical applications, the computer-readable storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0125] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0126] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0127] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0129] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A method of determining the position of a spool of a continuous flow valve, characterized by, The method comprises: obtaining measurement noise and measurement positions of a plurality of sensors; the measurement noise is used to represent the accuracy of the continuous flow valve spool measurement position; the plurality of sensors are arranged along the movement mode of the continuous flow valve spool; in response to the measurement noise satisfying a Gaussian distribution, determining a first objective function according to the measurement positions of the plurality of sensors; the first objective function represents the correspondence between the continuous flow valve spool position and the measurement positions of the plurality of sensors; determining a second objective function according to the first objective function; the coefficients of the second objective function are determined by the measurement noise; the second objective function represents the position error of the continuous flow valve spool position; the position error is the deviation between the obtained continuous flow valve spool position and the actual position of the continuous flow valve spool; obtaining a first parameter according to the second objective function and an evaluation index; the first parameter is used to represent the correspondence between the continuous flow valve spool position and the measurement positions of the plurality of sensors; the evaluation index is the variance function of the second objective function; determining the continuous flow valve spool position according to the first objective function and the first parameter.

2. The method of claim 1, wherein, The plurality of sensors comprise a first sensor and a second sensor, and the determination of the first objective function according to the measurement positions of the plurality of sensors comprises: obtaining a first measurement noise and a first measurement position, which are obtained by the first sensor; obtaining a second measurement noise and a second measurement position, which are obtained by the second sensor; constructing the first objective function according to the first measurement position and the second measurement position; the constant term of the first objective function is the first measurement position; the coefficient of the first-order term of the first objective function is the difference between the first measurement position and the second measurement position.

3. The method of claim 2, wherein, The obtaining of the first parameter according to the second objective function and the evaluation index comprises: obtaining the variance function of the second objective function; in response to the variance function taking a minimum value, obtaining the derivative function of the variance function by deriving the variance function; determining the first parameter according to the derivative function.

4. The method of claim 3, wherein, The determination of the continuous flow valve spool position according to the first objective function and the first parameter comprises: substituting the first parameter into the first objective function to determine the value of the first objective function; the value of the first objective function is the continuous flow valve spool position.

5. The method of claim 4, wherein, The plurality of sensors comprise a third sensor, and the determination of the first objective function according to the measurement positions of the plurality of sensors further comprises: obtaining a third measurement noise and a third measurement position, which are obtained by the third sensor; constructing a third objective function according to the third measurement position and the value of the first objective function; the constant term of the third objective function is the value of the first objective function, and the coefficient of the first-order term of the third objective function is the difference between the third measurement position and the value of the first objective function; adjusting the first objective function according to the third objective function.

6. A device for determining the position of a spool of a continuous flow valve, characterized in that The device comprises: an acquisition unit configured to acquire measurement noises and measurement positions of a plurality of sensors; the measurement noises are used to represent the accuracy of the spool position of the continuous flow valve; the plurality of sensors are arranged along the movement mode of the spool of the continuous flow valve; a first determination unit configured to determine a first objective function according to the measurement positions of the plurality of sensors in response to the measurement noises satisfying a Gaussian distribution; the first objective function represents the correspondence between the spool position of the continuous flow valve and the measurement positions of the plurality of sensors; a second determination unit configured to determine a second objective function according to the first objective function; the coefficients of the second objective function are determined by the measurement noises; the second objective function represents the position error of the spool position of the continuous flow valve; the position error is the deviation between the obtained spool position of the continuous flow valve and the true position of the spool of the continuous flow valve; a third determination unit configured to obtain a first parameter according to the second objective function and an evaluation index; the first parameter is used to represent the correspondence between the spool position of the continuous flow valve and the measurement positions of the plurality of sensors; the evaluation index is the variance function of the second objective function; a position calculation unit configured to determine the spool position of the continuous flow valve according to the first objective function and the first parameter.

7. The apparatus of claim 6, wherein The acquisition unit is configured to acquire first measurement noises and first measurement positions obtained by a first sensor measurement, and second measurement noises and second measurement positions obtained by a second sensor measurement.

8. The apparatus of claim 7, wherein, The plurality of sensors comprise a first Hall sensor and a second sensor, and the first determination unit comprises an objective function construction module configured to construct the first objective function according to the first measurement positions and the second measurement positions; the constant term of the first objective function is the first measurement positions; the coefficient of the first order term of the first objective function is the difference between the first measurement positions and the second measurement positions.

9. A continuous flow valve spool position generation apparatus, characterized by, The device comprises a memory and a processor; The memory is configured to store program codes and transmit the program codes to the processor; The processor is configured to execute the steps of the method for determining the spool position of the continuous flow valve according to the instructions in the program codes.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a method for determining the spool position of the continuous flow valve, and the method for determining the spool position of the continuous flow valve is implemented when the processor executes the method for determining the spool position of the continuous flow valve.

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