Method for driving and stroking a valve

Abstract

The application discloses a valve driving control and jamming method. The method comprises the following steps: determining the current rotating direction and the current target position of the valve, and driving the valve to rotate to the current target position by a driving device according to a first preset control strategy; calling a jamming and sticking detection program to determine whether the valve is jammed or stuck in real time during the driving of the valve to rotate to the current target position; if the valve is jammed or stuck, calling a jamming program to perform jamming, and determining whether the jamming is successful; if the jamming is successful, updating the current position information, and returning to the operation of driving the valve to rotate to the current target position and calling the jamming and sticking detection program to determine whether the valve is jammed or stuck in real time when the valve does not rotate to the current target position; if the jamming is not successful, controlling the valve to stop rotating. The driving force required by the valve under normal conditions and abnormal conditions such as jamming or sticking can be met, and the reliability of the valve is improved by automatically performing jamming when the valve is jammed or stuck.

Description

Technical Field

[0001] This invention relates to the field of drive control technology, and in particular to a valve drive control and plugging method. Background Technology

[0002] A basic valve structure includes a valve core, a valve body, and a device that drives the valve core to move relative to the valve body (referred to as the drive device). The drive device that drives the valve core can be, for example, a BLDC motor (brushless DC motor), with a lead screw on the motor shaft that drives the valve core. The valve driving force is the force required by the drive device to drive the relative movement of the valve core.

[0003] With the widespread application and commercialization of gas and liquid pipeline systems, a large number of devices utilize gas and liquid pipelines, using valves to switch and control pipeline flow rates, thus creating new functions. Therefore, proper valve operation is essential for the normal operation of the pipeline system. Under normal conditions, the driving force of the valve actuator is sufficient. However, with changes in usage time, ambient temperature, and media state, the resistance to the relative movement of the valve body and the actuator core within the valve body increases, making it prone to stalling or jamming. This alters the required driving force of the valve. To ensure the valve operates normally under normal conditions, it is necessary to increase the driving force of the actuator.

[0004] However, the valve driving force is currently in a constant state. When the valve resistance exceeds a certain value, it is easy for the valve to become stuck or jammed. This prevents the valve core from moving normally relative to the valve body, and the valve cannot open, close, or regulate the flow normally. As a result, the valve cannot be controlled due to insufficient driving force, which leads to the pipeline system not being able to switch normally. Summary of the Invention

[0005] This invention provides a valve drive control and flushing method to meet the valve's required driving force and automatically flush when the valve becomes stuck or jammed, thereby ensuring valve drive and improving valve reliability.

[0006] According to one aspect of the present invention, a valve driving control and plugging method is provided, the valve driving control and plugging method comprising:

[0007] Determine the valve's current rotation direction and current target position, and drive the valve to rotate toward the current target position using a first preset control strategy via a drive device;

[0008] During the process of driving the valve to rotate toward the current target position, the stall and jamming detection program is invoked to determine in real time whether the valve is stalled or jammed.

[0009] If the stuck or jam occurs, a jamming program is called to jam, and whether the jamming is successful is judged; if the jamming is successful, the current position information is updated, and when the valve is not rotated to the current target position, the operation of driving the valve to rotate to the current target position is returned to be executed, and the stuck and jam detection program is called to judge whether the valve occurs stuck or jam in real time; if the jamming is not successful, the valve is controlled to stop rotating.

[0010] Optionally, the if the stuck or jam occurs, the jamming program is called to jam, and whether the jamming is successful is judged, comprising:

[0011] If the stuck or jam occurs, the driving device is controlled to enter a low-speed mode, the valve is controlled to rotate according to a second preset control strategy, and the stuck and jam detection program is called to judge whether the jamming is successful in each commutation of the driving device; if the jamming is successful, a jamming success flag is set, and the jamming program is exited;

[0012] If the jamming is not successful, the number of times of unsuccessful jamming is counted, and when the number of times of unsuccessful jamming is less than a preset number of times, the operation of controlling the valve to rotate according to the second preset control strategy is returned to be executed; when the number of times of unsuccessful jamming is greater than or equal to the preset number of times, an unsuccessful jamming flag is set, and the jamming program is exited.

[0013] Optionally, the valve is controlled to rotate according to a second preset control strategy, comprising:

[0014] The driving parameter of the driving device is updated according to a third preset control strategy;

[0015] And the valve is driven to reverse a preset angle in the original rotating direction and then continue to rotate in the original rotating direction.

[0016] Optionally, after the jamming success flag or the unsuccessful jamming flag is set, the driving parameter of the driving device is updated according to the first preset control strategy or the third preset control strategy.

[0017] Optionally, the third preset control strategy comprises increasing the duty ratio of the driving device and / or reducing the rotating speed.

[0018] Optionally, the driving device is a direct current motor, and the driving parameter is the duty ratio and / or the rotating speed of the motor.

[0019] Optionally, the first preset control strategy comprises reducing the duty ratio of the driving device and / or increasing the rotating speed.

[0020] Optionally, the current rotating direction and the current target position of the valve are determined, comprising:

[0021] The target position corresponding to the target instruction, the last target position and the current position are obtained.

[0022] determining whether the target position corresponding to the target instruction is equal to the last target position, and if so, continuing to receive the target instruction;

[0023] if not, determining the current rotation direction and the current target position of the valve according to the target position corresponding to the target instruction and the current position.

[0024] Optionally, the determining the current rotation direction and the current target position of the valve according to the target position corresponding to the target instruction and the current position comprises:

[0025] determining whether the target position corresponding to the target instruction is greater than the current position, and if so, setting the rotation direction of the valve as forward rotation and setting the target position corresponding to the target instruction as the current target position, and if not, setting the rotation direction of the valve as reverse rotation and setting the target position corresponding to the target instruction as the current target position.

[0026] Optionally, the driving control and jamming method of the valve further comprises: if no jamming or sticking occurs, updating the current position information and determining whether the valve rotates to the current target position, and if so, the program of successfully rotating to the target position ends, and if not, returning to execute the operation of calling the jamming and sticking detection program to determine whether the valve jams or sticks in real time.

[0027] The technical scheme of the embodiment of the present application provides a driving control and jamming method of a valve, which comprises: determining the current rotation direction and the current target position of the valve, and driving the valve to rotate to the current target position by a driving device according to a first preset control strategy; in the process of driving the valve to rotate to the current target position, calling a jamming and sticking detection program to determine whether the valve jams or sticks in real time; if the valve jams or sticks, calling a jamming program to perform jamming, and determining whether the jamming is successful; if the jamming is successful, updating the current position information and returning to execute the operation of driving the valve to rotate to the current target position and calling the jamming and sticking detection program to determine whether the valve jams or sticks in real time when the valve does not rotate to the current target position; and if the jamming is not successful, controlling the valve to stop rotating. Thus, the method can meet the driving force required by the valve under normal conditions and abnormal conditions such as jamming or sticking, and automatically performs jamming when the valve jams or sticks, thereby guaranteeing the driving force required by the valve to rotate and improving the working reliability of the valve.

[0028] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0030] Figure 1 is a flow chart of a valve driving control and flushing method provided in the embodiments of the present application;

[0031] Figure 2 is a flow chart of another valve driving control and flushing method provided in the embodiments of the present application;

[0032] Figure 3 is a general flow chart of program execution of the valve driving control and flushing method provided in the embodiments of the present application;

[0033] Figure 4 is a flow chart of the flushing program provided in the embodiments of the present application. DETAILED DESCRIPTION

[0034] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily mean a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0036] Figure 1 is a flow chart of a valve driving control and flushing method provided in the embodiments of the present application. As shown in Figure 1 , the method comprises:

[0037] S110, determine the current rotation direction and the current target position of the valve, and drive the valve to rotate to the current target position by the driving device according to the first preset control strategy.

[0038] The driving device is used to provide the driving force required for the rotation of the valve. The driving device can be a direct current motor, for example, a brushless direct current motor. In the embodiments of the present application, the driving device is taken as an example of a motor, and the following will not be described in detail.

[0039] The current rotation direction of the valve refers to the rotation method or direction of the valve in the current state, for example, forward rotation or reverse rotation. The current target position of the valve refers to the target position to which the valve rotates in the current state. Therefore, before controlling the rotation of the valve, the current rotation direction and the current target position of the valve are determined, and then the driving device is controlled to drive the valve to rotate to the current target position according to the current rotation direction.

[0040] The first preset control strategy is a strategy for controlling the driving of the valve in a normal state.

[0041] In the normal state (for example, the driving resistance is relatively small, or no locked-rotor or jamming occurs), the driving device is controlled to drive the valve to rotate according to the first preset control strategy during the rotation of the valve to the current target position, so as to ensure that the driving force required for the rotation of the valve can be met.

[0042] S120, during the rotation of the valve to the current target position, a locked-rotor and jamming detection program is called to determine whether the valve is locked-rotor or jammed in real time.

[0043] In a normal state, the driving force of the valve controlled according to the first preset control strategy is sufficient to drive the valve to rotate. However, as the use time, environmental temperature and medium state change, the resistance of the relative movement of the valve body and the valve core in the valve body increases, and the valve is prone to locked-rotor or jamming. Therefore, during the rotation of the valve to the current target position, a locked-rotor and jamming detection program is called to determine whether the valve is locked-rotor or jammed in real time.

[0044] The locked-rotor and jamming detection program is that the direct current brushless motor (i.e. the driving device) adopts a three-phase six-step driving method, which has the characteristic that when the motor is driven to rotate, only two phases are powered at any time, and the other phase is not powered. Therefore, by detecting the back electromotive force and commutation time change of the unpowered phase, it can be determined whether locked-rotor or jamming occurs.

[0045] S130, if the stall or jam occurs, a ramming program is called to ram, and it is judged whether the ramming is successful; if the ramming is successful, the current position information is updated, and when the valve does not rotate to the current target position, the operation of driving the valve to rotate to the current target position is returned to be executed, and the stall and jam detection program is called to judge whether the valve stalls or jams in real time; if the ramming is not successful, the valve is controlled to stop rotating.

[0046] If the valve stalls or jams according to the stall and jam program, it means that the valve rotation is blocked, and the valve cannot continue to rotate forward. At this time, ramming is needed, and the ramming program is automatically called to ram. Whether the ramming is successful is judged after the ramming.

[0047] If the ramming is not successful, the valve is controlled to stop rotating, the current program is ended, and the whole program is re-operated after the rotation direction of the valve is re-determined and the new current target position is re-determined in step 110 until the ramming is achieved. Thus, the problem of valve stall or jam affecting normal work of the valve can be solved, and the ramming can be achieved to improve the reliability of the valve.

[0048] In the technical scheme of the embodiment, the working principle of the driving control and ramming method of the valve is as follows: first, the current rotation direction and the current target position of the valve are determined, and the valve is driven to rotate to the current target position by the driving device according to the first preset control strategy; then, the stall and jam detection program is called to judge whether the valve stalls or jams in real time during the driving of the valve to the current target position; if the stall or jam occurs, a ramming program is called to ram, and it is judged whether the ramming is successful; if the ramming is successful, the current position information is updated, and when the valve does not rotate to the current target position, the operation of driving the valve to rotate to the current target position is returned to be executed, and the stall and jam detection program is called to judge whether the valve stalls or jams in real time; if the ramming is not successful, the valve is controlled to stop rotating. Thus, it can be known that, after the current rotation direction and the current target position of the valve are determined, the valve is driven to rotate to the current target position by the driving device according to the first preset control strategy, and the driving force in the normal state can be met by controlling the valve to rotate according to the first preset control strategy. During the rotation of the valve to the current target position, it is detected in real time whether the valve stalls or jams, and when the stall or jam occurs, the ramming program is automatically called to ram, so as to guarantee the driving force required by the valve rotation, make the valve work normally, and thus improve the reliability of the valve.

[0049] The technical scheme of the embodiment provides a valve driving control and jamming method, which comprises the following steps: determining a current rotating direction and a current target position of the valve, and driving the valve to rotate to the current target position by a driving device according to a first preset control strategy; calling a jamming and sticking detection program to determine whether the valve is jammed or stuck in real time during the driving of the valve to rotate to the current target position; if the valve is jammed or stuck, calling a jamming program to perform jamming, and determining whether the jamming is successful; if the jamming is successful, updating current position information, and returning to drive the valve to rotate to the current target position and calling the jamming and sticking detection program to determine whether the valve is jammed or stuck in real time when the valve does not rotate to the current target position; and if the jamming is not successful, controlling the valve to stop rotating. Thus, the method can meet the driving force required by the valve under normal conditions and abnormal conditions such as jamming or sticking, and automatically performs jamming when the valve is jammed or stuck, so as to guarantee the driving force required by the valve to rotate and improve the working reliability of the valve.

[0050] Figure 2 is a flow chart of another valve driving control and jamming method provided in the embodiment of the application. As an implementation manner, optionally, referring to Figure 2 , the method comprises the following steps:

[0051] S210, acquiring a target position corresponding to a target instruction, a last target position and a current position.

[0052] The target position corresponding to the target instruction refers to a theoretical target position contained in the target instruction issued by a control system or a controller. The last target position refers to a target position determined in a last period or state. The current position refers to an actual position of the valve.

[0053] S220, determining whether the target position corresponding to the target instruction is equal to the last target position, if yes, continuing to receive the target instruction, and if no, determining a current rotating direction and a current target position of the valve according to the target position corresponding to the target instruction and the current position.

[0054] If the target position corresponding to the target instruction is equal to the last target position, it indicates that an abnormal condition such as program non-response or the last target position not being actually implemented occurs. If the target position corresponding to the target instruction is not equal to the last target position, it indicates that the program responds and can be started.

[0055] Optionally, the determination of the current rotating direction and the current target position of the valve according to the target position corresponding to the target instruction and the current position comprises:

[0056] Determine if the target position corresponding to the target command is greater than the current position. If so, set the valve rotation direction to forward and set the target position corresponding to the target command to the current target position. If not, set the valve rotation direction to reverse and set the target position corresponding to the target command to the current target position.

[0057] Specifically, the valve's rotation direction (clockwise or counterclockwise) is determined by checking if the target position corresponding to the target command is greater than the current position. After determining the direction, the previous target position is updated to the target position corresponding to the target command, effectively setting the target position corresponding to the target command as the valve's current target position. This allows for accurate determination of the valve's rotation direction and the target position it will reach in the current state, thereby improving the accuracy of valve rotation and ultimately enhancing the valve's operational reliability.

[0058] S230. During the process of driving the valve to rotate to the current target position, call the stall and jam detection program to determine in real time whether the valve is stalled or jammed.

[0059] S240. If a blockage or jamming occurs, the blocking procedure is invoked to perform the blocking and to determine whether the blocking is successful. If the blocking is successful, the current position information is updated, and if the valve has not rotated to the current target position, the valve is returned to be driven to rotate to the current target position. The blockage and jamming detection procedure is invoked to determine in real time whether the valve has experienced a blockage or jamming operation. If the blocking is unsuccessful, the valve is controlled to stop rotating.

[0060] S250. If no jamming or sticking occurs, update the current position information and determine whether the valve has rotated to the current target position. If yes, the program ends after successfully rotating to the target position. If no, return to execute the operation of calling the jamming and sticking detection program to determine in real time whether the valve has jammed or stuck.

[0061] During the valve's rotation towards the current target position, if no blockage or jamming occurs, the valve's current position information is updated, and it is determined whether the valve has rotated to the current target position (it should be noted that the current target position still refers to the current target position determined in step S220, the same below). If the valve has rotated to the current target position, the valve completes its current task, and the program ends. If the valve has not yet rotated to the current target position, the first preset control strategy continues to control the drive device to drive the valve to continue rotating towards the current target position. During the rotation, the blockage and jamming detection program is called in real time to determine whether the valve has experienced blockage or jamming. If blockage or jamming occurs, the anti-blockage program is called. If no blockage or jamming occurs, the valve's current position information is updated, and it is determined whether the valve has rotated to the current target position. This cycle continues.

[0062] In the technical scheme of the embodiment, the working principle of the driving control and jamming method of the valve is as follows: first, the target position corresponding to the target instruction, the last target position and the current position are obtained, it is judged whether the target position corresponding to the target instruction is equal to the last target position, if yes, the target instruction is continuously received; if no, the current rotation direction and the current target position of the valve are determined according to the target position corresponding to the target instruction and the current position. In the process of driving the valve to rotate to the current target position, the stall and jam detection program is called to judge whether the valve stalls or jams in real time. If the valve stalls or jams, the jamming program is called to jam, and it is judged whether the jamming is successful; if yes, the current position information is updated, and when the valve does not rotate to the current target position, the operation of calling the stall and jam detection program to judge whether the valve stalls or jams in real time is returned to be executed; if no, the valve is controlled to stop rotating. If the valve does not stall or jam, the current position information is updated, and it is judged whether the valve rotates to the current target position; if yes, the valve rotates to the target position successfully, and the program ends; if no, the operation of calling the stall and jam detection program to judge whether the valve stalls or jams in real time is returned to be executed. Therefore, according to the target position corresponding to the target instruction and the current position, the current rotation direction and the current target position of the valve can be accurately determined. After the current rotation direction and the current target position of the valve are determined, the driving device is controlled to drive the valve to rotate to the current target position by the first preset control strategy, and the valve is controlled to rotate by the first preset control strategy, which can meet the driving force in the normal state. In the process of driving the valve to rotate to the current target position, the valve is detected in real time whether abnormal conditions such as stall or jam occur, and when the valve stalls or jams, the jamming program is automatically called to jam, thereby guaranteeing the driving force required by the valve rotation, enabling the valve to work normally, and improving the reliability of the valve.

[0063] Figure 3 is the program execution overall flowchart of the driving control and jamming method of the valve provided in the embodiment. For example, referring to Figure 3The overall implementation process of the driving control and the bumping of the valve is as follows: after the valve receives a target position instruction, it is prepared to start rotating; first, it is judged whether the target position corresponding to the target instruction is equal to the last target position; if yes, it returns to execute the operation of "after the valve receives a target position instruction, it is prepared to start rotating"; if no, it is further judged whether the target position corresponding to the target instruction is greater than the current position; if yes, the valve is set to positive rotation; if no or equal to, the valve is set to reverse rotation; further, after the rotating direction of the valve is determined, the last target position is updated to the current target position, i.e. the target position corresponding to the target instruction is set to the current target position. Further, it starts to rotate to the current target position. In the rotating process, the stall and jam detection program is called to judge whether the valve is stalled or jammed in real time. If the valve is stalled or jammed, the bumping program is called to bump, and it is judged whether the bumping is successful; if yes, the operation of "updating the current position information" is executed; if no, the valve stops rotating. If the valve is not stalled or jammed, the operation of "updating the current position information" is executed; further, it is judged whether the valve rotates to the current target position; if yes, the valve stops rotating; if no, it continues to rotate to the current target position, and the operation of calling the stall and jam detection program to judge whether the valve is stalled or jammed in real time is executed.

[0064] Optionally, if the valve is stalled or jammed, the bumping program is called to bump, and it is judged whether the bumping is successful, comprising:

[0065] If the valve is stalled or jammed, the driving device is controlled to enter a low-speed mode, the valve is controlled to rotate according to a second preset control strategy, and the stall and jam detection program is called to judge whether the bumping is successful in each commutation of the driving device; if yes, a bumping success flag is set, and the bumping program is exited;

[0066] If no, the number of times of unsuccessful bumping is counted, and when the number of times of unsuccessful bumping is less than a preset number of times, the operation of controlling the valve to rotate according to the second preset control strategy is returned to execute; when the number of times of unsuccessful bumping is greater than or equal to the preset number of times, an unsuccessful bumping flag is set, and the bumping program is exited.

[0067] The preset number of times can be set according to actual conditions, which is not limited here.

[0068] If the valve is detected to have the problem of stalling or jamming according to the stall and jam detection procedure, it indicates that the rotation of the valve is hindered, and the first preset control strategy under normal conditions cannot meet the rotation of the valve under the condition of stalling or jamming. Therefore, the rotation of the valve is controlled by the second preset control strategy to perform the jamming, and the stall and jam detection procedure is called in each commutation to determine whether the jamming is successful. If the jamming is successful, the jamming success flag is set, the jamming procedure is exited, the current position of the valve is updated, and it is determined whether the valve is rotated to the current target position. If the valve is rotated to the current target position, the valve completes the rotation target task, and the procedure ends. If the valve is not rotated to the current target position, the valve continues to rotate to the current target position, and the stall and jam detection procedure is called in real time to determine whether stalling or jamming occurs. If the jamming is not successful, the number of times of unsuccessful jamming is counted. When the number of times of unsuccessful jamming is less than a preset number of times, the operation of controlling the rotation of the valve by the second preset control strategy is returned, that is, the jamming continues, and it is determined whether the jamming is successful in each commutation. When the number of times of unsuccessful jamming is greater than or equal to the preset number of times, the unsuccessful jamming flag is set, and the jamming procedure is exited, that is, the rotation of the valve is stopped, the current procedure is exited, and the whole procedure is re-operated after the rotation direction of the valve is re-determined and the new current target position is re-determined in step 110. Thus, the problem that the valve is stalled or jammed and affects the normal work of the valve can be solved, so that the jamming can be realized, and the reliability of the valve is improved.

[0069] Optionally, controlling the rotation of the valve according to the second preset control strategy comprises: updating the driving parameter of the driving device according to a third preset control strategy; and driving the valve to reverse a preset angle in the original rotation direction and then continue to rotate in the original rotation direction.

[0070] Optionally, the valve is controlled to reverse a preset angle in the original rotation direction and then continue to rotate in the original rotation direction, for example, the original rotation direction of the valve is positive rotation, the valve is controlled to reverse a preset angle (for example, 20 degrees) to make the valve retreat a certain distance. Then, the valve is controlled to rotate positively, that is, to continue to rotate forward, so as to control the valve to perform the jamming to solve the problem of stalling or jamming.

[0071] Optionally, the preset angle can be set according to actual conditions, which is not limited here.

[0072] Optionally, the driving device is a motor, and the driving parameter is the duty ratio and / or the rotating speed of the motor.

[0073] Optionally, the motor can be a brushless direct current motor.

[0074] Optionally, the first preset control strategy comprises reducing the duty ratio and / or increasing the rotating speed of the driving device.

[0075] In the normal state (for example, the driving resistance is relatively small, or the problem of stalling or jamming does not occur), the first preset control strategy is used to control the driving device to drive the valve to rotate during the rotation of the valve to the current target position, which can ensure that the driving force required for the rotation of the valve is met while saving energy, thereby achieving the effect of energy saving. For example, in the normal state, a smaller PWM duty ratio and / or a higher rotation speed can be used, so that the motor consumes a smaller current to drive the valve, thereby ensuring that the driving force of the valve is met while achieving the effect of energy saving.

[0076] Optionally, the third preset control strategy includes increasing the duty ratio of the driving device and / or reducing the rotation speed.

[0077] In the case of stalling or jamming, the first preset control strategy uses a smaller duty ratio and / or a higher rotation speed, so this strategy cannot meet the rotation requirements of the valve in the stalling or jamming state. Therefore, in order to ensure that the valve can rotate normally, it needs to be unblocked, that is, the PWM duty ratio of the motor is increased and / or the rotation speed is reduced to achieve unblocking.

[0078] It should be noted that whether the duty ratio or the rotation speed is adjusted in the first preset control strategy and the third preset control strategy, or both are adjusted, can be set according to actual conditions, and is not specifically limited here. In addition, the size of the duty ratio adjustment and / or the size of the rotation speed adjustment can be set according to actual conditions, and is not specifically limited here.

[0079] Optionally, after setting the unblocking success flag or the unblocking unsuccessful flag, the driving parameters of the driving device are updated according to the first preset control strategy or the third preset control strategy.

[0080] After setting the unblocking success flag or the unblocking unsuccessful flag, the driving parameters of the driving device can be controlled according to the first preset control strategy or the third preset control strategy according to actual conditions, and is not specifically limited here.

[0081] Figure 4 is a flowchart of the unblocking program provided in the embodiments of the present application. For example, referring to Figure 4The overall implementation flow of the unblocking program is: detecting the valve blockage or jam, calling the unblocking program; first, controlling the driving device to enter the increasing torque mode (increasing the duty cycle and / or reducing the rotating speed); further, updating the driving parameters of the driving device according to the third preset control strategy, and driving the valve to reverse a preset angle in the original rotating direction and then continue to rotate in the original rotating direction with the updated driving parameters to perform unblocking; further, calling the blockage and jam detection program in each commutation to judge whether the unblocking is successful; if the unblocking is successful, setting the unblocking success flag; if the unblocking is not successful, further judging whether the unblocking unsuccessful times are less than the preset times M, if yes, continuing to return to perform the operation of "updating the driving parameters of the driving device according to the third preset control strategy, and driving the valve to reverse a preset angle in the original rotating direction and then continue to rotate in the original rotating direction with the updated driving parameters" to perform unblocking again, and judging again whether the unblocking is successful; if the unblocking unsuccessful times are greater than or equal to the preset times M, setting the unblocking unsuccessful flag. In addition, after setting the unblocking success or unsuccessful flag, updating the driving parameters of the driving device according to the first preset control strategy or the third preset control strategy.

[0082] It should be noted that, in the present application, when the driving device is a BLDC motor, in the normal state, a smaller PWM duty cycle and a higher rotating speed are adopted, so that the BLDC motor consumes a smaller current, and the driving of the valve by the BLDC motor is realized, and energy saving is realized; when the system detects that the valve appears blockage or jam phenomenon, that is, the BLDC motor rotating is discontinuous due to resistance, the PWM duty cycle of the BLDC motor driving is increased, the rotating speed of the BLDC motor is reduced, and the driving current of the BLDC motor is increased, so as to increase the driving torque of the BLDC motor, and overcome the larger resistance; if the resistance is too large, the unblocking is not successful at one time, the BLDC motor adopts the positive and negative rotating strategy, so that the rotating resistance of the motor is in the sliding friction state, and the unblocking is realized. The adjustment size of the specific duty cycle and rotating speed can be set according to the actual situation, and is not limited here.

[0083] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, the steps described in the present application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions of the present application can be achieved, and the present application is not limited herein.

[0084] The above specific embodiments do not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of driving control and ramming of a valve, characterized by, The method comprises the following steps: determining the current rotation direction and the current target position of the valve, and driving the valve to rotate to the current target position by the driving device according to a first preset control strategy; during the driving of the valve to rotate to the current target position, calling a stall and jam detection program to determine whether the valve stalls or jams in real time; if the valve stalls or jams, calling a stall and jam elimination program to eliminate the stall or jam, and determining whether the stall or jam elimination is successful; if the stall or jam elimination is successful, updating the current position information and returning to the driving of the valve to rotate to the current target position and the calling of the stall and jam detection program to determine whether the valve stalls or jams in real time when the valve does not rotate to the current target position; if the stall or jam elimination is not successful, controlling the valve to stop rotating.

2. The driving control and ramming method of a valve according to claim 1, characterized by, The stall or jam elimination includes: if the valve stalls or jams, controlling the driving device to enter a low-speed mode, and controlling the valve to rotate according to a second preset control strategy, and calling the stall and jam detection program to determine whether the stall or jam elimination is successful in each commutation of the driving device; if the stall or jam elimination is successful, displaying a stall or jam elimination success flag and exiting the stall or jam elimination program; if the stall or jam elimination is not successful, counting the number of stall or jam elimination failures, and returning to the control of the valve to rotate according to the second preset control strategy when the number of stall or jam elimination failures is less than a preset number; and displaying a stall or jam elimination failure flag and exiting the stall or jam elimination program when the number of stall or jam elimination failures is greater than or equal to the preset number.

3. The driving control and ramming method of a valve according to claim 2, characterized by, The control of the valve to rotate according to the second preset control strategy includes: updating the driving parameters of the driving device according to a third preset control strategy; and driving the valve to reverse a preset angle in the original rotation direction and then continue to rotate in the original rotation direction. After the stall or jam elimination success flag or the stall or jam elimination failure flag is displayed, the method further comprises updating the driving parameters of the driving device according to the first preset control strategy or the third preset control strategy.

4. The driving control and ramming method of a valve according to claim 3, characterized by, The third preset control strategy includes increasing the duty ratio of the driving device and / or reducing the rotation speed.

5. The driving control and ramming method of a valve according to claim 3, characterized by, The driving device is a direct current motor, and the driving parameters are the duty ratio and / or the rotation speed of the motor.

6. The driving control and ramming method of a valve according to claim 4, wherein The first preset control strategy includes reducing the duty ratio of the driving device and / or increasing the rotation speed.

7. The driving control and ramming method of a valve according to claim 1, characterized by, The determination of the current rotation direction and the current target position of the valve includes:

8. The driving control and ramming method of a valve according to claim 1, characterized by, obtaining a target position corresponding to a target instruction, a previous target position and a current position; determining whether the target position corresponding to the target instruction is equal to the previous target position, and if yes, continuing to receive the target instruction; if not, determining the current rotation direction and the current target position of the valve according to the target position corresponding to the target instruction and the current position. The determination of the current rotation direction and the current target position of the valve according to the target position corresponding to the target instruction and the current position includes:

9. The valve driving control and blow-off method according to claim 8, wherein determining whether the target position corresponding to the target instruction is greater than the current position, and if yes, setting the rotation direction of the valve as forward rotation and setting the target position corresponding to the target instruction as the current target position; if not, setting the rotation direction of the valve as reverse rotation and setting the target position corresponding to the target instruction as the current target position. The method further comprises:

10. The driving control and punch-off method of a valve according to claim 1, characterized by, ​ If no stall or jam occurs, the current position information is updated and it is determined whether the valve is rotated to the current target position; If yes, the valve is successfully rotated to the target position, and the program ends; if no, the program returns to the operation of calling the stall and jam detection program to determine whether the valve is stalled or jammed in real time.

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