Control device and method for a proportional multi-way valve with redundancy

Abstract

The present application relates to the field of proportional multi-way valve, especially to a device and method of proportional multi-way valve with redundancy function. The device is connected with the main control module through the feedforward controller to generate the first control signal; the closed-loop control module is connected with the displacement sensor and the main control module respectively to generate the second control signal; the main control module is connected with the pilot module, when the displacement sensor does not fail, the first control signal and the second control signal are linearly superimposed to generate the first opening control signal, and the opening of the pilot module is controlled according to the first opening control signal; when the displacement sensor fails, the first control signal is used as the second opening control signal to control the opening of the pilot module; the pilot module is used to control the displacement of the proportional multi-way valve by controlling the oil pressure input to the control chamber of the proportional multi-way valve. The present application can ensure that the device continues to work under the failure state of the main valve displacement sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of proportional multi-way valves, and in particular to a device and method of proportional multi-way valve with redundancy function. BACKGROUND

[0002] Proportional directional valve and proportional multi-way valve are one of the important components in electro-hydraulic control system, which functions to continuously control the movement speed, position and output force of hydraulic actuator. Proportional valve is a new type of hydraulic control device. In ordinary pressure valve, flow valve and directional valve, proportional electromagnet is used to replace the original control part, and the pressure, flow or direction of oil flow is continuously and proportionally controlled remotely according to the input electrical signal. In the prior art, proportional directional valve, especially proportional multi-way valve, mainly adopts external control mode so as to make the control characteristics not affected by the system oil supply pressure and load change. At present, proportional multi-way valve generally adopts pressure balanced open loop control mode, and two three-way proportional pressure reducing valves are used as pilot stage to continuously control the pressure of control cavities on both sides of the main valve, and the main valve core moves axially under the action of hydraulic pressure and spring force on both ends, and when the hydraulic pressure and the spring force are balanced, the main valve is in a determined opening position.

[0003] In order to improve the control accuracy and dynamic response speed of proportional multi-way valve, the current mode is to adopt main valve core position closed loop control mode, one of which is to use four high-speed switching valves to control high-performance proportional directional valve and proportional multi-way valve in pulse width modulation mode, and the other is to use four edge spool pilot valve to control main valve displacement closed loop proportional multi-way valve. However, when the main valve core displacement sensor fails, the valve body cannot work normally, and even is in a loss of control state. If such a situation occurs in the operation of the machine, it will at least stop the machine and affect the engineering progress, and at most cause a safety accident. Therefore, there is an urgent need in the market for a proportional multi-way valve with high reliability, which can still work even in the case of main valve core displacement sensor failure. SUMMARY

[0004] The purpose of the present application is to provide a control device and method of proportional multi-way valve based on redundancy function, so as to ensure that the device still works in the case of main valve core displacement sensor failure.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A control device of proportional multi-way valve based on redundancy function, comprising: a feedforward controller, a closed loop control module, a main control module and a pilot module;

[0007] The feedforward controller is connected with the main control module, and the feedforward controller is used to generate a first control signal according to a main valve displacement setting signal and a feedback groove pre-opening amount signal;

[0008] The closed-loop control module is connected with the main valve core displacement sensor and the main control module respectively, and is used for generating a second control signal according to the main valve displacement setting signal and a main valve displacement feedback signal; the main valve core displacement sensor is connected with the main valve core of the proportional multi-way valve, and is used for receiving the main valve displacement feedback signal;

[0009] The main control module is connected with the pilot module, and is used for linearly superimposing the first control signal and the second control signal to generate a first opening control signal when the displacement sensor does not fail, and controlling the opening of the pilot module based on the first opening control signal;

[0010] When the displacement sensor fails, the first control signal is used as a second opening control signal, and the opening of the pilot module is controlled based on the second opening control signal;

[0011] The pilot module is communicated with the control cavities of the proportional multi-way valve, and is used for controlling the displacement of the proportional multi-way valve by controlling the oil pressure input into the control cavities of the proportional multi-way valve.

[0012] Optionally, the closed-loop control module comprises a closed-loop controller and a subtractor;

[0013] The first input end of the subtractor is used for receiving the main valve displacement setting signal, and the second input end of the subtractor is connected with the displacement sensor and is used for receiving the main valve displacement feedback signal;

[0014] The closed-loop controller is connected with the subtractor and the main control module respectively, and is used for generating the second control signal according to the difference between the main valve displacement setting signal and the main valve displacement feedback signal.

[0015] Optionally, the control device further comprises an electronic switch;

[0016] The electronic switch is arranged between the closed-loop controller and the subtractor;

[0017] The control end of the electronic switch is connected with the closed-loop controller;

[0018] The closed-loop controller is further used for controlling the disconnection of the electronic switch when the displacement sensor fails.

[0019] Optionally, the number of the pilot valve groups is two, which are a first pilot valve group and a second pilot valve group, and the first pilot valve group and the second pilot valve group are communicated with two control cavities of the proportional multi-way valve respectively.

[0020] Optionally, the first pilot valve group is one of a pulse width modulation high-speed on-off valve, a double proportional slide valve, a discrete on-off valve, a double proportional throttle valve, and a double proportional overflow valve, and the second pilot valve group is one of the first pilot valve group.

[0021] To achieve the above object, the application further provides a control method of a proportional multi-way valve based on a redundant function, which is applied to the control device and comprises the following steps of:

[0022] generating a first control signal according to a main valve displacement setting signal and a feedback groove pre-opening amount signal;

[0023] generating a second control signal according to a main valve displacement setting signal and a main valve displacement feedback signal;

[0024] when a displacement sensor arranged on the proportional multi-way valve is not faulty, linearly superimposing the first control signal and the second control signal to generate a first opening degree control signal, and controlling the opening degree of a pilot module based on the first opening degree control signal to control the oil pressure input to a control chamber of the proportional multi-way valve through the pilot module and control the displacement of the proportional multi-way valve;

[0025] when the displacement sensor arranged on the proportional multi-way valve is faulty, taking the first control signal as a second opening degree control signal, and controlling the opening degree of the pilot module based on the second opening degree control signal to control the oil pressure input to the control chamber of the proportional multi-way valve through the pilot module and control the displacement of the proportional multi-way valve.

[0026] Optionally, the formula for generating the first control signal according to the main valve displacement setting signal and the feedback groove pre-opening amount signal is as follows:

[0027] x1=U S K q K m / K fm -x0

[0028] wherein x1 is the first control signal, U S is the main valve displacement setting signal, K q is a feedforward coefficient, K m is an electromagnetic force gain, K fm is a mechanical feedback gain, and x0 is the feedback groove pre-opening amount.

[0029] Optionally, the formula for generating the second control signal according to the main valve displacement setting signal and the main valve displacement feedback signal is as follows:

[0030] Δx=(U s -U f )Kp K m / K f

[0031] Where Δx is the second control signal, U S Main valve displacement setting signal, U f Main valve displacement feedback signal, K p For closed-loop control gain, K m For electromagnetic force gain, K f This is the closed-loop feedback gain.

[0032] Optionally, the formula for the linear superposition of the first control signal and the second control signal is:

[0033] x = x1 - Δx US < U f ;

[0034] x=x1+Δx U S ≥U f ;

[0035] Where x is the linear superposition of the first control signal and the second control signal, x1 is the first control signal, Δx is the second control signal, Us is the main valve displacement setting signal, and U f This is the main valve displacement feedback signal.

[0036] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0037] This invention provides a control device and method for a proportional multi-way valve based on redundancy, comprising: a feedforward controller, a closed-loop control module, a main control module, and a pilot module; the feedforward controller is connected to the main control module and generates a first control signal; the closed-loop control module is connected to a displacement sensor on the proportional multi-way valve and the main control module respectively, and generates a second control signal; the main control module is connected to the pilot module, and when the displacement sensor is functioning correctly, it linearly superimposes the first and second control signals to generate a first opening control signal, and controls the opening of the pilot module based on the first opening control signal; when the displacement sensor fails, it uses the first control signal as the second opening control signal, and controls the opening of the pilot module based on the second opening control signal; the pilot module is connected to the control chamber of the proportional multi-way valve, and the pilot module is used to control the displacement of the proportional multi-way valve by controlling the oil pressure input to the control chamber of the proportional multi-way valve.

[0038] When the displacement sensor fails, this invention uses a first control signal generated by a feedforward controller as a second opening signal to control the opening of the pilot module, thereby maintaining the working state of the proportional multi-way valve and achieving the goal of continuing to work even when the main valve displacement sensor fails. Attached Figure Description

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed in the embodiments will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on the accompanying drawings without any creative effort.

[0040] Figure 1 A control principle diagram of a control device of a proportional multi-way valve with a redundancy function provided for Embodiment 2 of the present application;

[0041] Figure 2 A control principle diagram of a control device of a proportional multi-way valve with a redundancy function provided for Embodiment 3 of the present application;

[0042] Figure 3 A control principle diagram of a control device of a proportional multi-way valve with a redundancy function provided for Embodiment 4 of the present application;

[0043] Figure 4 A control principle diagram of a control device of a proportional multi-way valve with a redundancy function provided for Embodiment 5 of the present application;

[0044] Figure 5 A control principle diagram of a control device of a proportional multi-way valve with a redundancy function provided for Embodiment 6 of the present application;

[0045] Symbol explanation:

[0046] 1-first pilot control oil port, 2-first pilot valve group, 3-second pilot valve group, 4-first oil passage, 5-main valve core displacement sensor, 6-subtracter, 7-feedforward controller, 8-electronic switch, 9-closed loop controller, 10-main control module, 11-first feedback groove, 12-main valve core, 13-centering spring, 14-first control cavity, 15-main valve body, 16-main valve oil inlet, 17-first main valve oil outlet, 18-second main valve oil outlet, 19-second pilot control oil port, 20-second feedback groove, 21-second control cavity, 22-second oil passage. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative effort are within the protection scope of the present application.

[0048] The application aims to provide a control device and method of a proportional multi-way valve based on a redundancy function, so as to ensure that the device continues to work in a main valve displacement sensor fault state.

[0049] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below in combination with the drawings and specific embodiments.

[0050] Embodiment 1

[0051] To achieve the above-mentioned purposes, as shown in Figures 1-5 Embodiment 1 of the application provides a control device and method of a proportional multi-way valve based on a redundancy function, and the application comprises a feedforward controller 7, a closed-loop control module, a main control module 10 and a pilot module.

[0052] The feedforward controller 7 is connected with the main control module 10, and the feedforward controller 7 is used to generate a first control signal according to a main valve displacement setting signal and a feedback groove pre-opening amount signal.

[0053] The closed-loop control module is connected with the main valve core displacement sensor 5 and the main control module 10 respectively, and the closed-loop control module is used to generate a second control signal according to the main valve displacement setting signal and a main valve displacement feedback signal; the main valve core displacement sensor 5 is connected with a main valve core of the proportional multi-way valve, and is used to receive the main valve displacement feedback signal.

[0054] The main control module 10 is connected with the pilot module, and the main control module 10 is used to linearly superimpose the first control signal and the second control signal to generate a first opening degree control signal when the main valve core displacement sensor 5 does not occur a fault, and control the opening degree of the pilot module based on the first opening degree control signal.

[0055] When the main valve core displacement sensor 5 occurs a fault, the first control signal is taken as a second opening degree control signal, and the opening degree of the pilot module is controlled based on the second opening degree control signal.

[0056] The pilot module is communicated with a control chamber of the proportional multi-way valve, and the pilot module is used to control the displacement of the proportional multi-way valve by controlling the oil pressure input to the control chamber of the proportional multi-way valve.

[0057] The closed-loop control module comprises a closed-loop controller 9 and a subtracter 6.

[0058] The first input end of the subtracter 6 is used to receive the main valve displacement setting signal, and the second input end of the subtracter 6 is connected with the main valve core displacement sensor 5 and is used to receive the main valve displacement feedback signal.

[0059] The closed-loop controller 9 is connected with the subtracter 6 and the main control module 10 respectively, and the closed-loop controller 9 is used to generate the second control signal according to the difference between the main valve displacement setting signal and the main valve displacement feedback signal.

[0060] The control device further comprises an electronic switch 8.

[0061] The electronic switch 8 is arranged between the closed-loop controller 9 and the subtractor 6.

[0062] The control end of the electronic switch 8 is connected with the closed-loop controller 9.

[0063] The closed-loop controller 9 is further configured to control the electronic switch 8 to be turned off when the main spool displacement sensor 5 fails.

[0064] The pilot module comprises a first pilot valve group 2 and a second pilot valve group 3, which are respectively communicated with two control chambers of the proportional multi-way valve.

[0065] The first pilot valve group 2 is one of a pulse width modulation high-speed switch valve, a double proportional slide valve, a discrete switch valve, a double proportional throttle valve and a double proportional overflow valve, and the second pilot valve group 3 is one of a pulse width modulation high-speed switch valve, a double proportional slide valve, a discrete switch valve, a double proportional throttle valve and a double proportional overflow valve. The first pilot valve group 2 and the second pilot valve group 3 in the pilot module can be the same structure or any combination of the above structures, forming a heterogeneous pilot module, which can improve the reliability of the valve and can be flexibly manufactured to meet different user needs.

[0066] Specifically, the pilot module is composed of a pulse width modulation high-speed switch valve group, a continuous control proportional valve or a discrete electromagnetic switch valve island.

[0067] When the pilot module is a high-speed switch valve, according to the pipe diameter of the proportional multi-way valve, the first pilot valve group 2 and the second pilot valve group 3 can be a pulse width modulation single high-speed switch valve or two or more pulse width modulation high-speed switch valves connected in parallel.

[0068] When the pilot module is a continuous control proportional valve, the first pilot valve group 2 and the second pilot valve group 3 can be a slide valve type two-position two-way proportional throttle valve or a direct-acting proportional overflow valve.

[0069] When the pilot module is a discrete electromagnetic switch valve island, the first pilot valve group 2 and the second pilot valve group 3 can be two or more small flow electromagnetic switch valves combined in a certain proportional relationship.

[0070] The proportional multi-way valve comprises a main spool 12, a centering spring 13, a main valve body 15, two control chambers, two feedback grooves and a main spool displacement sensor 5.

[0071] The main spool displacement sensor 5 is in the same horizontal line with the center axis of the main spool 12.

[0072] The main valve core 12, the feedback groove and the control cavity are arranged in the main valve body 15.

[0073] Two pilot oil control ports, a first main valve oil outlet 17 and a second main valve oil outlet 18 are arranged on one side of the main valve body 15, and a main valve oil inlet 16 is arranged on the other side.

[0074] The control cavity is arranged at both ends of the main valve core 12 and connected with the main valve core 12 through the feedback groove, and the centering spring 13 is arranged in the control cavity.

[0075] The feedback groove is connected with the main valve core 12 through an oil channel, one end of the oil channel is communicated with the pilot control oil port, and the other end is communicated with an oil inlet of the feedback groove.

[0076] An oil outlet of the feedback groove is communicated with an oil inlet of the control cavity, and the control cavity is communicated with the pilot valve group.

[0077] The proportional multi-way valve further comprises an oil tank and an oil source, the oil source is connected with the pilot control oil port, and the oil tank is connected with the pilot module.

[0078] To achieve the above object, the application further provides a control method of the proportional multi-way valve based on the redundancy function, the control method is applied to the control device, and the control method comprises the following steps:

[0079] According to the main valve displacement setting signal and the feedback groove pre-opening amount signal, a first control signal is generated.

[0080] According to the main valve displacement setting signal and the main valve displacement feedback signal, a second control signal is generated.

[0081] When the main valve core displacement sensor 5 arranged on the proportional multi-way valve is not faulty, the first control signal and the second control signal are linearly superimposed to generate a first opening degree control signal, the opening degree of the pilot module is controlled based on the first opening degree control signal, the oil pressure input to the control cavity of the proportional multi-way valve is controlled through the pilot module, and the displacement of the proportional multi-way valve is controlled.

[0082] When the main valve core displacement sensor 5 arranged on the proportional multi-way valve is faulty, the first control signal is taken as a second opening degree control signal, and the opening degree of the pilot module is controlled based on the second opening degree control signal, the oil pressure input to the control cavity of the proportional multi-way valve is controlled through the pilot module, and the displacement of the proportional multi-way valve is controlled.

[0083] According to the main valve displacement setting signal and the feedback groove pre-opening amount signal, a first control signal is generated, and the formula for generating the first control signal according to the main valve displacement setting signal and the feedback groove pre-opening amount signal is specifically as follows:

[0084] x1=U S K q K m / Kfm x0

[0085] wherein, x1 is the first control signal, U S is the main valve displacement setting signal, K q is the feedforward coefficient, K m is the electromagnetic force gain, K fm is the mechanical feedback gain, and x0 is the feedback groove pre-opening amount.

[0086] The second control signal is generated according to the main valve displacement setting signal and the main valve displacement feedback signal, specifically including that the formula for generating the second control signal according to the main valve displacement setting signal and the main valve displacement feedback signal is:

[0087] Δx = (U s -U f )K p K m / K f

[0088] wherein, Δx is the second control signal, U S is the main valve displacement setting signal, U f is the main valve displacement feedback signal, K p is the closed-loop control gain, K m is the electromagnetic force gain, K f is the closed-loop feedback gain.

[0089] When the main valve core displacement sensor 5 arranged on the proportional multi-way valve does not fail, the formula for linearly superimposing the first control signal and the second control signal is:

[0090] x = x1 - Δx U S <U f ;

[0091] x = x1 + Δx U S ≥U f ;

[0092] wherein, x is the linear superposition of the first control signal and the second control signal, x1 is the first control signal, Δx is the second control signal, U S is the main valve displacement setting signal, U f is the main valve displacement feedback signal.

[0093] The working process of the valve body is that the pilot control oil provided by the oil source enters the oil inlet of the first oil passage 4 and the oil inlet of the second oil passage 22 through the first pilot control oil port 1 and the second pilot control oil port 19, respectively, and then enters the first feedback groove 11 through the oil outlet of the first oil passage 4, flows into the first control chamber 14 through the oil outlet of the first feedback groove 11, and then enters the inlet of the first pilot valve group 2, and then flows into the oil tank after throttling control of the first pilot valve group 2.

[0094] The oil liquid entering the second oil passage 22 flows into the oil tank through the oil outlet of the second feedback groove 20, and then flows into the second control chamber 21 through the oil outlet of the second feedback groove 20, and then flows into the inlet of the second pilot valve, and then flows into the oil tank through the throttling control of the second pilot valve group 3.

[0095] When the main valve displacement setting signal is zero, the output currents of the feedforward controller 7, the closed-loop controller 9 and the main control module 10 are zero, the first pilot valve group 2 and the second pilot valve group 3 are in the closed state, the oil liquid in the first control chamber 14 and the second control chamber 21 cannot flow out, the internal pressures of the first control chamber 14 and the second control chamber 21 are equal to the pressure of the pilot control oil port, the forces on both ends of the main valve core 12 are equal, the force on the main valve core 12 is in a balanced state, the main valve inlet 16 is closed with the first main valve outlet 17 and the second main valve outlet 18,

[0096] the oil ports of the first main valve outlet 17 and the second main valve outlet 18 communicating with the oil tank are also closed, and the control valve is in the initial state.

[0097] When the given main valve displacement setting signal is greater than zero, the value is divided into two signals, one is directly input to the main control module 10 after passing through the feedforward controller 7, and the other is the difference value of the main valve displacement feedback signal passing through the closed-loop control after passing through the subtracter 6, and then input to the main control module 10 through the electronic switch 8. The output signals of the feedforward controller 7 and the closed-loop controller 9 are superimposed in the main control module 10 to generate a power current, and the output current of the main control module 10 drives the first pilot valve group 2 to open an opening degree, and the first pilot valve group 2 has oil liquid flowing into the oil tank, the pressure of the first control chamber 14 is reduced, the balance of the internal pressure of the main valve core 12 is broken, the main valve core 12 moves towards the first control chamber 14, the main valve inlet 16 communicates with the first main valve outlet 17, and the main valve has oil liquid output. At the same time, the second main valve outlet communicates with the oil tank, when the main valve displacement setting value is equal to the main valve displacement feedback signal, the main valve core 12 is in a corresponding stable opening degree, and the opening degree value is x.

[0098] Similarly, when the main valve displacement setting signal is less than zero, the output signals of the feedforward controller 7 and the closed-loop controller 9 are negative, the output current of the main control module 10 drives the second pilot valve group 3 to open an opening degree, the second pilot valve group 3 has oil liquid flowing into the oil tank, the pressure of the second control chamber 21 is reduced, the balance of the internal pressure of the main valve core 12 is broken, the main valve core 12 moves towards the second control chamber 21, the main valve inlet 16 communicates with the second main valve outlet 18, and the main valve has oil liquid output. The first main valve outlet 17 communicates with the oil tank.

[0099] Example 2

[0100] As Figure 1As shown, the pilot valve group in Embodiment 2 of the present invention is a dual proportional spool valve. When the pilot valve group of the pilot module is a dual proportional spool valve, the specific working process is the same as that in Embodiment 1, and the connection method of the pilot module is the same as that in Embodiment 1. The first pilot valve group 2 and the second pilot valve group 3 are both spool valve type two-position two-way proportional throttle valves. The two-position two-way proportional throttle valve relies on an electromagnet to continuously control the flow rate. The product has two functions: "normally closed (NC)" and "normally open (NO)"; and three specifications. The valve core and valve body have good durability and very little leakage. The valve core and metal valve sleeve are hardened and honed to ensure stable performance and long service life.

[0101] When the main valve core displacement sensor 5 malfunctions, the electronic switch 8 is disconnected, and only the first control signal output by the feedforward controller 7 is transmitted to the main control module 10. At this time, the entire valve is in a mechanical closed-loop control state, which can still maintain the valve to continue working near the original working point, avoiding safety issues caused by sudden accidents and damage to the control valve.

[0102] Example 3

[0103] like Figure 2 As shown, in Embodiment 3 of the present invention, the pilot valve group is a pulse-width modulated high-speed pilot valve. When the pilot valve group of the pilot module is a pulse-width modulated high-speed pilot valve, four pulse-width modulated high-speed pilot valves are used instead of the two continuously controlled pilot proportional throttle valves in Embodiment 1. The advantage of using pulse-width modulated high-speed pilot valves is that when the main valve is in force balance, the first pilot valve group 2 and the second pilot valve group 3 are in the closed state, reducing the energy consumption of the pilot valves. The first pilot valve group 2 and the second pilot valve group 3 are each composed of two high-speed switching valves. Each high-speed switching valve uses pulse-width modulation to control its flow rate, and then controls the opening degree of the main valve according to the proportional relationship between the main valve displacement and the pilot valve flow rate.

[0104] Its working process is similar to that of Specific Embodiment 1, but the main control module 10 uses pulse width modulation to control the first pilot valve group 2 in a high-speed opening and closing mode. The opening and closing duration, i.e., the duty cycle, is proportional to the set value. The larger the main valve displacement setting signal, the larger the proportion of the opening time. In addition, although the current of the power amplifier stage is in pulse width control mode, after filtering by the electromagnet and the pilot valve, the pilot valve core is in a quasi-continuous working mode. The average flow rate through the pilot valve is proportional to the main valve displacement setting signal. Therefore, the proportional control relationship between the main valve displacement setting signal and the main valve core 12 also holds. By continuously changing the magnitude and sign of the main valve displacement setting value, the opening size of the main valve core 12 and the direction of oil flow can be continuously controlled.

[0105] When the main valve core displacement sensor 5 fails, the redundant control method is the same as the control method in specific implementation 1.

[0106] Example 4

[0107] like Figure 3 As shown, the pilot valve group in Embodiment 4 of the present invention is a discrete electromagnetic switching valve. When the pilot valve group of the pilot module is a discrete electromagnetic switching valve, the structural difference from Embodiment 2 is that two sets of discrete control electromagnetic valves are used as pilot valves to control the flow rate of the first control chamber 14 and the second control chamber 21 respectively. Each set of pilot valves consists of four or more electromagnetic switching valves, and the flow area of ​​each valve can be the same or a combination of proportional relationships. Therefore, the opening degree of the main valve core 12 is discretely controlled by changing the number of valves on and off.

[0108] The working process of the control valve can be regarded as a special case of the valve shown in Specific Embodiment 1 under a few fixed set values. Therefore, the control process of the valve is not a continuous process, but a finite number of fixed opening values ​​determined by the number of pilot valves. The more pilot valves there are, the better the continuity of the main valve opening value.

[0109] When the main valve core displacement sensor 5 fails, the redundant control method is the same as the control method in specific implementation 1.

[0110] Example 5

[0111] like Figure 4 As shown, the pilot valve group in Embodiment 5 of the present invention is a dual proportional throttle valve with a main valve sleeve. When the pilot valve group of the pilot module is a dual proportional throttle valve with a main valve sleeve, the working process is exactly the same as that shown in Embodiment 1. The difference is that a main valve sleeve is added between the main valve core 12 and the main valve body 15. Through the area difference between the valve sleeve hole and the outer ring of the valve sleeve, the pressure difference between the first control chamber 14 and the second control chamber 21 can be adjusted, so that the main valve can control the opening amount of the main valve through the pressure difference without the need for the main valve spring.

[0112] When the main valve core displacement sensor 5 fails, the redundant control method is the same as the control method in specific implementation 1.

[0113] Example 6

[0114] like Figure 5 As shown, the pilot valve group in Embodiment 6 of the present invention is a proportional relief valve. When the pilot valve group of the pilot module is a proportional relief valve, two proportional relief valves replace the proportional throttle valve in Embodiment 2. The opening amount of the main valve is controlled by controlling the pressure of the first control chamber 14 and the second control chamber 21. This structure requires the opening amount of the main valve to be balanced with the pressure of the pilot valve, and requires reasonable design of the stiffness and pre-compression of the springs at both ends of the main valve. The proportional relief valve has the functions of constant pressure relief, system unloading, pressure stabilization, and safety protection.

[0115] When the main valve core displacement sensor 5 fails, the redundant control method is the same as the control method of embodiment 1.

[0116] The advantages of the present application are embodied in:

[0117] 1. When the sensor and its circuit for detecting the displacement of the main valve core fail, the valve automatically switches to hydraulic inner closed-loop control, which can ensure the system to continue working near the original working point and eliminate the potential safety hazards caused thereby.

[0118] 2. The main valve is controlled by external pressure oil, which can control high-pressure oil with low-pressure oil, and the dynamic response of the pilot proportional directional valve is basically not affected by the pressure difference between the inlet and outlet of the main valve, which ensures the consistency of the dynamic response of the valve and improves the low-pressure controllability and high-pressure stability of the valve.

[0119] 3. According to the needs of users, the pilot valve can have multiple forms such as high-speed on-off valve, two-position spool proportional throttle, proportional overflow valve, and discrete electromagnetic on-off valve, which has great flexibility in processing and manufacturing.

[0120] 4. The pilot module can have the same structure or a heterogeneous form, which improves the reliability of the system; the outlet oil of the pilot proportional valve directly returns to the oil tank, which simplifies the design and processing of the internal flow passage of the valve body and reduces the driving power of the pilot stage.

[0121] In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between each embodiment can be mutually referred to.

[0122] In the present specification, the principles and implementation modes of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A control device for a proportional multi-way valve based on redundancy, characterized in that, include: Feedforward controller, closed-loop control module, main control module and pilot module; The feedforward controller is connected to the main control module, and the feedforward controller is used to generate a first control signal based on the main valve displacement setting signal and the feedback slot pre-opening signal. The closed-loop control module is connected to the main valve core displacement sensor and the main control module respectively. The closed-loop control module is used to generate a second control signal based on the main valve displacement setting signal and the main valve displacement feedback signal. The main valve core displacement sensor is connected to the main valve core of the proportional multi-way valve and is used to receive the main valve displacement feedback signal. The main control module is connected to the pilot module. When the displacement sensor is not faulty, the main control module linearly superimposes the first control signal and the second control signal to generate a first opening control signal, and controls the opening of the pilot module based on the first opening control signal. When the displacement sensor malfunctions, the first control signal is used as the second opening control signal, and the opening of the pilot module is controlled based on the second opening control signal. The pilot module is connected to the control chamber of the proportional multi-way valve. The pilot module is used to control the displacement of the proportional multi-way valve by controlling the oil pressure input to the control chamber of the proportional multi-way valve.

2. The control device for a proportional multi-way valve based on redundancy function according to claim 1, characterized in that, The closed-loop control module includes a closed-loop controller and a subtractor; The first input terminal of the subtractor is used to receive the main valve displacement setting signal, and the second input terminal of the subtractor is connected to the displacement sensor to receive the main valve displacement feedback signal. The closed-loop controller is connected to the subtractor and the main control module respectively. The closed-loop controller is used to generate the second control signal based on the difference between the main valve displacement setting signal and the main valve displacement feedback signal.

3. The control device for a proportional multi-way valve based on redundancy function according to claim 2, characterized in that, The control device also includes an electronic switch; The electronic switch is disposed between the closed-loop controller and the subtractor; The control terminal of the electronic switch is connected to the closed-loop controller; The closed-loop controller is also used to control the electronic switch to disconnect when the displacement sensor malfunctions.

4. The control device for a proportional multi-way valve based on redundancy function according to claim 1, characterized in that, The pilot module includes a first pilot valve group and a second pilot valve group, which are respectively connected to the two control chambers of the proportional multi-way valve.

5. The control device for a proportional multi-way valve based on redundancy function according to claim 4, characterized in that, The first pilot valve group is one of a pulse width modulation high-speed switching valve, a dual proportional spool valve, a discrete switching valve, a dual proportional throttle valve, and a dual proportional relief valve, and the second pilot valve group is one of a pulse width modulation high-speed switching valve, a dual proportional spool valve, a discrete switching valve, a dual proportional throttle valve, and a dual proportional relief valve.

6. A control method for a proportional multi-way valve based on redundancy, characterized in that, The method is applied to the control device of claims 1-4, comprising: The first control signal is generated based on the main valve displacement setting signal and the feedback slot pre-opening signal. A second control signal is generated based on the main valve displacement setting signal and the main valve displacement feedback signal; When the displacement sensor installed on the proportional multi-way valve is not faulty, the first control signal and the second control signal are linearly superimposed to generate a first opening control signal. The opening of the pilot module is controlled based on the first opening control signal. The pilot module controls the oil pressure input to the control chamber of the proportional multi-way valve to control the displacement of the proportional multi-way valve. When the displacement sensor installed on the proportional multi-way valve malfunctions, the first control signal is used as the second opening control signal, and the opening of the pilot module is controlled based on the second opening control signal. The pilot module controls the oil pressure input to the control chamber of the proportional multi-way valve to control the displacement of the proportional multi-way valve.

7. The control method for a proportional multi-way valve based on redundancy function according to claim 5, characterized in that, The formula for generating the first control signal based on the main valve displacement setting signal and the feedback slot pre-opening signal is as follows: x1=U S K q K m / K fm -x0 Where x1 is the first control signal, U S Main valve displacement setting signal, K q K represents the feedforward coefficient. m For electromagnetic force gain, K fm x is the mechanical feedback gain, and x0 is the feedback slot pre-opening amount.

8. The control method for a proportional multi-way valve based on redundancy function according to claim 5, characterized in that, The formula for generating the second control signal based on the main valve displacement setting signal and the main valve displacement feedback signal is as follows: Δx=(U s -U f )K p K m / K f Where Δx is the second control signal, U S Main valve displacement setting signal, U f Main valve displacement feedback signal, K p For closed-loop control gain, K m For electromagnetic force gain, K f This is the closed-loop feedback gain.

9. The control method for a proportional multi-way valve based on redundancy function according to claim 5, characterized in that, The formula for the linear superposition of the first control signal and the second control signal is: x=x1-Δx U S <In f ; x=x1+Δx U S ≥U f ; Where x is the linear superposition of the first control signal and the second control signal, x1 is the first control signal, Δx is the second control signal, Us is the main valve displacement setting signal, and U f This is the main valve displacement feedback signal.

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