Method, system and electro-hydraulic proportional valve group controller for temperature compensation of electro-hydraulic proportional valves

Abstract

The application discloses a method and system for temperature compensation of an electro-hydraulic proportional valve group controller. The electro-hydraulic proportional valve group controller communicates with the electro-hydraulic proportional valve group. The method comprises the following steps: obtaining input data, oil temperature data and a preset chatter amplitude oil temperature change curve; determining the driving current of the electro-hydraulic proportional valve group according to the input data; determining the chatter current of the electro-hydraulic proportional valve group according to the oil temperature data and the preset chatter amplitude oil temperature change curve; and outputting the driving current and the chatter current to the electro-hydraulic proportional valve group so that the valve core of the electro-hydraulic proportional valve group moves to a target position. In this way, the electro-hydraulic proportional valve group can determine the chatter current according to the oil temperature data and the preset chatter amplitude oil temperature change curve, so that the electro-hydraulic proportional valve group reduces temperature influencing factors and further improves the consistency of flow output.

Description

Technical Field

[0001] This application relates to the field of electro-hydraulic proportional control technology, specifically to a method, system, and controller for temperature compensation of an electro-hydraulic proportional valve assembly. Background Technology

[0002] With the development of mechatronics technology, electro-hydraulic proportional control technology is being applied more and more widely. Currently, large-tonnage engineering cranes commonly use electro-hydraulic proportional valve assemblies to control various actions. The proportional solenoid valve, as a crucial control component of the electro-hydraulic proportional valve assembly, has a significant impact on the performance of the hydraulic control system. Due to its generally large size, it also has significant inertia and hysteresis, leading to viscous friction and other factors that affect proportional valve performance. Therefore, a chatter signal is usually superimposed on the control signal to maintain the movement of the valve core within the valve sleeve, ensuring a consistent oil film thickness between them and reducing initial resistance.

[0003] However, in real-world scenarios, various factors constrain the control performance of proportional solenoid valves, with temperature being one of the most crucial. At low temperatures, the viscosity of the hydraulic fluid increases, leading to increased initial resistance of the valve core; conversely, at high temperatures, the viscosity decreases, reducing initial resistance. This results in inconsistent control characteristics of existing solenoid valves at different temperatures, impacting the control effectiveness of the hydraulic system. Current electro-hydraulic proportional valve assembly technology lacks temperature compensation, causing inconsistent valve core opening currents due to temperature variations, which can lead to poor micro-motion performance. Furthermore, the flow output characteristic curve changes significantly with temperature variations, posing considerable inconvenience for crane users performing delicate lifting operations. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, and controller for temperature compensation of electro-hydraulic proportional valves, in order to solve the problem of poor micro-motion caused by temperature affecting electro-hydraulic proportional valve groups in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a method for temperature compensation of an electro-hydraulic proportional valve, applied to an electro-hydraulic proportional valve group controller, wherein the electro-hydraulic proportional valve group controller communicates with the electro-hydraulic proportional valve group, and the method includes:

[0006] Acquire input data, oil temperature data, and preset chatter amplitude oil temperature change curve;

[0007] Determine the drive current of the electro-hydraulic proportional valve assembly based on the input data;

[0008] The chatter current of the electro-hydraulic proportional valve group is determined based on the oil temperature data and the preset chatter amplitude oil temperature change curve.

[0009] The drive current and chatter current are output to the electro-hydraulic proportional valve assembly so that the valve core of the electro-hydraulic proportional valve assembly moves to the target position.

[0010] In this embodiment of the application, the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group also communicate with the displacement sensor, and the method further includes:

[0011] Receive the actual position of the valve core of the electro-hydraulic proportional valve assembly sent by the displacement sensor;

[0012] The drive current is corrected according to the target position of the electro-hydraulic proportional valve assembly so that the actual position of the electro-hydraulic proportional valve assembly matches the target position.

[0013] In this embodiment of the application, obtaining the preset chatter amplitude oil temperature change curve includes:

[0014] Select a reference oil temperature;

[0015] The theoretical flow characteristic curve of the electro-hydraulic proportional valve assembly at the reference oil temperature is determined based on the flow formula.

[0016] Multiple candidate chatter amplitudes are applied to oil temperatures within a preset oil temperature range to obtain multiple candidate flow characteristic curves. Each candidate chatter amplitude satisfies the condition that the higher the oil temperature, the smaller the applied chatter amplitude.

[0017] The candidate flow characteristic curve with the highest similarity to the theoretical flow characteristic curve is determined as the preset flutter amplitude oil temperature change curve.

[0018] In this embodiment of the application, obtaining the preset chatter amplitude oil temperature change curve further includes:

[0019] Based on the flow formula, determine the theoretical flow rate corresponding to each oil temperature within the preset oil temperature range for each valve core opening within the preset valve core opening range.

[0020] For each valve core opening, the optimal chatter amplitude corresponding to each oil temperature is determined based on the theoretical flow rate corresponding to each oil temperature.

[0021] The chatter amplitude oil temperature variation curve for each valve core opening is determined based on the optimal chatter amplitude corresponding to each oil temperature.

[0022] The oil temperature change curve of the chatter amplitude for each valve core opening is determined as the preset chatter amplitude oil temperature change curve.

[0023] In this embodiment of the application, the preset chatter amplitude oil temperature change curve satisfies:

[0024] At the same oil temperature, the larger the valve core opening of the electro-hydraulic proportional valve assembly, the greater the chatter amplitude.

[0025] In this embodiment of the application, the flow rate formula satisfies the following formula:

[0026]

[0027] Where Q is the output flow rate of the electro-hydraulic proportional valve assembly, α is the flow coefficient of the electro-hydraulic proportional valve assembly, A is the area of ​​the orifice of the electro-hydraulic proportional valve assembly, ΔP is the pressure difference across the orifice of the electro-hydraulic proportional valve assembly, and ρ is the oil density of the electro-hydraulic proportional valve assembly.

[0028] In this embodiment, the electro-hydraulic proportional valve group controller also communicates with the main controller, which in turn communicates with the input mechanism and the temperature sensor to acquire input data and oil temperature data, including:

[0029] Receive input data and oil temperature data sent by the host controller;

[0030] The input data sent by the host controller is the instruction information converted from the input current sent by the input mechanism, and the oil temperature data sent by the host controller is the temperature information converted from the temperature current sent by the temperature sensor.

[0031] A second aspect of this application provides an electro-hydraulic proportional valve group controller, characterized in that it includes:

[0032] The memory is configured to store instructions; and

[0033] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for temperature compensation of the electro-hydraulic proportional valve.

[0034] A third aspect of this application provides a system for temperature compensation of an electro-hydraulic proportional valve, the system comprising:

[0035] The aforementioned electro-hydraulic proportional valve group controller;

[0036] The electro-hydraulic proportional valve assembly communicates with the electro-hydraulic proportional valve assembly controller and is used to move the valve core to the target position according to the drive current and chatter current sent by the electro-hydraulic proportional valve assembly controller.

[0037] In this embodiment of the application, the system further includes:

[0038] The displacement sensor communicates with both the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group to acquire the actual position of the valve core of the electro-hydraulic proportional valve group.

[0039] In this embodiment of the application, the system further includes:

[0040] Input mechanism, used to send input current to the host controller;

[0041] Temperature sensor, used to send temperature current to the host controller;

[0042] The main controller communicates with the input mechanism, temperature sensor, and electro-hydraulic proportional valve group controller respectively. It is used to convert the input current sent by the input mechanism into input data, convert the temperature current sent by the temperature sensor into oil temperature data, and send the input data and oil temperature data to the electro-hydraulic proportional valve group controller.

[0043] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for temperature compensation of an electro-hydraulic proportional valve.

[0044] Through the above technical solution, the electro-hydraulic proportional valve group controller acquires input data, oil temperature data, and a preset chatter amplitude oil temperature change curve. Based on the input data, it determines the drive current of the electro-hydraulic proportional valve group; then, based on the oil temperature data and the preset chatter amplitude oil temperature change curve, it determines the chatter current of the electro-hydraulic proportional valve group. Finally, it outputs the drive current and chatter current to the electro-hydraulic proportional valve group, causing the valve core to move to the target position. In this way, the electro-hydraulic proportional valve group can determine the chatter current based on the oil temperature data and the preset chatter amplitude oil temperature change curve, thereby reducing the influence of temperature factors and further improving the consistency of flow output.

[0045] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0046] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0047] Figure 1 This schematic diagram illustrates the structure of an electro-hydraulic proportional valve temperature compensation system according to an embodiment of this application.

[0048] Figure 2 A flowchart illustrating a method for temperature compensation of an electro-hydraulic proportional valve according to an embodiment of this application is shown schematically.

[0049] Figure 3 A flowchart illustrating a method for temperature compensation of an electro-hydraulic proportional valve according to another embodiment of this application is shown schematically.

[0050] Figure 4 The diagram illustrates a preset chatter amplitude oil temperature variation curve according to an embodiment of this application.

[0051] Figure 5 The diagram illustrates a preset chatter amplitude oil temperature variation curve according to another embodiment of this application;

[0052] Figure 6 The diagram illustrates a structural block diagram of an electro-hydraulic proportional valve group controller according to an embodiment of this application.

[0053] Explanation of reference numerals in the attached figures

[0054] 1. Electro-hydraulic proportional valve assembly controller 2. Electro-hydraulic proportional valve assembly

[0055] 3 Displacement sensor 4 Input mechanism

[0056] 5 Temperature sensor 6 Main controller Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0058] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0059] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0060] Figure 1 A schematic diagram illustrates the structure of an electro-hydraulic proportional valve temperature compensation system according to an embodiment of this application. Figure 1 As shown, the system may include an electro-hydraulic proportional valve group controller 1, an electro-hydraulic proportional valve group 2, a displacement sensor 3, an input mechanism 4, a temperature sensor 5, and a main controller 6.

[0061] In this embodiment, the electro-hydraulic proportional valve group controller 1 communicates with the host controller 6 and can receive input data and oil temperature data sent by the host controller 6. The input data is the instruction information converted from the input current sent by the input mechanism 4, and the oil temperature data sent by the host controller 6 is the temperature information converted from the temperature current sent by the temperature sensor 5. The electro-hydraulic proportional valve group controller 1 also communicates with the electro-hydraulic proportional valve group 2 to determine the drive current and chatter current based on the input data and oil temperature data, and sends the drive current and chatter current to the electro-hydraulic proportional valve group 2. Then, the electro-hydraulic proportional valve group 2 moves the valve core to the target position according to the drive current and chatter current sent by the electro-hydraulic proportional valve group controller 1.

[0062] In this embodiment, the displacement sensor 3 communicates with the electro-hydraulic proportional valve group controller 1 and the electro-hydraulic proportional valve group 2 respectively, and is used to collect the actual position of the valve core of the electro-hydraulic proportional valve group 2, and send the actual position of the valve core of the electro-hydraulic proportional valve group 2 to the electro-hydraulic proportional valve group controller 1, so that the electro-hydraulic proportional valve group controller 1 corrects the driving current according to the target position of the electro-hydraulic proportional valve group 2, thereby matching the actual position and the target position of the electro-hydraulic proportional valve group 2.

[0063] In this embodiment, the input mechanism 4 and the temperature sensor 5 communicate with the host controller 6. The input mechanism 4 provides the input value for the entire system, receiving external signals and transmitting them to the host controller 6 as input current. The temperature sensor 5 records the hydraulic oil temperature of the current hydraulic circuit in real time, collecting hydraulic oil temperature data and transmitting it to the host controller 6 as temperature current. The host controller 6, also known as a programmable logic controller (PLC), is the core processing module of the entire system. One of its functions is to convert the input current sent by the input mechanism 4 into input data, convert the temperature current sent by the temperature sensor 5 into oil temperature data, and then send the input data and oil temperature data to the electro-hydraulic proportional valve group controller 1.

[0064] Figure 2 A flowchart illustrating a method for temperature compensation of an electro-hydraulic proportional valve according to an embodiment of this application is shown schematically. Figure 2 As shown, in one embodiment of this application, a method for temperature compensation of an electro-hydraulic proportional valve is provided. This embodiment mainly applies this method to the aforementioned... Figure 1 Taking the electro-hydraulic proportional valve group controller 1 as an example, the electro-hydraulic proportional valve group controller communicates with the electro-hydraulic proportional valve group, and the method may include the following steps.

[0065] In step 201, input data, oil temperature data, and preset chatter amplitude oil temperature change curve are acquired.

[0066] In this embodiment, input data includes input value data information, and oil temperature data includes information about the hydraulic oil temperature of the current hydraulic circuit. In one example, the electro-hydraulic proportional valve group controller can communicate with the host controller and receive input data and oil temperature data sent by the host controller. The host controller can obtain input current through the input mechanism and temperature current through the temperature sensor. The instruction information converted from the input current is the input data, and the temperature information converted from the temperature current is the oil temperature data.

[0067] In this embodiment, the electro-hydraulic proportional valve group controller can also store a preset chatter amplitude oil temperature change curve. The preset chatter amplitude oil temperature change curve is the relationship curve between chatter current amplitude and temperature; each oil temperature data corresponds to an optimal chatter current amplitude. To better improve the system's control performance, different amplitude values ​​can be set based on experimental data. For example, when the oil temperature is low (i.e., the viscosity is high), the chatter amplitude can be increased; when the oil temperature is high (i.e., the viscosity is low), the chatter amplitude can be decreased. By pre-determining the chatter amplitude oil temperature change curve, the electro-hydraulic proportional valve group controller can easily generate the corresponding chatter current based on the oil temperature data, thereby performing temperature compensation on the electro-hydraulic proportional valve group. The actual chatter amplitude consists of the oil temperature compensation amplitude and the basic chatter amplitude. The function of the basic chatter amplitude is to keep the valve core of the electro-hydraulic proportional valve group in a state of slight chatter at all times. In this state, the valve core can act quickly when it receives an action signal, improving the response of the hydraulic system.

[0068] In step 202, the drive current of the electro-hydraulic proportional valve assembly is determined based on the input data;

[0069] In step 203, the chatter current of the electro-hydraulic proportional valve group is determined based on the oil temperature data and the preset chatter amplitude oil temperature change curve.

[0070] In this embodiment, after acquiring input data, the electro-hydraulic proportional valve group controller can determine the drive current of the electro-hydraulic proportional valve group based on the input data. The drive current can drive the valve core of the electro-hydraulic proportional valve to move. However, in real-world scenarios, many factors restrict the control effect of the electro-hydraulic proportional valve group, among which oil temperature is particularly important. At low oil temperatures, the viscosity of the oil increases, increasing the movement resistance of the valve core; at high temperatures, the viscosity of the oil decreases, reducing the movement resistance of the valve core. Therefore, existing electro-hydraulic proportional valve groups exhibit inconsistent control characteristics at different temperatures, affecting the control effect of the hydraulic system. Therefore, in this embodiment, in addition to the drive current, a chattering current also needs to be applied to the electro-hydraulic proportional valve group.

[0071] In this embodiment, the chatter current is obtained by the electro-hydraulic proportional valve controller based on oil temperature data and a preset chatter amplitude oil temperature change curve, and is used to perform optimal temperature compensation for the electro-hydraulic proportional valve assembly. The preset chatter amplitude oil temperature change curve is the relationship curve between the chatter current amplitude and temperature; each oil temperature data corresponds to an optimal chatter current amplitude. For example, at lower oil temperatures (i.e., higher viscosity), the output flow rate corresponding to the same output signal magnitude will be less than the theoretical output flow rate, thus the chatter amplitude can be increased; at higher oil temperatures (i.e., lower viscosity), the output flow rate corresponding to the same output signal magnitude will be greater than the theoretical output flow rate, thus the chatter amplitude can be decreased. The electro-hydraulic proportional valve controller can generate a corresponding chatter current based on the oil temperature data, thereby performing temperature compensation for the electro-hydraulic proportional valve assembly.

[0072] In step 204, the drive current and chatter current are output to the electro-hydraulic proportional valve assembly so that the valve core of the electro-hydraulic proportional valve assembly moves to the target position.

[0073] In this embodiment, the electro-hydraulic proportional valve group controller outputs both drive current and chatter current to the electro-hydraulic proportional valve group, thereby controlling the valve core movement. By applying a chatter current to the electro-hydraulic proportional valve group based on the drive current, better temperature compensation can be achieved. For example, at lower oil temperatures, a larger chatter amplitude is applied to the electro-hydraulic proportional valve group, increasing its output flow rate. This results in a flow rate greater than that of an electro-hydraulic proportional valve group without temperature compensation, and closer to the theoretical output value. Similarly, as oil temperature increases, oil viscosity decreases, allowing for a smaller chatter amplitude, thus making the output flow rate of the electro-hydraulic proportional valve group even closer to the theoretical output value.

[0074] Through the above technical solution, the electro-hydraulic proportional valve group controller acquires input data, oil temperature data, and a preset chatter amplitude oil temperature change curve. Based on the input data, it determines the drive current of the electro-hydraulic proportional valve group; then, based on the oil temperature data and the preset chatter amplitude oil temperature change curve, it determines the chatter current of the electro-hydraulic proportional valve group. Finally, it outputs the drive current and chatter current to the electro-hydraulic proportional valve group, causing the valve core to move to the target position. In this way, the electro-hydraulic proportional valve group can determine the chatter current based on the oil temperature data and the preset chatter amplitude oil temperature change curve, thereby reducing the influence of temperature factors and further improving the consistency of flow output.

[0075] Figure 3 A flowchart illustrating a method for temperature compensation of an electro-hydraulic proportional valve according to another embodiment of this application is shown schematically. Figure 3 As shown, in another embodiment of this application, the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group also communicate with the displacement sensor, and the method may further include:

[0076] Step 205: Receive the actual position of the valve core of the electro-hydraulic proportional valve assembly sent by the displacement sensor;

[0077] Step 206: Correct the drive current according to the target position of the electro-hydraulic proportional valve assembly so that the actual position of the electro-hydraulic proportional valve assembly matches the target position.

[0078] In this embodiment, the displacement sensor communicates with both the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group to acquire the actual position of the valve core of the electro-hydraulic proportional valve group and send the actual position of the valve core to the electro-hydraulic proportional valve group controller. In one example, the displacement sensor can acquire the actual position of the valve core of the electro-hydraulic proportional valve group according to a preset period, such as once every 1 second; in another example, the displacement sensor can acquire the actual position of the valve core of the electro-hydraulic proportional valve group according to the acquisition command sent by the electro-hydraulic proportional valve group controller.

[0079] After receiving the actual position of the valve core of the electro-hydraulic proportional valve group from the displacement sensor, the electro-hydraulic proportional valve group controller can determine whether the actual position matches the target position. If the actual position of the valve core does not match the target position, the electro-hydraulic proportional valve group controller changes the drive current to match the actual position of the electro-hydraulic proportional valve group with the target position.

[0080] This application embodiment uses a displacement sensor to collect the actual position of the valve core of the electro-hydraulic proportional valve group, thereby realizing closed-loop control of the temperature compensation of the electro-hydraulic proportional valve group and achieving high control accuracy.

[0081] In one embodiment of this application, step 201, obtaining the preset chatter amplitude oil temperature change curve, may include:

[0082] Select a reference oil temperature;

[0083] The theoretical flow characteristic curve of the electro-hydraulic proportional valve assembly at the reference oil temperature is determined based on the flow formula.

[0084] Multiple candidate chatter amplitudes are applied to oil temperatures within a preset oil temperature range to obtain multiple candidate flow characteristic curves. Each candidate chatter amplitude satisfies the condition that the higher the oil temperature, the smaller the applied chatter amplitude.

[0085] The candidate flow characteristic curve with the highest similarity to the theoretical flow characteristic curve is determined as the preset flutter amplitude oil temperature change curve.

[0086] Specifically, the preset chatter amplitude oil temperature change curve can be a curve showing the relationship between oil temperature and chatter amplitude. At lower oil temperatures, the corresponding chatter amplitude is higher, and at higher oil temperatures, the corresponding chatter amplitude is lower.

[0087] Figure 4 This diagram schematically illustrates a preset chatter amplitude oil temperature variation curve according to an embodiment of this application. In this embodiment, a reference oil temperature can first be selected within the optimal operating temperature range of the hydraulic system as the reference point for the flow characteristic curve. The optimal operating temperature range is the preset oil temperature range. Figure 4 As shown, the preset oil temperature range is -20℃ to 80℃, and 40℃ can be selected. Then, the theoretical flow characteristic curve of the electro-hydraulic proportional valve assembly at the reference oil temperature, i.e., 40℃, is determined according to the flow formula. In this embodiment, the flow formula can satisfy the following formula:

[0088]

[0089] Where Q is the output flow rate of the electro-hydraulic proportional valve assembly, α is the flow coefficient of the electro-hydraulic proportional valve assembly, A is the area of ​​the orifice of the electro-hydraulic proportional valve assembly, ΔP is the pressure difference across the orifice of the electro-hydraulic proportional valve assembly, and ρ is the oil density of the electro-hydraulic proportional valve assembly. The oil density varies at different oil temperatures, therefore the output flow rate of the electro-hydraulic proportional valve assembly also varies. The theoretical flow characteristic curve at 40℃ can be obtained for the electro-hydraulic proportional valve assembly controller using the above flow formula.

[0090] Next, based on the influence of the chatter amplitude on the flow output, the electro-hydraulic proportional valve controller can apply multiple sets of candidate chatter amplitudes to oil temperatures within a preset range. Since the lower the oil temperature, the larger the chatter amplitude, and vice versa, each set of candidate chatter amplitudes needs to satisfy the condition that the higher the oil temperature, the smaller the applied chatter amplitude. By continuously adjusting each set of chatter amplitude-oil temperature curves, different flow characteristic curves corresponding to the electro-hydraulic proportional valve assembly can be obtained, i.e., multiple candidate flow characteristic curves.

[0091] Finally, the candidate flow characteristic curves with applied flutter amplitude are compared and analyzed with the theoretical flow characteristic curve. The candidate flow characteristic curve with the highest consistency with the theoretical characteristic curve is selected. The corresponding flutter amplitude oil temperature change curve is the preset flutter amplitude oil temperature change curve, which is the preset flutter amplitude to be applied in the end. Figure 4 As shown, the preset chatter amplitude oil temperature change curve provides a larger chatter amplitude when the oil temperature is low and a smaller chatter amplitude when the oil temperature is high.

[0092] In another embodiment of this application, step 201, obtaining the preset chatter amplitude oil temperature change curve, further includes:

[0093] Based on the flow formula, determine the theoretical flow rate corresponding to each oil temperature within the preset oil temperature range for each valve core opening within the preset valve core opening range.

[0094] For each valve core opening, the optimal chatter amplitude corresponding to each oil temperature is determined based on the theoretical flow rate corresponding to each oil temperature.

[0095] The chatter amplitude oil temperature variation curve for each valve core opening is determined based on the optimal chatter amplitude corresponding to each oil temperature.

[0096] The oil temperature change curve of the chatter amplitude for each valve core opening is determined as the preset chatter amplitude oil temperature change curve.

[0097] Specifically, while applying a chatter signal based solely on oil temperature can partially address the issue of excessive deviation between the actual and theoretical flow output values ​​of an electro-hydraulic proportional valve assembly, it still has limitations. When the valve core of the electro-hydraulic proportional valve assembly is in certain positions, the deviation from the theoretical value is significant. Therefore, the preset chatter amplitude oil temperature variation curve in this embodiment can also be a curve that considers the relationship between oil temperature and chatter amplitude changes in the valve core opening.

[0098] In this embodiment, the preset valve core opening range is the valve core opening range that needs to be calculated, for example, it can be set to -100% to 100%. The preset oil temperature range is the range of oil temperatures that need to be calculated, for example, it can be set to -20℃ to 80℃. Since the valve core opening affects the area A of the throttle orifice of the electro-hydraulic proportional valve assembly, the theoretical flow rate corresponding to each oil temperature at each valve core opening can be obtained according to the above flow rate formula. For example, with the valve core at -100% and the oil temperature set to -20℃, the chatter amplitude is adjusted to obtain the corresponding actual flow rate. The target actual flow rate that is the same as the corresponding theoretical flow rate at the current valve core opening and current oil temperature is selected, and the chatter amplitude corresponding to the target actual flow rate is determined as the optimal chatter amplitude, that is, the chatter amplitude at this time is the optimal value when the valve core is at -100% and the oil temperature is -20℃. Then, continue setting the oil temperature to -19℃, -18℃, ..., 0, ..., 79℃ and 80℃, repeating the above steps to obtain the optimal chatter amplitude for different oil temperatures with a valve core opening of -100℃. Integrating the data from -20℃ to 80℃ yields the chatter amplitude oil temperature variation curve for a valve core opening of -100%. Repeating the above steps, the chatter amplitude oil temperature variation curves for valve core openings of -99%, -98%, ..., 0, ..., 99%, and 100% are obtained respectively. Furthermore, using the above 201 curves as the preset chatter amplitude oil temperature variation curves achieves a better temperature compensation effect.

[0099] The preset chatter amplitude oil temperature change curve in this embodiment of the application not only takes into account the influence of oil temperature, but also the influence of valve core opening, which can more accurately perform temperature compensation of electro-hydraulic proportional valve group, thereby achieving a better temperature compensation effect.

[0100] Figure 5A schematic diagram illustrating a preset chatter amplitude oil temperature variation curve according to another embodiment of this application is shown. Figure 5 As shown in the embodiments of this application, the preset chatter amplitude oil temperature change curve can satisfy:

[0101] At the same oil temperature, the larger the valve core opening of the electro-hydraulic proportional valve assembly, the greater the chatter amplitude.

[0102] Specifically, the preset chatter amplitude oil temperature change curve can be related to both the valve spool opening and oil temperature of the electro-hydraulic proportional valve assembly. For example, if the target position of the valve spool in the electro-hydraulic proportional valve assembly is 20%, there will be one chatter amplitude oil temperature change curve; when the target position of the valve spool is 40%, there will be another different chatter amplitude oil temperature change curve, and so on. Different valve spool openings correspond to different chatter amplitude oil temperature change curves. Figure 5 As shown, assuming the valve core opening x3>x2>x1, the larger the valve core opening, the greater the chatter amplitude under the same oil temperature.

[0103] In this embodiment, the electro-hydraulic proportional valve group controller also communicates with the main controller, which in turn communicates with the input mechanism and the temperature sensor. Step 201, acquiring the input data and oil temperature data, may include:

[0104] Receive input data and oil temperature data sent by the host controller;

[0105] The input data sent by the host controller is the instruction information converted from the input current sent by the input mechanism, and the oil temperature data sent by the host controller is the temperature information converted from the temperature current sent by the temperature sensor.

[0106] Specifically, the input mechanism and temperature sensor communicate with the host controller. The input mechanism provides the input values ​​for the entire system, receiving external signals and transmitting them to the host controller as input current. The temperature sensor records the hydraulic oil temperature in the current hydraulic circuit in real time, acquiring the hydraulic oil temperature value and transmitting it to the host controller as temperature current. The host controller is the core processing module of the entire system. One of its functions is to convert the input current sent by the input mechanism into input data, convert the temperature current sent by the temperature sensor into oil temperature data, and then send the input data and oil temperature data to the electro-hydraulic proportional valve group controller. The electro-hydraulic proportional valve group controller obtains the necessary data by receiving the input data and oil temperature data sent by the host controller, thereby deriving the drive current and chatter current based on the input data and oil temperature data.

[0107] Figure 6 A schematic block diagram of an electro-hydraulic proportional valve group controller according to an embodiment of this application is shown. Figure 6As shown in the figure, this embodiment provides an electro-hydraulic proportional valve group controller, characterized in that it includes:

[0108] Memory 610 is configured to store instructions; and

[0109] The processor 620 is configured to retrieve instructions from the memory 610 and, when executing the instructions, to implement the aforementioned method for temperature compensation of the electro-hydraulic proportional valve.

[0110] Specifically, in this embodiment of the application, the processor 620 can be configured to:

[0111] Acquire input data, oil temperature data, and preset chatter amplitude oil temperature change curve;

[0112] Determine the drive current of the electro-hydraulic proportional valve assembly based on the input data;

[0113] The chatter current of the electro-hydraulic proportional valve group is determined based on the oil temperature data and the preset chatter amplitude oil temperature change curve.

[0114] The drive current and chatter current are output to the electro-hydraulic proportional valve assembly so that the valve core of the electro-hydraulic proportional valve assembly moves to the target position.

[0115] Furthermore, the processor 620 can also be configured as follows:

[0116] Receive the actual position of the valve core of the electro-hydraulic proportional valve assembly sent by the displacement sensor;

[0117] The drive current is corrected according to the target position of the electro-hydraulic proportional valve assembly so that the actual position of the electro-hydraulic proportional valve assembly matches the target position.

[0118] Furthermore, the processor 620 can also be configured as follows:

[0119] Obtaining the preset chatter amplitude oil temperature change curve includes:

[0120] Select a reference oil temperature;

[0121] The theoretical flow characteristic curve of the electro-hydraulic proportional valve assembly at the reference oil temperature is determined based on the flow formula.

[0122] Multiple candidate chatter amplitudes are applied to oil temperatures within a preset oil temperature range to obtain multiple candidate flow characteristic curves. Each candidate chatter amplitude satisfies the condition that the higher the oil temperature, the smaller the applied chatter amplitude.

[0123] The candidate flow characteristic curve with the highest similarity to the theoretical flow characteristic curve is determined as the preset flutter amplitude oil temperature change curve.

[0124] Furthermore, the processor 620 can also be configured as follows:

[0125] Obtaining the preset chatter amplitude oil temperature change curve also includes:

[0126] Based on the flow formula, determine the theoretical flow rate corresponding to each oil temperature within the preset oil temperature range for each valve core opening within the preset valve core opening range.

[0127] For each valve core opening, the optimal chatter amplitude corresponding to each oil temperature is determined based on the theoretical flow rate corresponding to each oil temperature.

[0128] The chatter amplitude oil temperature variation curve for each valve core opening is determined based on the optimal chatter amplitude corresponding to each oil temperature.

[0129] The oil temperature change curve of the chatter amplitude for each valve core opening is determined as the preset chatter amplitude oil temperature change curve.

[0130] In this embodiment of the application, the preset chatter amplitude oil temperature change curve satisfies:

[0131] At the same oil temperature, the larger the valve core opening of the electro-hydraulic proportional valve assembly, the greater the chatter amplitude.

[0132] In this embodiment of the application, the flow rate formula satisfies the following formula:

[0133]

[0134] Where Q is the output flow rate of the electro-hydraulic proportional valve assembly, α is the flow coefficient of the electro-hydraulic proportional valve assembly, A is the area of ​​the orifice of the electro-hydraulic proportional valve assembly, ΔP is the pressure difference across the orifice of the electro-hydraulic proportional valve assembly, and ρ is the oil density of the electro-hydraulic proportional valve assembly.

[0135] Furthermore, the processor 620 can also be configured as follows:

[0136] Receive input data and oil temperature data sent by the host controller;

[0137] The input data sent by the host controller is the instruction information converted from the input current sent by the input mechanism, and the oil temperature data sent by the host controller is the temperature information converted from the temperature current sent by the temperature sensor.

[0138] Through the above technical solution, the electro-hydraulic proportional valve group controller acquires input data, oil temperature data, and a preset chatter amplitude oil temperature change curve. Based on the input data, it determines the drive current of the electro-hydraulic proportional valve group; then, based on the oil temperature data and the preset chatter amplitude oil temperature change curve, it determines the chatter current of the electro-hydraulic proportional valve group. Finally, it outputs the drive current and chatter current to the electro-hydraulic proportional valve group, causing the valve core to move to the target position. In this way, the electro-hydraulic proportional valve group can determine the chatter current based on the oil temperature data and the preset chatter amplitude oil temperature change curve, thereby reducing the influence of temperature factors and further improving the consistency of flow output.

[0139] like Figure 1 As shown in the figure, this application embodiment provides a system for temperature compensation of an electro-hydraulic proportional valve, which may include:

[0140] The aforementioned electro-hydraulic proportional valve group controller 1;

[0141] Electro-hydraulic proportional valve assembly 2 communicates with the controller of electro-hydraulic proportional valve assembly 1 and is used to move the valve core to the target position according to the drive current and chatter current sent by the controller of electro-hydraulic proportional valve assembly 1.

[0142] In this embodiment, the electro-hydraulic proportional valve group controller 1 communicates with the electro-hydraulic proportional valve group 2 to determine the drive current and chatter current based on input data and oil temperature data, and then sends the drive current and chatter current to the electro-hydraulic proportional valve group 2. The electro-hydraulic proportional valve group 2 then moves the valve core to the target position according to the drive current and chatter current sent by the electro-hydraulic proportional valve group controller 1.

[0143] In this embodiment of the application, the system may further include:

[0144] Displacement sensor 3 communicates with both the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group to acquire the actual position of the valve core of the electro-hydraulic proportional valve group.

[0145] In this embodiment, the displacement sensor 3 communicates with the electro-hydraulic proportional valve group controller 1 and the electro-hydraulic proportional valve group 2 respectively, and is used to collect the actual position of the valve core of the electro-hydraulic proportional valve group 2, and send the actual position of the valve core of the electro-hydraulic proportional valve group 2 to the electro-hydraulic proportional valve group controller 1, so that the electro-hydraulic proportional valve group controller 1 corrects the driving current according to the target position of the electro-hydraulic proportional valve group 2, thereby matching the actual position and the target position of the electro-hydraulic proportional valve group 2.

[0146] In this embodiment of the application, the system may further include:

[0147] Input mechanism 4 is used to send input current to host controller 6;

[0148] Temperature sensor 5 is used to send temperature current to host controller 6;

[0149] The main controller 6 communicates with the input mechanism 4, the temperature sensor 5, and the electro-hydraulic proportional valve group controller 1 respectively. It is used to convert the input current sent by the input mechanism into input data, convert the temperature current sent by the temperature sensor into oil temperature data, and send the input data and oil temperature data to the electro-hydraulic proportional valve group controller.

[0150] In this embodiment, the electro-hydraulic proportional valve group controller 1 communicates with the host controller 6, and the input mechanism 4 and temperature sensor 5 also communicate with the host controller 6. The electro-hydraulic proportional valve group controller 1 can receive input data and oil temperature data sent by the host controller 6. The input data is the instruction information converted from the input current sent by the input mechanism 4, and the oil temperature data sent by the host controller 6 is the temperature information converted from the temperature current sent by the temperature sensor 5. The input mechanism 4 is the input value for the entire system, used to receive external signals and transmit them to the host controller 6 in the form of input current. The temperature sensor 5 can record the hydraulic oil temperature value of the current hydraulic circuit in real time, used to collect hydraulic oil temperature values, and transmit them to the host controller 6 in the form of temperature current. The host controller 6 is the core processing module of the entire system. One of its functions is to convert the input current sent by the input mechanism 4 into input data, convert the temperature current sent by the temperature sensor 5 into oil temperature data, and then send the input data and oil temperature data to the electro-hydraulic proportional valve group controller 1.

[0151] Through the above technical solution, the electro-hydraulic proportional valve group controller 1 can acquire input data, oil temperature data, and a preset chatter amplitude oil temperature change curve sent by the host controller. Based on the input data, it determines the drive current of the electro-hydraulic proportional valve group 2; then, based on the oil temperature data and the preset chatter amplitude oil temperature change curve, it determines the chatter current of the electro-hydraulic proportional valve group 2. Finally, it outputs the drive current and chatter current to the electro-hydraulic proportional valve group 2, causing the valve core of the electro-hydraulic proportional valve group 2 to move to the target position. In this way, the electro-hydraulic proportional valve group can determine the chatter current based on the oil temperature data and the preset chatter amplitude oil temperature change curve, thereby reducing the influence of temperature factors and further improving the consistency of flow output. Simultaneously, by communicating with each other, the electro-hydraulic proportional valve group controller 1, the electro-hydraulic proportional valve group 2, and the displacement sensor 3 can obtain the actual position of the electro-hydraulic proportional valve group 2 in real time, thereby achieving closed-loop control of the temperature compensation of the electro-hydraulic proportional valve group 2 and improving the temperature compensation accuracy of the electro-hydraulic proportional valve group 2.

[0152] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for temperature compensation of an electro-hydraulic proportional valve.

[0153] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0158] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0159] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0160] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0161] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for temperature compensation of an electro-hydraulic proportional valve, characterized in that, A method for use in an electro-hydraulic proportional valve group controller, wherein the electro-hydraulic proportional valve group controller communicates with an electro-hydraulic proportional valve group, includes: Acquire input data, oil temperature data, and preset chatter amplitude oil temperature change curve; The drive current of the electro-hydraulic proportional valve assembly is determined based on the input data. The chatter current of the electro-hydraulic proportional valve group is determined based on the oil temperature data and the preset chatter amplitude oil temperature change curve. The drive current and chatter current are output to the electro-hydraulic proportional valve assembly so that the valve core of the electro-hydraulic proportional valve assembly moves to the target position; Among them, obtaining the preset chatter amplitude oil temperature change curve includes: Select a reference oil temperature; The theoretical flow characteristic curve of the electro-hydraulic proportional valve assembly at the reference oil temperature is determined according to the flow formula. Multiple candidate chatter amplitudes are applied to oil temperatures within a preset oil temperature range to obtain multiple candidate flow characteristic curves. Each candidate chatter amplitude satisfies the condition that the higher the oil temperature, the smaller the applied chatter amplitude. The candidate flow characteristic curve with the highest similarity to the theoretical flow characteristic curve is determined as the preset flutter amplitude oil temperature change curve.

2. The method according to claim 1, characterized in that, The electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group also communicate with displacement sensors, and the method further includes: Receive the actual position of the valve core of the electro-hydraulic proportional valve assembly sent by the displacement sensor; The drive current is corrected according to the target position of the electro-hydraulic proportional valve assembly so that the actual position of the electro-hydraulic proportional valve assembly matches the target position.

3. The method according to claim 1, characterized in that, Obtaining the preset chatter amplitude oil temperature change curve also includes: Based on the flow formula, determine the theoretical flow rate corresponding to each oil temperature within the preset oil temperature range for each valve core opening within the preset valve core opening range. For each valve core opening, the optimal chatter amplitude corresponding to each oil temperature is determined based on the theoretical flow rate corresponding to each oil temperature. The chatter amplitude oil temperature variation curve for each valve core opening is determined based on the optimal chatter amplitude corresponding to each oil temperature. The oil temperature change curve of the chatter amplitude for each valve core opening is determined as the preset chatter amplitude oil temperature change curve.

4. The method according to claim 3, characterized in that, The preset chatter amplitude oil temperature change curve satisfies: Under the same oil temperature, the larger the valve core opening of the electro-hydraulic proportional valve assembly, the greater the chatter amplitude.

5. The method according to claim 1 or 3, characterized in that, The flow rate formula satisfies the following formula: ； in, The flow rate value output by the electro-hydraulic proportional valve assembly. The flow coefficient of the electro-hydraulic proportional valve assembly. Let be the area of ​​the throttling orifice of the electro-hydraulic proportional valve assembly. The pressure difference across the throttle orifice of the electro-hydraulic proportional valve assembly. The oil density of the electro-hydraulic proportional valve assembly.

6. The method according to claim 1, characterized in that, The electro-hydraulic proportional valve group controller also communicates with the main controller, which in turn communicates with the input mechanism and the temperature sensor to acquire input data and oil temperature data, including: Receive input data and oil temperature data sent by the host controller; The input data sent by the host controller is the instruction information converted from the input current sent by the input mechanism, and the oil temperature data sent by the host controller is the temperature information converted from the temperature current sent by the temperature sensor.

7. An electro-hydraulic proportional valve group controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for temperature compensation of the electro-hydraulic proportional valve according to any one of claims 1 to 6.

8. A system for temperature compensation of an electro-hydraulic proportional valve, characterized in that, include: The electro-hydraulic proportional valve group controller according to claim 7; An electro-hydraulic proportional valve assembly communicates with the electro-hydraulic proportional valve assembly controller and is used to move the valve core to the target position according to the drive current and chatter current sent by the electro-hydraulic proportional valve assembly controller.

9. The system according to claim 8, characterized in that, Also includes: The displacement sensor communicates with both the electro-hydraulic proportional valve group controller and the electro-hydraulic proportional valve group to acquire the actual position of the valve core of the electro-hydraulic proportional valve group.

10. The system according to claim 8, characterized in that, Also includes: Input mechanism, used to send input current to the host controller; A temperature sensor is used to send a temperature current to the host controller; The host controller communicates with the input mechanism, the temperature sensor, and the electro-hydraulic proportional valve group controller, respectively, and is used to convert the input current sent by the input mechanism into input data, convert the temperature current sent by the temperature sensor into oil temperature data, and send the input data and the oil temperature data to the electro-hydraulic proportional valve group controller.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of electro-hydraulic proportional valve temperature compensation according to any one of claims 1 to 6.

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