Control method for directional valve, storage medium, controller, and control system

Abstract

The embodiment of the application provides a control method, a storage medium, a controller and a control system for a directional valve. The method comprises: after a handle is started and controls an electromagnetic valve to run, obtaining an oil flow rate of an oil passage at each of a current time and any two historical times adjacent to the current time, the oil flow rate at each time being detected by a flow sensor after the electromagnetic valve runs at an output current at each time, and the output current at each time being determined according to a pulling angle of the handle at each time; determining a target running current of the electromagnetic valve at the current time according to the oil flow rate; and controlling the electromagnetic valve to run at the target running current to update the oil flow rate of the oil passage at the current time, so that the oil flow rate of the oil passage at the current time is linearly related to the pulling angle of the handle at the current time, impact of a valve rod in a movement process is avoided, and smoothness of running of the valve rod is greatly improved.

Description

Technical Field

[0001] This application relates to the field of mechanical control, and more specifically to a control method, storage medium, controller, and control system for a directional valve. Background Technology

[0002] For cranes, proportional directional valves are generally used to control the proportional control of current and motion displacement, thereby enabling actions such as hoisting, luffing, extension, and slewing.

[0003] Currently, due to differences in manufacturing processes for components such as the valve stem and spring in proportional directional valves, as well as the influence of temperature drift in solenoid valves, the directional valves often exhibit untimely responses when operated by a handle. Furthermore, current methods utilize constant-current control devices to improve the micro-motion performance of proportional directional valves. However, this method controls the micro-motion performance of the proportional directional valve by outputting the same micro-current, keeping the oil flow between the valve stem and valve body constant. This, to some extent, affects the valve stem movement, and it does not consider the impact of the handle angle on micro-motion performance. Excessive changes in the handle angle can lead to large differences in valve stem displacement during operation, potentially causing impacts and reducing the stability of the valve stem during movement. Summary of the Invention

[0004] The purpose of this application is to provide a control method, storage medium, controller, and control system for a directional valve.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for a directional valve, applied to a controller. The directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both a handle and the valve stem. An oil passage is provided between the valve stem and the valve body, and hydraulic oil is stored in the oil passage. The flow sensor is used to detect the flow rate of the hydraulic oil. The control method includes:

[0006] After the handle is activated and the solenoid valve is operated, the oil flow rate of the oil passage is obtained at each time in the current time and any two historical times adjacent to the current time. The oil flow rate at each time is detected by the flow sensor after the solenoid valve operates under the output current at each time. The output current at each time is determined according to the angle of the handle at each time.

[0007] Determine the target operating current of the solenoid valve at the current moment based on the oil flow rate;

[0008] The solenoid valve is controlled to operate at the target operating current to update the oil flow rate in the oil passage at the current moment.

[0009] In this embodiment of the application, determining the target operating current of the solenoid valve at the current moment based on the oil flow rate includes: determining the current adjustment coefficient of the solenoid valve at the current moment based on the oil flow rate at the current moment and at each of the two historical moments, and the actuation angle of the handle at each moment; determining the feedback current of the solenoid valve at the current moment based on the current adjustment coefficient and the current operating current of the solenoid valve at the current moment; and determining the target operating current based on the feedback current and the current operating current.

[0010] In this embodiment, the current adjustment coefficient is determined by formula (1):

[0011]

[0012] Where h refers to the current adjustment coefficient, Q(i+1) refers to the oil flow rate at time i+1, Q(i) refers to the oil flow rate at time i, Q(i-1) refers to the oil flow rate at time i-1, α(i+1) refers to the toggle angle at time i+1, α(i) refers to the toggle angle at time i, and α(i-1) refers to the toggle angle at time i-1. Here, time i+1 refers to the current time, and time i and time i-1 refer to two historical times adjacent to the current time.

[0013] In this embodiment, the directional valve further includes a displacement sensor, and the control method further includes: after the solenoid valve operates under a preset current and the valve stem moves, the displacement sensor is used to obtain the displacement of the valve stem; the target current of the handle is determined based on the displacement, so that the handle is activated under the target current and controls the operation of the solenoid valve.

[0014] In this embodiment of the application, determining the target current of the handle based on the displacement includes: when the absolute value of the displacement is equal to a preset value, determining the preset current as the target current; when the absolute value of the displacement is not equal to the preset value, adjusting the preset current based on the absolute value of the displacement and the displacement adjustment coefficient; controlling the solenoid valve to operate under the adjusted preset current, and obtaining the updated displacement of the valve stem until the absolute value of the updated displacement is equal to the preset value, and determining the adjusted preset current as the target current.

[0015] A second aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for a directional valve.

[0016] A third aspect of this application provides a controller configured to perform the control method described above for a directional valve.

[0017] A fourth aspect of this application provides a control system for a directional valve, the control system comprising:

[0018] handle;

[0019] A directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both a handle and the valve stem to drive the valve stem. An oil passage exists between the valve body and the valve stem, storing hydraulic oil. The flow sensor detects the flow rate of the hydraulic oil.

[0020] The aforementioned controller.

[0021] In this embodiment, the directional valve further includes a displacement sensor for detecting the displacement of the valve stem during movement.

[0022] The fifth aspect of this application provides a control method for a directional valve, applied to a control system of the directional valve. The control system includes a handle, a directional valve, and a controller. The directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both the handle and the valve stem. An oil passage is provided between the valve stem and the valve body, and hydraulic oil is stored in the oil passage. The flow sensor is used to detect the flow rate of the hydraulic oil. The control method includes:

[0023] After the handle is started, the handle determines the output current at the current time and at each of the two historical times based on the angle of the lever at the current time and any two historical times adjacent to the current time.

[0024] At each moment, the solenoid valve operates with the output current corresponding to that moment, so that the valve stem connected to the solenoid valve moves relative to the valve body, thereby allowing the hydraulic oil in the oil passage to flow.

[0025] The flow sensor detects the oil flow rate in the oil channel at each moment and sends the oil flow rate to the controller;

[0026] The controller determines the target operating current of the solenoid valve at the current moment based on the oil flow rate at each moment;

[0027] The controller controls the solenoid valve to operate at the target operating current in order to update the oil flow rate in the oil passage at the current moment.

[0028] In this embodiment of the application, the control method further includes: the handle is activated under a preset current; the solenoid valve operates under a preset current to move the valve stem relative to the valve body; a displacement sensor detects the displacement of the valve stem relative to the valve body and sends the displacement to the controller; the controller determines the target current of the handle based on the displacement to activate the handle under the target current and control the operation of the solenoid valve.

[0029] The above technical solution determines the target operating current of the solenoid valve at the current moment based on the oil flow rate of the oil passage at each moment, and controls the solenoid valve to operate under the target operating current to update the oil flow rate of the oil passage at the current moment. This makes the oil flow rate of the oil passage at the current moment linearly related to the actuation angle of the handle at the current moment, avoiding excessive impact on the valve stem during movement and greatly improving the stability of the valve stem operation.

[0030] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] 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:

[0032] Figure 1 The schematic diagram illustrates the structure of a control system for a directional valve according to an embodiment of this application;

[0033] Figure 2 A schematic flowchart of a control method for a directional valve according to an embodiment of this application is shown.

[0034] Figure 3 A schematic flowchart of a control method for a directional valve according to another embodiment of this application is shown.

[0035] Figure 4 A schematic flowchart of a control method for a directional valve according to yet another embodiment of this application is shown.

[0036] Figure 5 A timing diagram of a control method for a directional valve according to an embodiment of this application is illustrated schematically.

[0037] Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0038] 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.

[0039] In one embodiment, a control system for a directional valve is provided, the control system comprising:

[0040] handle;

[0041] A directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both a handle and the valve stem to drive the valve stem. An oil passage exists between the valve body and the valve stem, storing hydraulic oil. The flow sensor detects the flow rate of the hydraulic oil.

[0042] Controller.

[0043] The handle can refer to an electrically operated handle. The directional valve can refer to a proportional directional valve. The directional valve includes a solenoid valve, valve stem, valve body, and flow sensor. The handle is connected to the solenoid valve, which can be electrically. The solenoid valve is connected to the valve stem, which can be mechanically. The installation position of the flow sensor can be customized according to actual needs. For example, the flow sensor can be installed at any position on the inner surface of the oil passage. After the handle is activated, the solenoid valve is energized, thereby driving the valve stem to move relative to the valve body. When the valve stem moves, the flow rate of the hydraulic oil in the oil passage changes. At this time, the flow sensor detects the hydraulic oil flow rate in the oil passage and can transmit the detected flow rate to the controller wirelessly or via wired connection. The controller can acquire the flow rate transmitted by the flow sensor and can further process the flow rate.

[0044] In one embodiment, the directional valve further includes a displacement sensor for detecting the displacement of the valve stem during movement.

[0045] The directional valve may also include a displacement sensor. The installation location of the displacement sensor can be customized according to actual needs. The displacement sensor is used to detect the displacement of the valve stem during movement. After the handle is actuated, the solenoid valve is energized, thereby driving the valve stem to move relative to the valve body. During valve stem movement, the displacement sensor detects the displacement and can transmit this displacement to the controller wirelessly or via a wired connection. The controller can then obtain the displacement of the valve stem and perform further processing on it.

[0046] For example, such as Figure 1The diagram shows a structural schematic of a control system for a directional valve. The control system includes an electric control handle, a proportional directional valve, and a communication processing module. The proportional directional valve includes a solenoid valve, a return spring, a displacement sensor, a valve stem, and a flow sensor. The electric control handle is electrically connected to the solenoid valve, which is connected to the valve stem via the return spring. The return spring is connected to the displacement sensor. When the return spring extends or retracts laterally, the displacement sensor detects the movement of the valve stem. An oil passage is provided between the valve stem and the valve body of the directional valve. Hydraulic oil is stored in the oil passage. A flow sensor is installed in the oil passage. Ports A and B are used for the flow of hydraulic oil in the oil passage.

[0047] After the electric control handle is activated, the solenoid valve is energized, causing the return spring to extend and retract laterally, thereby driving the valve stem to move. During valve stem movement, a displacement sensor detects the displacement, and a flow sensor detects the hydraulic oil flow rate in the hydraulic passage. The displacement sensor can then transmit this displacement data wirelessly or via a wired connection to the communication processing module, and the flow sensor can transmit the hydraulic oil flow rate data wirelessly or via a wired connection to the same module. The communication processing module can acquire the valve stem displacement and the hydraulic oil flow rate, and can further process this data to change the current to the solenoid valve, thereby altering the hydraulic oil flow rate.

[0048] Figure 2 A schematic flowchart of a control method for a directional valve according to an embodiment of this application is shown. Figure 2 As shown, in one embodiment of this application, a control method for a directional valve is provided, applied to a controller, comprising the following steps:

[0049] Step 201: After the handle is started and the solenoid valve is operated, the oil flow rate of the oil passage is obtained at each time in the current time and any two historical times adjacent to the current time. The oil flow rate at each time is detected by the flow sensor after the solenoid valve runs under the output current at each time. The output current at each time is determined according to the angle of the handle at each time.

[0050] Step 202: Determine the target operating current of the solenoid valve at the current moment based on the oil flow rate.

[0051] Step 203: Control the solenoid valve to operate at the target operating current to update the oil flow rate in the oil passage at the current moment.

[0052] When controlling the directional valve, the user can activate and operate the handle, for example, by turning the handle at different angles. The handle can determine the output current at each moment based on the turning angle at the current moment and any two adjacent historical moments. The handle can output a current to the solenoid valve at each moment to energize the solenoid valve, causing it to operate at the output current at that moment. When the solenoid valve operates at each moment, it drives the valve stem to move relative to the valve body, thus changing the flow rate of hydraulic oil in the oil passage at each moment. The flow sensor can detect the oil flow rate in the oil passage at each moment and send it to the controller.

[0053] The controller can acquire the oil flow rate in the oil passage at each moment. Then, the controller can determine the target operating current of the solenoid valve at the current moment based on the oil flow rate at each moment. That is, the operating current of the solenoid valve at the current moment can be updated based on the oil flow rate at each moment. The updated operating current can refer to the target operating current. The operating current can refer to the output current from the handle to the solenoid valve. After determining the target operating current at the current moment, the controller can further control the solenoid valve to operate at the target operating current to update the oil flow rate in the oil passage at the current moment. At this time, the actuation angle of the handle at the current moment has a linear relationship with the oil flow rate in the oil passage at the current moment.

[0054] The above technical solution determines the target operating current of the solenoid valve at the current moment based on the oil flow rate of the oil passage at each moment, and controls the solenoid valve to operate under the target operating current to update the oil flow rate of the oil passage at the current moment. This makes the oil flow rate of the oil passage at the current moment linearly related to the actuation angle of the handle at the current moment, avoiding excessive impact on the valve stem during movement and greatly improving the stability of the valve stem operation.

[0055] In one embodiment, determining the target operating current of the solenoid valve at the current moment based on the oil flow rate includes: determining the current adjustment coefficient of the solenoid valve at the current moment based on the oil flow rate at the current moment and at each of the two historical moments, and the actuation angle of the handle at each moment; determining the feedback current of the solenoid valve at the current moment based on the current adjustment coefficient and the current operating current of the solenoid valve at the current moment; and determining the target operating current based on the feedback current and the current operating current.

[0056] In one embodiment, the current adjustment coefficient is determined by formula (1):

[0057]

[0058] Where h refers to the current adjustment coefficient, Q(i+1) refers to the oil flow rate at time i+1, Q(i) refers to the oil flow rate at time i, Q(i-1) refers to the oil flow rate at time i-1, α(i+1) refers to the toggle angle at time i+1, α(i) refers to the toggle angle at time i, and α(i-1) refers to the toggle angle at time i-1. Here, time i+1 refers to the current time, and time i and time i-1 refer to two historical times adjacent to the current time.

[0059] The controller can determine the current adjustment coefficient of the solenoid valve at the current moment based on the oil flow rate at the current moment and at each of the two historical moments, as well as the actuation angle of the handle at each moment. Specifically, the current adjustment coefficient can be determined according to the formula (1) above. After determining the current adjustment coefficient, the controller can determine the feedback current of the solenoid valve at the current moment based on the current adjustment coefficient and the current operating current of the solenoid valve at the current moment. Specifically, the product of the current adjustment coefficient and the current operating current can be determined first, and the difference between the current operating current and the product can be determined as the feedback current of the solenoid valve at the current moment. Further, the controller can determine the target operating current of the solenoid valve at the current moment based on the feedback current and the current operating current. Specifically, the sum of the feedback current and the current operating current can be determined as the target operating current.

[0060] In one embodiment, the directional valve further includes a displacement sensor, and the control method further includes: after the solenoid valve operates under a preset current and the valve stem moves, the displacement sensor is used to obtain the displacement of the valve stem; the target current of the handle is determined based on the displacement, so that the handle is activated under the target current and controls the operation of the solenoid valve.

[0061] The preset current is greater than the minimum starting current of the handle. That is, the preset current can refer to any current greater than the minimum starting current. To improve the valve stem's response speed, the current at which the handle starts can be set. Specifically, after the handle starts at the preset current, it outputs that preset current to the solenoid valve, causing the solenoid valve to operate at that preset current, thereby moving the valve stem relative to the valve body. Afterward, the displacement sensor detects the valve stem's displacement and sends the detected displacement to the controller. After acquiring the valve stem's displacement, the controller determines the target current for the handle based on the displacement. The handle can then start and operate the solenoid valve at the target current. The target current can refer to the optimal starting current of the handle. When the handle operates at the target current, the valve stem responds in a shorter time.

[0062] In one embodiment, determining the target current of the handle based on the displacement includes: if the absolute value of the displacement is equal to a preset value, determining the preset current as the target current; if the absolute value of the displacement is not equal to the preset value, adjusting the preset current based on the absolute value of the displacement and a displacement adjustment coefficient; controlling the solenoid valve to operate under the adjusted preset current, and obtaining the updated displacement of the valve stem until the absolute value of the updated displacement is equal to the preset value, and determining the adjusted preset current as the target current.

[0063] The controller can compare the valve stem's displacement with a preset value. This preset value can be customized based on actual conditions. When the absolute value of the displacement equals the preset value, the controller can determine the preset current as the target current. For example, to improve the valve stem's response speed, the preset value can be set to 0. If the absolute value of the valve stem's displacement is 0, the valve stem is already in a critical state; increasing the solenoid valve current will result in a rapid response. In this case, the preset current is the optimal starting current for the handle, and the controller can determine the target current for the handle as this preset current.

[0064] If the absolute value of the displacement is not equal to the preset value, the controller can adjust the preset current based on the absolute value of the displacement and the displacement adjustment coefficient. Then, the controller can control the solenoid valve to operate under the adjusted preset current and obtain the updated displacement of the valve stem until the absolute value of the updated displacement equals the preset value, at which point the adjusted preset current is determined as the target current. For example, if the absolute value of the valve stem's displacement is not equal to 0, the valve stem is not yet in a critical state. In this case, the preset current can be further adjusted until the adjusted preset current makes the valve stem's displacement 0, and this adjusted preset current can be determined as the target current.

[0065] The above technical solution determines the target operating current of the solenoid valve at the current moment based on the oil flow rate in the oil passage at each moment, and controls the solenoid valve to operate under the target operating current to update the oil flow rate in the oil passage at the current moment. This ensures that the oil flow rate in the oil passage at the current moment has a linear relationship with the lever's actuation angle at the current moment, avoiding excessive impact on the valve stem during movement and significantly improving the smoothness of valve stem operation. Simultaneously, enabling the lever to start under the target current reduces the influence of electromagnetic temperature drift, optimizes the micro-displacement response of the valve stem, significantly improves the valve stem's response speed, and reduces the valve stem's response time.

[0066] Figure 3 A schematic flowchart of a control method for a directional valve according to another embodiment of this application is shown. Figure 3As shown, in one embodiment of this application, a control method for a directional valve is provided, applied to a control system of the directional valve. The control system includes a handle, a directional valve, and a controller. The directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both the handle and the valve stem. An oil passage is provided between the valve stem and the valve body, and hydraulic oil is stored in the oil passage. The flow sensor is used to detect the flow rate of the hydraulic oil. The method includes the following steps:

[0067] Step 301: After the handle is started, the handle determines the output current at the current time and at each of the two historical times based on the angle of the lever at the current time and any two historical times adjacent to the current time.

[0068] Step 302: At each moment, the solenoid valve operates at the output current corresponding to each moment, so that the valve stem connected to the solenoid valve moves relative to the valve body, so that the hydraulic oil in the oil passage flows.

[0069] Step 303: The flow sensor detects the oil flow rate in the oil channel at each moment and sends the oil flow rate to the controller.

[0070] Step 304: The controller determines the target operating current of the solenoid valve at the current moment based on the oil flow rate at each moment.

[0071] Step 305: The controller controls the solenoid valve to operate at the target operating current in order to update the oil flow rate in the oil passage at the current moment.

[0072] After the handle is activated, it determines the output current for each of the current and two adjacent historical times based on the actuation angle at the current moment and any two adjacent historical times. The handle can output a current to the solenoid valve at each moment, energizing the solenoid valve and causing it to operate under the output current at that moment. When the solenoid valve operates under the output current corresponding to each moment, the valve stem connected to the solenoid valve moves relative to the valve body, allowing hydraulic oil to flow in the oil passage. At this time, the flow sensor detects the oil flow rate in the oil passage at each moment and sends the flow rate information to the controller.

[0073] The controller can acquire the oil flow rate in the oil passage at each moment. Then, the controller can determine the target operating current of the solenoid valve at the current moment based on the oil flow rate at each moment. That is, the operating current of the solenoid valve at the current moment can be updated based on the oil flow rate at each moment. The updated operating current can refer to the target operating current. The operating current can refer to the output current from the handle to the solenoid valve. After determining the target operating current at the current moment, the controller can further control the solenoid valve to operate at the target operating current to update the oil flow rate in the oil passage at the current moment. At this time, the actuation angle of the handle at the current moment has a linear relationship with the oil flow rate in the oil passage at the current moment.

[0074] In one embodiment, the control method further includes: the handle being activated under a preset current; the solenoid valve operating under a preset current to move the valve stem relative to the valve body; a displacement sensor detecting the displacement of the valve stem relative to the valve body and sending the displacement to the controller; and the controller determining the target current of the handle based on the displacement to activate the handle under the target current and control the operation of the solenoid valve.

[0075] The preset current is greater than the minimum starting current of the handle. That is, the preset current can refer to any current greater than the minimum starting current. After the handle is started at the preset current, it outputs that preset current to the solenoid valve, causing the solenoid valve to operate at that preset current, thereby moving the valve stem relative to the valve body. Afterward, the displacement sensor detects the movement of the valve stem and sends the detected displacement to the controller. After receiving the valve stem displacement, the controller determines the target current of the handle based on the displacement. The handle can be started and operate the solenoid valve at the target current. The target current can refer to the optimal starting current of the handle. When the handle operates at the target current, the valve stem responds in a shorter time.

[0076] In one embodiment, such as Figure 4 As shown, a flowchart illustrating another control method for directional valves is provided.

[0077] First, the handle can be activated with a current value A higher than the minimum starting current. Then, the solenoid valve can operate at current value A, causing the valve stem to move relative to the valve stem, thereby changing the oil flow rate in the oil passage. At this time, the displacement sensor can measure the valve stem displacement X and send it to the communication processing module. The communication processing module can determine whether the absolute value of the valve stem displacement |X| is not equal to 0. If the absolute value of the valve stem displacement |X| is equal to 0, the starting current A1 of the electric handle can be determined, and this starting current A1 is the current value A.

[0078] When the absolute value of the valve stem displacement |X| is not equal to 0, the absolute value of the valve stem displacement |X| can be multiplied by the feedback coefficient K to obtain |X|*K. Then, the updated starting current value, A-|X|*K, can be obtained, and the solenoid valve can be operated at this updated starting current value. At this time, the displacement sensor can detect the updated valve stem displacement again until the updated valve stem displacement equals 0, and determine the starting current A1 of the electric control handle. This starting current A1 is the updated starting current value. The aforementioned starting current A1 can refer to the critical motion current of the valve stem. By setting the critical motion current, if the handle is started with the starting current A1, the valve stem can be kept in a critical state, optimizing the valve stem response time.

[0079] After the handle operates under the starting current A1, the user can actuate the handle at times i-1, i, and i+1. The actuation angle at time i-1 is α(i-1), at time i is α(i), and at time i+1 is α(i+1). The handle can determine the output current at each time based on the actuation angle at each of these times. The handle can output the corresponding current to the solenoid valve at each time. The solenoid valve can operate under operating currents A(i-1), A(i), and A(i+1) respectively, causing the valve stem to move relative to the valve body at times i-1, i, and i+1, thereby allowing hydraulic oil to flow in the oil passage.

[0080] The flow sensor can detect the oil flow rate Q(i-1), Q(i), and Q(i+1) at each moment. Then, based on... Determine the first slope, and according to Determine the second slope. Then, based on... Determine the slope ratio h, and then determine the feedback solenoid valve input current AF according to AF = A(i+1) - A(i+1) * h. Here, the slope ratio can refer to the current adjustment coefficient mentioned above, and the feedback solenoid valve input current can refer to the feedback current mentioned above. After determining the feedback current AF of the solenoid valve at the current moment, the target operating current of the solenoid valve at time i+1 can be determined according to A(i+1) = A(i+1) + AF. That is, the target operating current is the sum of the feedback current AF and the current operating current A(i+1) of the solenoid valve at the current moment. The solenoid valve can operate under the target operating current to update the oil flow rate in the oil passage at the current moment. This scheme, by linearly adjusting the oil flow rate, maintains a linear ratio between the handle angle and the flow rate, optimizing the operating performance.

[0081] In one embodiment, such as Figure 5 As shown, a timing diagram for a control method for a directional valve is provided.

[0082] The directional valve includes a solenoid valve, a valve stem, a valve body, a displacement sensor, and a flow sensor. The solenoid valve is connected to both the handle and the valve stem. A hydraulic passage exists between the valve stem and the valve body, storing hydraulic oil. The displacement sensor detects the displacement of the valve stem during movement, and the flow sensor detects the flow rate of the hydraulic oil. The handle is activated with current A, and the solenoid valve operates under current A to drive the valve stem relative to the valve body. The displacement sensor then detects the displacement of the valve stem and sends it to the controller. The controller can determine the target current for the handle based on the displacement. The target current may refer to the optimal starting current of the handle. When the handle operates under the target current, the valve stem responds within a shorter time.

[0083] Specifically, the controller can compare the valve stem's displacement with a preset value. This preset value can be customized based on actual conditions. When the absolute value of the displacement equals the preset value, the controller can determine the preset current as the target current. For example, to improve the valve stem's response speed, the preset value can be set to 0. If the absolute value of the valve stem's displacement is 0, the valve stem is already in a critical state; increasing the solenoid valve current will result in a rapid response. In this case, the preset current is the optimal starting current for the handle, and the controller can determine this preset current as the target current for the handle. When the absolute value of the displacement does not equal the preset value, the controller can adjust the preset current based on the absolute value of the displacement and a displacement adjustment coefficient. The controller then controls the solenoid valve to operate under the adjusted preset current and obtains the updated valve stem displacement until the absolute value of the updated displacement equals the preset value, at which point the adjusted preset current is determined as the target current. For example, if the absolute value of the valve stem's displacement is not 0, the valve stem is not yet in a critical state. At this point, the preset current can be further adjusted until the adjusted preset current can make the valve stem displacement zero, and the adjusted preset current can be determined as the target current.

[0084] After determining the target current for the handle, the controller sends the target current to the handle. The handle can be activated with the target current, and the output current B at each time step (t-1, t, and t+1) is determined. The solenoid valve operates at the output current B at each time step, causing the valve stem to move relative to the valve body. Subsequently, the flow sensor detects the oil flow rate in the oil passage at each time step and sends this flow rate data to the controller. Upon receiving the oil flow rate data at each time step, the controller determines the target operating current of the solenoid valve based on the flow rate.

[0085] Specifically, the controller can determine the current adjustment coefficient of the solenoid valve at the current moment based on the oil flow rate at the current moment and at each of the two historical moments, as well as the actuation angle of the handle at each moment. Specifically, the current adjustment coefficient can be determined based on... The parameters are determined as follows: h refers to the current adjustment coefficient, Q(i+1) refers to the oil flow rate at time i+1, Q(i) refers to the oil flow rate at time i, Q(i-1) refers to the oil flow rate at time i-1, α(i+1) refers to the actuation angle at time i+1, α(i) refers to the actuation angle at time i, and α(i-1) refers to the actuation angle at time i-1. Here, time i+1 refers to the current time, and time i and time i-1 refer to two historical times adjacent to the current time. After determining the current adjustment coefficient, the controller can determine the feedback current of the solenoid valve at the current time based on the current adjustment coefficient and the current operating current of the solenoid valve. Specifically, the product of the current adjustment coefficient and the current operating current can be determined first, and the difference between the current operating current and this product can be determined as the feedback current of the solenoid valve at the current time. Further, the controller can determine the target operating current of the solenoid valve at the current time based on the feedback current and the current operating current. Specifically, the sum of the feedback current and the current operating current can be determined as the target operating current.

[0086] After determining the target operating current, the controller can control the solenoid valve to operate at the target operating current. Specifically, the controller can send the target operating current to the solenoid valve so that the solenoid valve operates at the target operating current.

[0087] The above technical solution involves installing a displacement sensor and a flow sensor on the directional valve. A control current is pre-input into the handle to move the valve stem, and the displacement sensor detects this stem displacement. The handle current is continuously adjusted via feedback until it reaches the critical point of valve stem movement, allowing for timely response through displacement feedback. Furthermore, during movement, the feedback mechanism is used again to adjust the relationship between the handle angle and the flow rate, achieving linear valve stem movement and effectively maintaining smooth operation of the actuator.

[0088] Figure 2-4 This is a flowchart illustrating a control method for a directional valve in one embodiment. It should be understood that, although... Figure 2-4 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2-4At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0089] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the control method described above for a directional valve.

[0090] In one embodiment, a processor is provided for running a program, wherein the program executes the control method described above for the directional valve.

[0091] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data such as the target operating current. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a control method for a directional valve.

[0092] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: after the handle is activated and the solenoid valve is operated, the oil flow rate of the oil passage is obtained at each time in the current moment and any two historical moments adjacent to the current moment. The oil flow rate at each moment is detected by the flow sensor after the solenoid valve operates under the output current at each moment. The output current at each moment is determined according to the angle of the handle at each moment. The target operating current of the solenoid valve at the current moment is determined according to the oil flow rate. The solenoid valve is controlled to operate under the target operating current to update the oil flow rate of the oil passage at the current moment.

[0094] In one embodiment, determining the target operating current of the solenoid valve at the current moment based on the oil flow rate includes: determining the current adjustment coefficient of the solenoid valve at the current moment based on the oil flow rate at the current moment and at each of the two historical moments, and the actuation angle of the handle at each moment; determining the feedback current of the solenoid valve at the current moment based on the current adjustment coefficient and the current operating current of the solenoid valve at the current moment; and determining the target operating current based on the feedback current and the current operating current.

[0095] In one embodiment, the current adjustment coefficient is determined by formula (1):

[0096]

[0097] Where h refers to the current adjustment coefficient, Q(i+1) refers to the oil flow rate at time i+1, Q(i) refers to the oil flow rate at time i, Q(i-1) refers to the oil flow rate at time i-1, α(i+1) refers to the toggle angle at time i+1, α(i) refers to the toggle angle at time i, and α(i-1) refers to the toggle angle at time i-1. Here, time i+1 refers to the current time, and time i and time i-1 refer to two historical times adjacent to the current time.

[0098] In one embodiment, the directional valve further includes a displacement sensor, and the control method further includes: after the solenoid valve operates under a preset current and the valve stem moves, the displacement sensor is used to obtain the displacement of the valve stem; the target current of the handle is determined based on the displacement, so that the handle is activated under the target current and controls the operation of the solenoid valve.

[0099] In one embodiment, determining the target current of the handle based on the displacement includes: if the absolute value of the displacement is equal to a preset value, determining the preset current as the target current; if the absolute value of the displacement is not equal to the preset value, adjusting the preset current based on the absolute value of the displacement and a displacement adjustment coefficient; controlling the solenoid valve to operate under the adjusted preset current, and obtaining the updated displacement of the valve stem until the absolute value of the updated displacement is equal to the preset value, and determining the adjusted preset current as the target current.

[0100] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes a control method step for a directional valve.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] 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.

[0107] 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 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.

[0108] 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.

[0109] 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 control method for a directional valve, characterized in that, Applied to a controller, the directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both a handle and the valve stem. An oil passage exists between the valve stem and the valve body, storing hydraulic oil. The flow sensor detects the flow rate of the hydraulic oil. The control method includes: After the handle is activated and the solenoid valve is operated, the oil flow rate of the oil passage is obtained at each time in the current time and any two historical times adjacent to the current time. The oil flow rate at each time is detected by the flow sensor after the solenoid valve operates under the output current at each time. The output current at each time is determined according to the angle of the handle at each time. The target operating current of the solenoid valve at the current moment is determined based on the oil flow rate. The solenoid valve is controlled to operate under the target operating current to update the oil flow rate in the oil passage at the current moment; The step of determining the target operating current of the solenoid valve at the current moment based on the oil flow rate includes: The current adjustment coefficient of the solenoid valve at the current moment is determined based on the oil flow rate at the current moment and at each of the two historical moments, as well as the actuation angle of the handle at each moment. The feedback current of the solenoid valve at the current moment is determined based on the current adjustment coefficient and the current operating current of the solenoid valve at the current moment, wherein the product of the current adjustment coefficient and the current operating current is determined, and the difference between the current operating current and the product is determined as the feedback current of the solenoid valve at the current moment. The target operating current is determined based on the feedback current and the current operating current, wherein the sum of the feedback current and the current operating current is determined as the target operating current.

2. The control method for a directional valve according to claim 1, characterized in that, The current adjustment coefficient is determined by formula (1): （1） Where h refers to the current adjustment coefficient. This refers to the oil flow rate at time i+1. This refers to the oil flow rate at time i. This refers to the oil flow rate at time i-1. It refers to the angle of adjustment at time i+1. It refers to the angle of movement at time i. It refers to the turning angle at time i-1, where time i+1 refers to the current time, and time i and time i-1 refer to two historical times adjacent to the current time.

3. The control method for a directional valve according to claim 1, characterized in that, The directional valve further includes a displacement sensor, and the control method further includes: When the solenoid valve operates under a preset current and the valve stem moves, the displacement of the valve stem is obtained by the displacement sensor. The target current of the handle is determined based on the displacement, so that the handle is activated under the target current and controls the operation of the solenoid valve.

4. The control method for a directional valve according to claim 3, characterized in that, Determining the target current of the handle based on the displacement includes: If the absolute value of the displacement is equal to a preset value, the preset current is determined as the target current; If the absolute value of the displacement is not equal to the preset value, the preset current is adjusted according to the absolute value of the displacement and the displacement adjustment coefficient. The solenoid valve is controlled to operate under the adjusted preset current, and the updated displacement of the valve stem is obtained until the absolute value of the updated displacement is equal to the preset value, and the adjusted preset current is determined as the target current.

5. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the control method for a directional valve according to any one of claims 1 to 4.

6. A controller, characterized in that, It is configured to perform the control method for a directional valve according to any one of claims 1 to 4.

7. A control system for a directional valve, characterized in that, The control system includes: handle; A directional valve, comprising a solenoid valve, a valve stem, a valve body, and a flow sensor, wherein the solenoid valve is connected to both a handle and the valve stem to drive the valve stem to move; an oil passage is provided between the valve body and the valve stem, the oil passage storing hydraulic oil; and the flow sensor is used to detect the flow rate of the hydraulic oil. The controller according to claim 6.

8. The control system for a directional valve according to claim 7, characterized in that, The directional valve also includes: A displacement sensor is used to detect the displacement of the valve stem when it moves.

9. A control method for a directional valve, characterized in that, A control system for a directional valve includes a handle, a directional valve, and a controller. The directional valve includes a solenoid valve, a valve stem, a valve body, and a flow sensor. The solenoid valve is connected to both the handle and the valve stem. An oil passage exists between the valve stem and the valve body, storing hydraulic oil. The flow sensor detects the flow rate of the hydraulic oil. The control method includes: After the handle is activated, the handle determines the output current at each of the current time and two historical times based on the actuation angle at the current time and any two historical times adjacent to the current time. At each moment, the solenoid valve operates at the output current corresponding to that moment, so that the valve stem connected to the solenoid valve moves relative to the valve body, thereby allowing hydraulic oil to flow in the oil passage; The flow sensor detects the oil flow rate in the oil channel at each moment and sends the oil flow rate to the controller; The controller determines the target operating current of the solenoid valve at the current moment based on the oil flow rate at each moment; The controller controls the solenoid valve to operate under the target operating current in order to update the oil flow rate of the oil passage at the current moment.

10. The control method for a directional valve according to claim 9, characterized in that, The control method further includes: The handle is activated under a preset current; The solenoid valve operates under the preset current to move the valve stem relative to the valve body. The displacement sensor detects the movement displacement of the valve stem relative to the valve body and sends the movement displacement to the controller; The controller determines the target current of the handle based on the displacement, so that the handle is activated under the target current and controls the operation of the solenoid valve.

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