A proportional valve control method, system, apparatus, and storage medium

Abstract

The application relates to a proportional valve control method, system, device and storage medium, which comprises the following steps: obtaining the opening degree of the proportional valve; judging whether the opening degree change of the proportional valve belongs to a critical stage based on the change trend of the opening degree of the proportional valve, wherein the critical stage is a stage in which the opening degree of the proportional valve changes between being closed and being critically opened or a stage in which the opening degree of the proportional valve changes between a maximum opening degree and a critical maximum opening degree; when the opening degree change of the proportional valve belongs to the critical stage, a preset fixed duty ratio and a frequency change signal are used to control the opening degree of the proportional valve; and when the opening degree change of the proportional valve does not belong to the critical stage, a preset fixed frequency and a duty ratio change signal are used to control the opening degree of the proportional valve. The application can solve the problem of reduced control precision caused by flow hysteresis difference in the opening degree control of the proportional valve in the prior art.

Description

Technical Field

[0001] This invention relates to the field of proportional valve control technology, specifically to a proportional valve control method, system, device, and storage medium. Background Technology

[0002] Proportional valves, as precision hydraulic components for controlling flow rate, are widely used in various industries. High-power common rail diesel engines achieve closed-loop control of common rail pressure stability by controlling the oil intake of the high-pressure oil pump, and the oil intake of the high-pressure oil pump is controlled through closed-loop feedback via an installed flow proportional valve.

[0003] Currently, the proportional valve control methods used in practice are all PWM wave driven voltage charging and discharging forms, with the output current in the form of a triangular sawtooth wave. The average current value of the waveform is about two-thirds of the way across the triangular wave. By looking up the MAP diagram of the proportional valve characteristic curve, the relationship between current and opening degree is derived from the correspondence between current and flow rate. This flow proportional valve control has two major drawbacks affecting the accuracy of rail pressure control. First, the opening current and closing current of this proportional valve control method are different in different directions of action, forming the flow proportional valve's flow hysteresis characteristic. The influencing factors include differences in the machining accuracy of the valve stem moving parts, wear of moving parts, and the inertial force of the back pressure spring. Second, the flow proportional valve has poor linearity. The relationship between current and opening degree is non-linear, but it is treated as a linear relationship in the control process. Therefore, feedback errors are naturally generated during the control process. The closed-loop control loop of common rail pressure itself has a delay error, and the error of the proportional valve is superimposed, which reduces the accuracy of rail pressure control. Summary of the Invention

[0004] One of the objectives of this invention is to provide a proportional valve control method, system, device, and storage medium to solve the problem of reduced control accuracy caused by flow hysteresis in the proportional valve opening control in the prior art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, embodiments of this application provide a proportional valve control method, comprising the following steps: Obtain the opening degree of the proportional valve and divide the opening degree of the proportional valve into 0% to 100% proportionally. Wherein, the opening degree of the proportional valve is 0% to represent that the proportional valve is in the closed state, and the opening degree of the proportional valve is 100% to represent that the proportional valve is in the maximum opening state. Based on the changing trend of the proportional valve opening, it is determined whether the change in the proportional valve opening belongs to a critical stage. The critical stage is the stage where the proportional valve opening changes between closed and critically open, or the stage where the proportional valve opening changes between the maximum opening and the critical maximum opening. The first critical stage is defined as the proportional valve opening changing from 0% to a% or from a% to 0%. The second critical stage is defined as the proportional valve opening changing from 100% to b% or from b% to 100%, where a% is less than b%. When the opening change of the proportional valve is in the critical stage, a signal with a preset fixed duty cycle and frequency variation is used to control the opening of the proportional valve. When the opening change of the proportional valve is not in the critical stage, a signal with a preset fixed frequency and changing duty cycle is used to control the opening of the proportional valve.

[0006] Furthermore, the first critical stage is defined as when the opening of the proportional valve changes from 0% to 10% or from 10% to 0%, and the second critical stage is defined as when the opening of the proportional valve changes from 100% to 90% or from 90% to 100%.

[0007] Furthermore, the signal with a preset fixed duty cycle and varying frequency includes: The preset fixed duty cycle is determined based on the design opening current or design closing current of the proportional valve. The frequency varies between 500Hz and 450Hz, and the frequency changes with the opening degree of the proportional valve.

[0008] Furthermore, the frequency varies with the opening degree of the proportional valve, specifically as follows: When the opening change of the proportional valve is in the first critical stage, the frequency is inversely proportional to the opening of the proportional valve. When the opening change of the proportional valve is in the second critical stage, the frequency is proportional to the opening of the proportional valve.

[0009] Furthermore, the preset fixed frequency signal, which changes the duty cycle, controls the opening of the proportional valve, specifically as follows: The preset fixed frequency range is between 150Hz and 200Hz; The correspondence between the proportional valve opening degree and the proportional valve control current is calibrated based on the proportional valve characteristic curve. The proportional valve control current is determined based on the target opening degree of the proportional valve, and the target duty cycle is obtained based on the proportional valve control current.

[0010] Secondly, embodiments of this application provide a proportional valve control system, including: An execution module outputs a signal with a preset fixed frequency and a changing duty cycle to control the opening degree of a proportional valve. A data acquisition module, wherein the data acquisition module is used to acquire the opening degree of the proportional valve; The compensation module is used to determine whether the opening change of the proportional valve belongs to the critical stage; wherein, the critical stage is the stage in which the opening of the proportional valve changes between closed and critical open or the stage in which the opening of the proportional valve changes between the maximum opening and the critical maximum opening. When the opening change of the proportional valve belongs to the critical stage, a compensation signal with a fixed duty cycle and frequency variation is superimposed on the output signal of the execution module.

[0011] Furthermore, the execution module includes: The host computer generates control parameters for a PWM wave based on the target flow rate of the required proportional valve. A PWM signal generator, which outputs high and low level switching signals with adjustable duty cycle, frequency, and maximum duty cycle based on the control parameters of the PWM wave sent by the host computer. The controller converts the high and low level switching signals output by the PWM signal generator and the compensation signal output by the compensation module into drive current to control the opening degree of the proportional valve.

[0012] Furthermore, the data acquisition module includes a displacement sensor, which is installed at the output end of the proportional valve core and is used to detect the opening degree of the proportional valve. The judgment module includes an action compensator, which determines whether the change in the opening of the proportional valve belongs to the critical stage based on the trend of the change in the opening of the proportional valve. When the change in the opening of the proportional valve belongs to the critical stage, it outputs a compensation signal with a fixed duty cycle and varying frequency to the controller.

[0013] Thirdly, embodiments of this application provide a proportional valve control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the proportional valve control method described above.

[0014] Fourthly, embodiments of this application provide a storage medium storing a computer-readable program that, when invoked, can execute the steps of the proportional valve control method described above.

[0015] The beneficial effects of this invention are: Because the proportional valve provides a high-frequency, decaying fixed control current output at the initial stage of the opening change during the critical process of opening or closing, it achieves a rapid response during the critical process. Once the proportional valve transitions from the opening or closing critical point, it switches to the conventional proportional valve control mode with a fixed frequency control duty cycle output. By fixing the magnitude of the control current at the opening and closing critical points, the degree of variation of the opening and closing current in different directions of action is mitigated. This eliminates the flow hysteresis caused by current drift during the cyclic operation of the proportional valve. At the same time, the high-frequency control at the critical point can avoid the problem of the proportional valve not being able to fully open or close due to unstable flow pressure and back pressure during the operation of the proportional valve, thus improving the control accuracy and response characteristics of the proportional valve. Attached Figure Description

[0016] Figure 1 This is a flowchart of the proportional valve control method; Figure 2 This is a schematic diagram of the flow hysteresis characteristic curve of a proportional valve; Figure 3 This is a schematic diagram of the proportional valve flow rate versus opening curve in this embodiment; Figure 4 This is a schematic diagram of the conventional proportional valve control signal in this embodiment; Figure 5 This is a schematic diagram of the control signal when the opening degree of the proportional valve is in the critical stage in this embodiment; Figure 6 This is a block diagram illustrating the structural principle of the proportional valve control system in this embodiment.

[0017] Markings and technical features in the diagram: 1. Host computer; 2. PWM signal generator; 3. Controller; 4. Motion compensator; 5. Open-loop proportional valve; 6. Displacement sensor. Detailed Implementation

[0018] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] Proportional valves, as precision hydraulic components for controlling flow rate, are widely used in various industries. High-power common rail diesel engines achieve closed-loop control of common rail pressure stability by controlling the oil intake of the high-pressure oil pump, and the oil intake of the high-pressure oil pump is controlled through closed-loop feedback via an installed flow proportional valve. Figure 2 The flow hysteresis characteristic curve of the proportional valve obtained by the traditional control method does not coincide with the flow curves of the proportional valve from fully open to fully closed (Q1) and from fully closed to fully open (Q2) due to differences in the machining precision of the moving parts of the proportional valve core, the wear of the moving parts during operation, and the difference in the spring force of the back pressure spring. Figure 2 The hysteresis flow rate between the Q1 and Q2 curves in the figure forms the proportional valve flow control error.

[0021] This embodiment provides a proportional valve control method, including the following steps: S1. Obtain the opening degree of the proportional valve and divide the opening degree of the proportional valve into 0% to 100% proportionally. Wherein, the opening degree of the proportional valve is 0% to represent that the proportional valve is in the closed state, and the opening degree of the proportional valve is 100% to represent that the proportional valve is in the maximum opening state.

[0022] In some embodiments of this application, the opening degree of the proportional valve is obtained by a displacement sensor 6 installed at the output end of the proportional valve core.

[0023] It should be noted that this method applies to proportional valves without valve core position closed loops, which are less expensive than those with valve core displacement closed loops.

[0024] S2. Based on the changing trend of the opening of the proportional valve, determine whether the change in the opening of the proportional valve belongs to the critical stage. The critical stage is the stage in which the opening of the proportional valve changes between closed and critical open, or the stage in which the opening of the proportional valve changes between the maximum opening and the critical maximum opening. Set the change in the opening of the proportional valve from 0% to a% or from a% to 0% as the first critical stage, and the change in the opening of the proportional valve from 100% to b% or from b% to 100% as the second critical stage, where a% is less than b.

[0025] In some embodiments of this application, a first critical stage is defined as when the opening of the proportional valve changes from 0% to 10% or from 10% to 0%, and a second critical stage is defined as when the opening of the proportional valve changes from 100% to 90% or from 90% to 100%.

[0026] For example, such as Figure 3 As shown, the opening degree of the proportional valve spool is divided into zero ( Figure 3 Point A in the middle), starting point ( Figure 3 Point B in the middle, closing point ( Figure 3 (C point), with an opening of 1 ( Figure 3 In the ideal scenario, the open-loop proportional valve 5 operates in a fully linear manner (point D). However, this is practically impossible. Through experimental testing, it was found that the linear segment BC of the proportional valve can achieve linearity within the range of 10%-90%. Therefore, point B is defined as the valve core position at 10% opening, and point C is defined as the valve core position at 90% opening. The process of the proportional valve operating from point A to point B or from point B to point A is the first critical stage, and the process of the proportional valve operating from point C to point D or from point D to point C is the second critical stage.

[0027] S3. When the opening degree of the proportional valve is in the critical stage, a signal with a preset fixed duty cycle and frequency variation is used to control the opening degree of the proportional valve.

[0028] In some embodiments of this application, the frequency-varying signal with a preset fixed duty cycle includes: determining the preset fixed duty cycle based on the design opening current or design closing current of the proportional valve; the frequency variation range is between 500Hz and 450Hz, and the frequency varies with the opening degree of the proportional valve. Specifically, the design opening current or design closing current required for opening point B and closing point C is calculated based on the ratio of the maximum design current of the proportional valve. The required fixed duty cycle is calculated from the design opening current or design closing current value. The frequency variation range is given based on the design frequency of commonly used flow proportional valves, generally achieving frequency conversion control between 500-450Hz. Too high a frequency results in excessive heat generation in the valve core, while too low a frequency easily approaches the natural frequency.

[0029] It should be noted that, as Figure 4 The figure shows the drive voltage waveform curve of a traditional fixed-frequency proportional valve. When the difference between the target opening and the initial opening is large, the response is slow; this is a factor influencing control lag. Figure 5The figure shows the drive voltage waveform curve of the variable frequency proportional valve. A rapid triangular wave is generated during the high-frequency charging and discharging process to achieve a rapid current rise, thus enabling a fast proportional valve opening process. In the initial stage of the proportional valve's operation, i.e., the critical phase, a high-frequency, decaying fixed duty cycle output is provided to quickly achieve the proportional valve's displacement response. This effectively fixes the current magnitude at the opening and closing points of the proportional valve, eliminating the flow hysteresis caused by displacement drift due to the gap and shape accuracy of the valve core and orifice in the open-loop proportional valve, as well as the working air gap of the electromagnet during cyclic operation. This improves the accuracy and stability of the proportional valve's output characteristics. When the proportional valve displacement reaches the specified value, the opening degree is controlled by a fixed frequency and variable current to achieve the desired control effect, reduce heat generation, and extend the proportional valve's service life.

[0030] In some embodiments of this application, the frequency varies with the opening degree of the proportional valve, specifically: when the opening degree of the proportional valve changes to the first critical stage, the frequency is inversely proportional to the opening degree of the proportional valve; when the opening degree of the proportional valve changes to the second critical stage, the frequency is directly proportional to the opening degree of the proportional valve.

[0031] It should be noted that, in the embodiments of this application, the opening and closing current of the proportional valve can be fixed by the frequency conversion control of the critical state. When the proportional valve opening is at its minimum and maximum, the highest frequency control frequency, such as 500HZ, is used to avoid the safety problem that the proportional valve cannot be fully opened or closed due to unstable flow pressure and back pressure during the operation of the proportional valve, and to make the control current quickly reach the design opening current or the design closing current.

[0032] For example, such as Figure 3 As shown, the proportional valve operates from zero point A to open point B using a fixed current value I0 and a variable frequency duty cycle control method, with the frequency decreasing from high to low until the opening degree reaches D1. The proportional valve operates from open point B to zero point A using a fixed current value I0 and a variable frequency duty cycle control method, with the frequency increasing from low to high until the opening degree reaches 0. Here, I0 is the design opening current of the proportional solenoid valve. The proportional valve operates from C to D using a fixed current value I1 and a variable frequency duty cycle control method, with the frequency increasing from low to high until the opening degree reaches 1. The proportional valve operates from D to C using a fixed current value I1 and a variable frequency duty cycle control method, with the frequency decreasing from high to low until the opening degree reaches D2. Here, I1 is the design closing current of the proportional solenoid valve.

[0033] S4. When the opening change of the proportional valve is not in the critical stage, a signal with a preset fixed frequency and a changing duty cycle is used to control the opening of the proportional valve.

[0034] In some embodiments of this application, the preset fixed frequency signal with varying duty cycle is used to control the opening of the proportional valve. Specifically, the preset fixed frequency ranges from 150Hz to 200Hz; the correspondence between the opening of the proportional valve and the control current of the proportional valve is calibrated based on the characteristic curve of the proportional valve; the control current of the proportional valve is determined according to the target opening of the proportional valve; and the target duty cycle is obtained based on the control current of the proportional valve.

[0035] It should be noted that, in the embodiments of this application, once the flow proportional valve transitions from the open point B or the closed point C, the output control changes to a traditional PWM wave duty cycle output voltage charging and discharging waveform method, i.e., fixed frequency control of the duty cycle output, controlling the opening degree by the drive current value. Using a fixed frequency variable current duty cycle control method, the current magnitude changes linearly from the opening current to the closing current, which is consistent with the linearization process in the control and avoids control errors. The fixed frequency in this process is a relatively low frequency, generally around 150-200Hz. Using a low-frequency PWM wave in the main operating area of ​​the proportional valve can reduce the computational load on the control unit and simultaneously reduce the heat generation of the proportional valve's solenoid valve core.

[0036] As can be seen from the detailed description of the above embodiments, since the proportional valve provides a high-frequency and decaying fixed control current output in the early stage of the opening change during the critical process of opening and closing, the proportional valve achieves a rapid response in the critical process. Once the proportional valve transitions from the opening or closing critical point, the output control changes to a conventional fixed-frequency control duty cycle output. By fixing the magnitude of the control current at the opening and closing critical points of the proportional valve, the degree of variation of the opening and closing current in different action directions is alleviated. This eliminates the flow hysteresis caused by current drift during the cyclic operation of the proportional valve. At the same time, it avoids the problem that the proportional valve cannot be fully opened or fully closed due to unstable flow pressure and back pressure during the operation of the proportional valve, thereby improving the control accuracy and response characteristics of the proportional valve.

[0037] Secondly, embodiments of this application provide a proportional valve control system, such as... Figure 6 As shown, it includes: An execution module outputs a signal with a preset fixed frequency and a changing duty cycle to control the opening degree of a proportional valve; A data acquisition module, wherein the data acquisition module is used to acquire the opening degree of the proportional valve; The compensation module is used to determine whether the change in the opening degree of the proportional valve belongs to the critical stage; wherein, the critical stage is the stage in which the opening degree of the proportional valve changes between closed and critical open or the stage in which the opening degree of the proportional valve changes between the maximum opening degree and the critical maximum opening degree. When the change in the opening degree of the proportional valve belongs to the critical stage, a compensation signal with a fixed duty cycle and frequency variation is superimposed on the output signal of the execution module.

[0038] In some embodiments of this application, the execution module includes: The host computer 1 generates control parameters for a PWM wave based on the target flow rate of the required proportional valve.

[0039] PWM signal generator 2, which outputs high and low level switching signals with adjustable duty cycle, frequency and maximum duty cycle based on the control parameters of the PWM wave sent by the host computer 1.

[0040] Controller 3 converts the high and low level switching signals output by PWM signal generator 2 and the compensation signal output by compensation module into drive current to control the opening degree of proportional valve. Controller 3 receives the PWM duty cycle from PWM signal generator 2 and the judgment signal from action compensator 4 to determine the operating state of proportional valve, provides constant and variable frequency charging and discharging waveforms to drive the proportional valve, and determines the output voltage charging time and the charging / discharging time ratio.

[0041] In some embodiments of this application, the data acquisition module includes a displacement sensor 6, which is installed at the output end of the proportional valve core to detect the opening degree of the proportional valve. The judgment module includes an action compensator 4, which determines whether the change in the opening degree of the proportional valve belongs to a critical stage based on the trend of the change in the opening degree of the proportional valve. When the change in the opening degree of the proportional valve belongs to a critical stage, it outputs a compensation signal with a fixed duty cycle and varying frequency to the controller 3, thereby forming a rapid current rise and critical buffering effect.

[0042] Thirdly, embodiments of this application provide a proportional valve control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the proportional valve control method described above.

[0043] The descriptions of the apparatus embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. In some embodiments, the functions or modules included in the apparatus provided in this disclosure can be used to perform the methods described in the method embodiments above. For technical details not disclosed in the apparatus embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0044] Fourthly, embodiments of this application provide a storage medium storing a computer-readable program that, when invoked, can execute the steps of the proportional valve control method described above.

[0045] In the embodiments of this application, the storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)). It is worth noting that the storage medium mentioned in this application can be a non-volatile storage medium; in other words, it can be a non-transient storage medium.

[0046] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A proportional valve control method, characterized in that, Includes the following steps: Obtain the opening degree of the proportional valve and divide the opening degree of the proportional valve into 0% to 100% proportionally. Wherein, the opening degree of the proportional valve is 0% to represent that the proportional valve is in the closed state, and the opening degree of the proportional valve is 100% to represent that the proportional valve is in the maximum opening state. Based on the changing trend of the proportional valve opening, it is determined whether the change in the proportional valve opening belongs to a critical stage. The critical stage is the stage where the proportional valve opening changes between closed and critically open, or the stage where the proportional valve opening changes between the maximum opening and the critical maximum opening. The first critical stage is defined as the proportional valve opening changing from 0% to a% or from a% to 0%. The second critical stage is defined as the proportional valve opening changing from 100% to b% or from b% to 100%, where a% is less than b%. When the opening change of the proportional valve is in the critical stage, a signal with a preset fixed duty cycle and frequency variation is used to control the opening of the proportional valve. When the opening change of the proportional valve is not in the critical stage, a signal with a preset fixed frequency and changing duty cycle is used to control the opening of the proportional valve.

2. The proportional valve control method according to claim 1, characterized in that, The critical stage specifically refers to: The first critical stage is defined as the opening of the proportional valve changing from 0% to 10% or from 10% to 0%, and the second critical stage is defined as the opening of the proportional valve changing from 100% to 90% or from 90% to 100%.

3. The proportional valve control method according to claim 1, characterized in that, The signal with a preset fixed duty cycle and varying frequency includes: The preset fixed duty cycle is determined based on the design opening current or design closing current of the proportional valve. The frequency varies between 500Hz and 450Hz, and the frequency changes with the opening degree of the proportional valve.

4. The proportional valve control method according to claim 3, characterized in that, The frequency varies with the opening degree of the proportional valve, specifically as follows: When the opening change of the proportional valve is in the first critical stage, the frequency is inversely proportional to the opening of the proportional valve. When the opening change of the proportional valve is in the second critical stage, the frequency is proportional to the opening of the proportional valve.

5. The proportional valve control method according to claim 1, characterized in that, The preset fixed frequency signal, which changes its duty cycle, controls the opening of the proportional valve, specifically as follows: The preset fixed frequency range is between 150Hz and 200Hz; The relationship between the opening degree of the proportional valve and the control current of the proportional valve is calibrated based on the characteristic curve of the proportional valve. The proportional valve control current is determined based on the target opening degree of the proportional valve, and the target duty cycle is obtained based on the proportional valve control current.

6. A proportional valve control system, characterized in that, include: An execution module outputs a signal with a preset fixed frequency and a changing duty cycle to control the opening degree of a proportional valve. A data acquisition module, wherein the data acquisition module is used to acquire the opening degree of the proportional valve; The compensation module is used to determine whether the opening change of the proportional valve belongs to the critical stage; wherein, the critical stage is the stage in which the opening of the proportional valve changes between closed and critical open or the stage in which the opening of the proportional valve changes between the maximum opening and the critical maximum opening. When the opening change of the proportional valve belongs to the critical stage, a compensation signal with a fixed duty cycle and frequency variation is superimposed on the output signal of the execution module.

7. The proportional valve control system according to claim 6, characterized in that, The execution module includes: The host computer generates control parameters for a PWM wave based on the target flow rate of the required proportional valve. A PWM signal generator, which outputs high and low level switching signals with adjustable duty cycle, frequency, and maximum duty cycle based on the control parameters of the PWM wave sent by the host computer. The controller converts the high and low level switching signals output by the PWM signal generator and the compensation signal output by the compensation module into drive current to control the opening degree of the proportional valve.

8. The proportional valve control system according to claim 7, characterized in that, The data acquisition module includes a displacement sensor, which is installed at the output end of the proportional valve core and is used to detect the opening degree of the proportional valve. The judgment module includes an action compensator, which determines whether the change in the opening of the proportional valve belongs to the critical stage based on the trend of the change in the opening of the proportional valve. When the change in the opening of the proportional valve belongs to the critical stage, it outputs a compensation signal with a fixed duty cycle and varying frequency to the controller.

9. A proportional valve control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the proportional valve control method as described in any one of claims 1 to 5.

10. A storage medium, characterized in that: It contains a computer-readable program that, when invoked, performs the steps of the proportional valve control method as described in any one of claims 1 to 5.

Images