An electro-hydraulic control valve integrated module with multi-state self-monitoring function

Abstract

This application proposes an electro-hydraulic control valve integrated module with multi-state self-monitoring capabilities, comprising: an electro-hydraulic control valve, a multi-sensor integrated valve body, and a digital controller. The electro-hydraulic control valve includes a main valve and a pilot valve, with a differential pressure reducing valve connected between the main valve and the pilot valve for setting the oil supply pressure for the pilot valve. The multi-sensor integrated valve body, serving as the base of the electro-hydraulic control valve, is arranged at the bottom of the main valve of the electro-hydraulic control valve. The digital controller, connected to the electro-hydraulic control valve and the multi-sensor integrated valve body, is used to monitor the operating status of the electro-hydraulic control valve based on the sensor data obtained from the multi-sensor integrated valve body. By integrating multiple sensors into the electro-hydraulic control valve, this application achieves a digital and lightweight design of basic hydraulic components, enabling efficient and rapid electro-hydraulic control valve information acquisition and multi-state self-monitoring, and realizing low-cost, small-volume, high-accuracy, and faster state self-monitoring of the electro-hydraulic control valve, thereby providing a guarantee for the smooth and safe operation of the electro-hydraulic control valve.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to an electro-hydraulic control valve integrated module with a multi-state self-monitoring function. Background Art

[0002] Electro-hydraulic control valves are the core control components of hydraulic transmissions and are widely used in various types of heavy equipment. They are the key to realizing the automation and intelligence of various types of heavy equipment.

[0003] In engineering applications, hydraulic system failures are often difficult to accurately detect and locate, significantly increasing repair costs and time. Electro-hydraulic control valves are core control components in the hydraulic systems of major machinery and equipment, providing flow and direction control. Their proper functioning is essential for the stable and safe operation of hydraulic systems. Therefore, timely monitoring of electro-hydraulic control valve status and troubleshooting are crucial.

[0004] However, due to the complex structural characteristics and status information of traditional electro-hydraulic control valves, some existing status monitoring solutions require the installation of multiple detection devices in the hydraulic system. This leads to redundant hydraulic system components, pressure loss caused by excessively long pipelines, low accuracy of detection results, and high design, installation and on-site commissioning costs. Summary of the Invention

[0005] In response to the above technical problems, the present application provides an electro-hydraulic control valve integrated module with a multi-state self-monitoring function. By installing a multi-sensor integrated module at the proximal valve port of the electro-hydraulic control valve, various flow field signals at the valve port can be directly and accurately obtained. This solution avoids the problems of redundant hydraulic system components and pressure loss caused by excessively long pipelines by implementing an innovative multi-sensor integrated design for the electro-hydraulic control valve in terms of structure. Integrating multiple sensors into the electro-hydraulic control valve realizes the digitalization and lightweight design and development of basic hydraulic components, and can achieve efficient and rapid electro-hydraulic control valve information acquisition and multi-state self-monitoring, ensuring the real-time measurement and providing a guarantee for the smooth and safe operation of the electro-hydraulic control valve. It achieves efficient and rapid electro-hydraulic control valve information acquisition and multi-state self-monitoring, reduces the cost of hydraulic system status monitoring and fixed positioning, and realizes low-cost, small-volume, high-accuracy, and faster self-monitoring of the electro-hydraulic control valve, providing a guarantee for the smooth and safe operation of the electro-hydraulic control valve.

[0006] In the first aspect, the present application provides an electro-hydraulic control valve integrated module with multi-state self-monitoring function, which is used in a hydraulic system, including: an electro-hydraulic control valve, including a main valve and a pilot valve, wherein a differential pressure reducing valve is connected between the main valve and the pilot valve, which is used to set the oil supply pressure for the pilot valve, the main valve includes a main valve body and a main valve core, and the pilot valve includes a pilot valve body and a pilot valve core.

[0007] A multi-sensor integrated valve body, serving as the base of the electro-hydraulic control valve and arranged at the bottom of the main valve of the electro-hydraulic control valve, the multi-sensor integrated valve body comprising: an oil inlet temperature and pressure sensor arranged at the oil inlet of the electro-hydraulic control valve, an oil outlet pressure sensor arranged at the oil outlet of the electro-hydraulic control valve, a first pressure sensor arranged at the first main valve port of the electro-hydraulic control valve, a second pressure sensor arranged at the second main valve port of the electro-hydraulic control valve, and a displacement sensor arranged at the main valve core of the electro-hydraulic control valve;

[0008] Among them, the oil inlet temperature and pressure sensor is used to measure the oil temperature and pressure of the oil inlet of the electro-hydraulic control valve; the oil outlet pressure sensor is used to measure the oil outlet pressure of the electro-hydraulic control valve; the first pressure sensor is used to measure the pressure of the first main valve port of the electro-hydraulic control valve, and the second pressure sensor is used to measure the pressure of the second main valve port of the electro-hydraulic control valve; the displacement sensor is used to measure the valve core displacement of the electro-hydraulic control valve;

[0009] The digital controller is connected to the electro-hydraulic control valve and the multi-sensor integrated valve body and is used to monitor the operating status of the electro-hydraulic control valve based on the sensor data obtained from the multi-sensor integrated valve body.

[0010] In a possible implementation of the first aspect, the digital controller monitors the operating status of the electro-hydraulic control valve based on sensor data obtained from the multi-sensor integrated valve body in the following manner:

[0011] The digital controller acquires sensor data measured by at least some sensors in the multi-sensor integrated valve body in real time;

[0012] The digital controller determines whether the sensor data is within the preset normal range;

[0013] When the digital controller determines that the sensor data is within a preset normal range, it determines that the corresponding sensor is in a normal state;

[0014] When the digital controller determines that the sensor data is outside the preset normal range, it determines that the corresponding sensor is in an abnormal state, locates the position of the sensor corresponding to the abnormal sensor data, and reports the fault information.

[0015] In a possible implementation of the first aspect above, the sensor data includes the oil temperature at the oil inlet of the electro-hydraulic control valve measured by the oil inlet temperature and pressure sensor; the oil outlet pressure of the electro-hydraulic control valve measured by the oil outlet pressure sensor; the first main valve port pressure of the electro-hydraulic control valve measured by the first pressure sensor, and the second main valve port pressure of the electro-hydraulic control valve measured by the second pressure sensor; and the valve core displacement of the electro-hydraulic control valve measured by the displacement sensor.

[0016] In a possible implementation of the first aspect above, a flow meter is provided between the first main valve port of the electro-hydraulic control valve and the load actuator, for measuring the flow rate of the main valve port of the electro-hydraulic control valve.

[0017] In a possible implementation of the first aspect above, the digital controller is further configured to determine a target flow rate of the electro-hydraulic control valve based on at least part of the sensor data.

[0018] In a possible implementation of the first aspect above, at least part of the data of the hydraulic system includes at least valve core displacement and main valve port flow of the electro-hydraulic control valve under multiple working conditions.

[0019] In one possible implementation of the first aspect, at least part of the data includes main valve port flow, valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve under multiple operating conditions, and a target neural network model is transplanted into the digital controller.

[0020] The digital controller determines the target flow rate of the electro-hydraulic control valve based on at least part of the data in the following manner:

[0021] The digital controller obtains the valve port pressure, valve core displacement and oil temperature of the electro-hydraulic control valve in real time;

[0022] The digital controller inputs the real-time valve port pressure, valve core displacement, and oil night temperature into the target neural network model to obtain a target flow corresponding to the real-time valve port pressure, valve core displacement, and oil night temperature of the electro-hydraulic control valve, wherein the target neural network model is pre-trained based on at least part of the data.

[0023] In one possible implementation of the first aspect, the target neural network model is obtained by training a high-computing-power electronic device connected to a digital controller. The high-computing-power electronic device obtains the target neural network model by training based on at least part of the data in the following manner:

[0024] obtaining at least some of the data;

[0025] Preprocessing at least a portion of the acquired data to obtain at least a portion of preprocessed data;

[0026] Based on at least a portion of the preprocessed data, determining corresponding relationships among valve port pressure, valve core displacement, oil temperature, and main valve port flow rate of the electro-hydraulic control valve under multiple operating conditions, so as to obtain multiple valve port flow coefficients of the electro-hydraulic control valve under the multiple operating conditions;

[0027] Based on the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve under multiple working conditions, the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient data of the electro-hydraulic control valve in the full working range are fitted;

[0028] The fitted valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient data of the electro-hydraulic control valve in the full operating range are used as sample data sets and input into the untrained neural network model for training to obtain the target neural network model.

[0029] In a possible implementation of the first aspect above, the digital controller is further configured to monitor a flow state of the electro-hydraulic control valve according to the determined target flow of the electro-hydraulic control valve.

[0030] This solution integrates multiple sensors into the electro-hydraulic control valve, achieving digital and lightweight design and development of basic hydraulic components. This enables efficient and rapid information acquisition and multi-state self-monitoring of the electro-hydraulic control valve, ensuring real-time measurement and guaranteeing the smooth and safe operation of the electro-hydraulic control valve. This solution reduces the cost of hydraulic system status monitoring and fixed positioning, enabling low-cost, compact, highly accurate, and faster self-monitoring of the electro-hydraulic control valve, ensuring its smooth and safe operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without inventive work.

[0032] Figure 1 A system schematic diagram of a hydraulic system provided in an embodiment of the present application;

[0033] Figure 2A A cross-sectional view of an electro-hydraulic control valve integrated module provided in an embodiment of the present application;

[0034] Figure 2B Another cross-sectional view of an electro-hydraulic control valve integrated module provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of the installation position of a displacement sensor for an electro-hydraulic control valve provided in an embodiment of the present application;

[0036] Figure 4A schematic diagram of a flow chart of a digital controller implementing a state self-monitoring function provided in an embodiment of the present application;

[0037] Figure 5 A flow chart of a soft measurement method for flow of an electro-hydraulic control valve provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a process for obtaining a target neural network model by training at least part of the data using a high-computing-power electronic device provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of the principle of the flow characteristic calibration stage of an electro-hydraulic control valve provided in an embodiment of the present application.

[0040] The purpose of this application, its features, and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and the accompanying text are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of this application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0042] It should be noted that, in this document, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0043] It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the term "if" as used herein may be interpreted as "at the time of," "when," or "in response to a determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or," "and / or," "including at least one of the following," etc., as used herein, may be interpreted as inclusive, meaning any one or any combination. For example, “comprising at least one of the following: A, B, C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”; and for another example, “A, B or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”. An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0044] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0045] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0046] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0047] The technical solution of this application will be described in detail below with reference to the accompanying drawings.

[0048] Figure 1 This is a schematic diagram of a hydraulic system provided in an embodiment of the present application. Figure 1 The hydraulic system shown includes a motor 1 , a hydraulic pump 2 , a relief valve 3 , a flow meter 4 , an oil tank 5 , a gate valve 6 , an electro-hydraulic control valve integrated module, and a load actuator 13 .

[0049] Among them, the electro-hydraulic control valve integrated module is connected between the motor 1 and the load actuator 13 of the hydraulic system. Optionally, the motor 1 is connected to the oil inlet of the electro-hydraulic control valve 12 through the hydraulic pump 2 and the gate valve 6 in sequence. A flowmeter 4 is provided between the first main valve port 12A of the electro-hydraulic control valve 12 and the load actuator 13 to measure the flow rate of the main valve port of the electro-hydraulic control valve 12. It should be noted that the flow measured by the flowmeter 4 in the technical solution of the present application is only used in the flow characteristic calibration stage of the flow soft measurement of the technical solution of the present application, and is not the real-time flow ultimately presented to the user. The meaning and specific implementation steps of the flow characteristic calibration stage will be explained in detail in the subsequent content and will not be expanded here.

[0050] Optionally, the load actuator 13 is connected to the first main valve port 12A and the second main valve port 12B of the electro-hydraulic control valve 12 .

[0051] Optionally, the electro-hydraulic control valve integrated module with multi-state self-monitoring function provided by the present application includes an electro-hydraulic control valve 12, Figure 2A and Figure 2B The figure shows a cross-sectional view of an electro-hydraulic control valve integrated module provided by the present application. Figure 2A and Figure 2B , wherein the electro-hydraulic control valve 12 is a pilot electro-hydraulic control valve, including a main valve and a pilot valve, wherein a differential pressure reducing valve 17 is connected between the main valve and the pilot valve, for setting the oil supply pressure for the pilot valve, the main valve includes a main valve body 121 and a main valve core 122, and the pilot valve includes a pilot valve body 161 and a pilot valve core 162.

[0052] Optionally, the electro-hydraulic control valve integrated module with multi-state self-monitoring function provided in the present application further includes a multi-sensor integrated valve body 15, which is provided at the bottom of the main valve of the electro-hydraulic control valve 12 as the base of the electro-hydraulic control valve 12, and the multi-sensor integrated valve body 15 includes: an oil inlet temperature and pressure sensor 8 provided at the oil inlet of the electro-hydraulic control valve 12, an oil outlet pressure sensor 11 provided at the oil outlet of the electro-hydraulic control valve 12, a first pressure sensor 9 provided at the first main valve port 12A of the electro-hydraulic control valve 12, a second pressure sensor 10 provided at the second main valve port 12B of the electro-hydraulic control valve 12, and a displacement sensor 14 provided at the main valve core of the electro-hydraulic control valve 12;

[0053] Among them, the oil inlet temperature and pressure sensor 8 is used to measure the oil night temperature and pressure of the oil inlet of the electro-hydraulic control valve 12; the oil outlet pressure sensor 11 is used to measure the oil outlet pressure of the electro-hydraulic control valve 12; the first pressure sensor 9 is used to measure the first main valve port pressure of the electro-hydraulic control valve 12, and the second pressure sensor 10 is used to measure the second main valve port pressure of the electro-hydraulic control valve 12; the displacement sensor 14 is used to measure the valve core displacement of the electro-hydraulic control valve 12.

[0054] Optionally, the electro-hydraulic control valve integrated module with multi-state self-monitoring function provided in the present application also includes a digital controller 7, which is connected to the electro-hydraulic control valve 12 and the multi-sensor integrated valve body 15, and is used to monitor the operating status of the electro-hydraulic control valve 12 based on the sensor data obtained from the multi-sensor integrated valve body 15.

[0055] Optionally, the installation position of the displacement sensor 14 of the electro-hydraulic control valve 12 can be found in Figure 3 , Figure 3 A schematic diagram of the installation position of a displacement sensor 14 of an electro-hydraulic control valve 12 provided in an embodiment of the present application, Figure 3 In the embodiment shown, the electro-hydraulic control valve 12 includes a main valve body 121 and a main valve core 122, and the displacement sensor 14 is arranged on the main valve core 122 of the electro-hydraulic control valve 12 and connected to the digital controller 7 so that the digital controller 7 can obtain the valve core displacement signal.

[0056] Some existing electro-hydraulic control valve products do not include a multi-sensor integrated valve body 15. If the sensors are too close to the main valve port, the flow state is complex, which can easily lead to unstable sensor sampling signals. If the sensors are too far away from the main valve port, although the liquid flow can fully develop smoothly, the valve body will be too large.

[0057] The temperature sensors and pressure sensors in the various embodiments of the present application can be miniature pressure and temperature sensors. By installing miniature pressure and temperature sensors near the valve port of the electro-hydraulic control valve 12, the present application can directly measure the main valve port pressure and oil temperature data in real time. By installing a displacement sensor 14 on the main valve core 121, the valve core displacement signal can be directly measured. This not only minimizes pressure loss caused by excessively long pipelines, but also enables more accurate status information measurement. It also meets the integrated and lightweight design requirements of high-flow electro-hydraulic control valve products.

[0058] Figure 4 A flow chart of a digital controller implementing a state self-monitoring function provided in an embodiment of the present application, see Figure 4 The digital controller 7 monitors the operating status of the electro-hydraulic control valve 12 according to the sensor data obtained from the multi-sensor integrated valve body 15 through the following steps:

[0059] S11 : The digital controller 7 acquires sensor data measured by at least part of the sensors in the multi-sensor integrated valve body 15 in real time.

[0060] In some embodiments, at least part of the data of the hydraulic system includes at least the valve core displacement and the main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions.

[0061] In some embodiments, at least part of the data includes the main valve port flow, valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 under multiple working conditions.

[0062] S12: The digital controller 7 determines whether the sensor data is within a preset normal range. If yes, the process proceeds to step S13; otherwise, the process proceeds to step S14.

[0063] S13: When the digital controller 7 determines that the sensor data is within the preset normal range, it determines that the corresponding sensor is in a normal state.

[0064] S14: When the digital controller 7 determines that the sensor data is outside the preset normal range, it determines that the corresponding sensor is in an abnormal state, locates the position of the sensor corresponding to the abnormal sensor data, and reports fault information.

[0065] For example, for an electro-hydraulic control valve 12 of a certain specification, the normal range of the valve port pressure of the electro-hydraulic control valve 12 is preset to be: 0~350bar; the normal range of the valve core displacement is: -5~+5mm; the normal range of the oil night temperature is: -50~+200℃; then when the valve port pressure obtained by the digital controller 7 is within the range of 0~350bar, it is judged to be normal, and if it exceeds this range, it is judged to be a fault; when the valve core displacement obtained by the digital controller 7 is within the range of -5~+5mm, it is judged to be normal, and if it exceeds this range, it is judged to be a fault; when the oil temperature obtained by the digital controller 7 is within the range of -50~+200℃, it is judged to be normal, and if it exceeds this range, it is judged to be a fault.

[0066] The fault location process can be as follows: For example, the normal operating state of the valve includes a dynamic state with frequent reversing and a steady state with a fixed opening. However, the fault has different impacts on the system under different operating conditions, resulting in different fault characteristics. The various abnormal conditions caused by the fault are analyzed, and a fault code is generated by combining the fault deviation state with the operating state of the electro-hydraulic control valve 12. The controller then provides feedback on the fault code information to locate the fault state.

[0067] In some embodiments, the sensor data includes the oil temperature at the oil inlet of the electro-hydraulic control valve 12 measured by the oil inlet temperature and pressure sensor 8; the oil outlet pressure of the electro-hydraulic control valve 12 measured by the oil outlet pressure sensor 11; the first main valve port pressure of the electro-hydraulic control valve 12 measured by the first pressure sensor 9, and the second main valve port pressure of the electro-hydraulic control valve 12 measured by the second pressure sensor 10; and the valve core displacement of the electro-hydraulic control valve 12 measured by the displacement sensor 14.

[0068] In some embodiments, the digital controller 7 is further configured to determine the target flow rate of the electro-hydraulic control valve 12 based on at least part of the sensor data. The target flow rate is the actual application scenario of the technical solution of the present application, for example, in the application Figure 1 In the illustrated hydraulic system application scenario, the digital controller 7 calculates the real-time, accurate flow rate of the electro-hydraulic control valve 12. In actual use, the digital controller 7 only needs to obtain easily measurable signals such as the valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 to calculate the corresponding target flow rate, achieving real-time, accurate flow rate measurement of the electro-hydraulic control valve 12 under various operating conditions.

[0069] Optionally, at least part of the data of the hydraulic system includes at least the valve core displacement and the main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions.

[0070] In some embodiments, at least some of the hydraulic system data further includes at least one of the following parameters: valve port pressure, oil temperature, and oil viscosity of the electro-hydraulic control valve 12 under multiple operating conditions. For example, at least some of the hydraulic system data includes main valve port flow, valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 under multiple operating conditions.

[0071] The following will be combined Figure 5 Taking at least partial data of a hydraulic system, including the main valve port flow rate, valve port pressure, valve core displacement, and oil temperature of an electro-hydraulic control valve 12 under multiple operating conditions, as an example, this paper describes in detail the soft flow measurement method for the electro-hydraulic control valve 12 provided in the embodiments of this application. Specifically, the basic principle of the digital controller 7 determining the target flow rate of the electro-hydraulic control valve 12 based on at least partial data is described. A target neural network model is implanted in the digital controller 7, and the digital controller 7 determines the target flow rate of the electro-hydraulic control valve 12 based on at least partial data through the following steps.

[0072] refer to Figure 5 The soft measurement method of the flow rate of the electro-hydraulic control valve 12 specifically includes the following steps:

[0073] S21: The digital controller 7 obtains the valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 in real time.

[0074] It should be noted that during the application phase of the soft flow measurement method for the electro-hydraulic control valve 12, the valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 refer to the valve port pressure, valve core displacement, and oil temperature measured by the corresponding sensors during actual hydraulic system operation. The valve port pressure is measured by the first pressure sensor 9, which measures the pressure at the first main valve port, and the second pressure sensor 10, which measures the pressure at the second main valve port. The valve core displacement is measured by the displacement sensor 14, and the oil temperature is measured by the oil inlet temperature and pressure sensor 8 (also known as the integrated temperature and pressure sensor).

[0075] S22: The digital controller 7 inputs the real-time valve port pressure, valve core displacement, and oil night temperature into the target neural network model to obtain a target flow corresponding to the real-time valve port pressure, valve core displacement, and oil night temperature of the electro-hydraulic control valve 12, wherein the target neural network model is pre-trained based on at least part of the data.

[0076] It should be noted that, considering the cost and volume of the hydraulic system, the computing power of the computing equipment in the hydraulic system is usually insufficient to implement the training process of the neural network model. Therefore, under normal circumstances, those skilled in the art will choose to train the neural network model that has not been trained with at least part of the data involved in this application on a high-computing-power electronic device, and then transplant the trained target neural network model into the digital controller 7 involved in this application. For example, the electro-hydraulic control valve integrated module is connected to a high-computing-power electronic device that can communicate with the digital controller 7. The high-computing-power electronic device includes but is not limited to a computer that can communicate with the digital controller 7.

[0077] When a user uses the hydraulic system of the embodiment of the present application, the digital controller 7 simply inputs easily measurable data, such as valve port pressure, valve core displacement, and oil temperature, acquired in real time from various sensors into the target neural network model to obtain the target flow rate corresponding to the real-time acquired valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12. In the application phase, efficient and rapid dynamic flow measurement is achieved, eliminating the need for a large-scale flowmeter 4 and improving the speed, real-time nature, and accuracy of flow measurement, especially under high-flow conditions.

[0078] The following will be combined Figure 6 The flowchart shown in FIG. 1 is a detailed introduction to the principle of obtaining a target neural network model by training at least part of the data in a high computing power electronic device provided by the embodiment of the present application. Figure 6 , the steps of training the high computing power electronic device to obtain the target neural network model based on at least part of the data are as follows:

[0079] S31: Obtain at least part of the data.

[0080] In some embodiments, the relevant references here include information such as flow rate, valve port pressure, valve core displacement, oil temperature, etc. of the electro-hydraulic control valve 12 under different working conditions measured by corresponding sensors during the flow characteristic calibration phase. Figure 3 At least part of the data involved in the illustrated process has different uses and times of measurement and belongs to different data.

[0081] S32: Preprocessing at least a portion of the acquired data to obtain at least a portion of preprocessed data.

[0082] For example, a high-computing-power electronic device preprocesses at least part of the acquired data to obtain at least part of the preprocessed data, specifically including: filtering at least part of the data to remove noise interference, sampling, and digital signal processing to obtain at least part of the preprocessed data.

[0083] S33: Based on at least part of the preprocessed data, determine the corresponding relationship between the valve port pressure, valve core displacement, oil night temperature and main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple working conditions.

[0084] In some embodiments, the high-computing-power electronic device determines, based on at least a portion of the preprocessed data, a corresponding relationship between the valve port pressure, valve core displacement, oil temperature, and main valve port flow rate of the electro-hydraulic control valve 12 under multiple operating conditions, so as to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple operating conditions, specifically including:

[0085] The high-computing-power electronic device determines the correspondence between the valve port pressure, valve core displacement, oil night temperature and main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions based on the node flow calculation formula and at least part of the pre-processed data, so as to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple working conditions.

[0086] Taking the electro-hydraulic control valve 12 as a three-position four-way valve as an example, according to the orifice flow calculation formula, the corresponding relationship between the valve port pressure, valve core displacement, oil temperature and main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions can be obtained as follows:

[0087]

[0088] Among them, Q is the flow rate of the electro-hydraulic control valve; C d is the flow coefficient of the electro-hydraulic control valve port; A is the flow area of ​​the electro-hydraulic control valve port; ΔP is the pressure difference of the electro-hydraulic control valve port; ρ is the oil density.

[0089] Where A = X·K A ,ΔP=(P P -P A )+(P B -P T ) or ΔP=(P P -P B )+(P A -P T ),

[0090] X is the opening of the three-position four-way valve; K A P is the flow area coefficient of the three-position four-way valve port; P is the pressure of port P of the three-position four-way valve; A is the pressure at port A of the three-position four-way valve; P B is the pressure of port B of the three-position four-way valve; P T It is the T port pressure of the three-position four-way valve.

[0091] S34: Based on the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve 12 under multiple working conditions, the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient data of the electro-hydraulic control valve 12 in the full working condition range are fitted.

[0092] As a result, the technical solution of this application only needs to collect a small amount of parameter information for different operating conditions during the flow coefficient calibration phase. Then, based on the limited parameter fitting, the flow characteristics of the entire operating range can be obtained, avoiding complex testing and making the operation simple and practical. Furthermore, the technical solution of this application is based on the mechanical characteristics of the basic components of the hydraulic system and can be widely applied to various types of electro-hydraulic control valves.

[0093] In some embodiments, the above method also includes: before the high-computing power electronic device fits the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve 12 in the full operating range based on the valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve 12 under multiple operating conditions, it corrects the flow coefficient to make the fitted data more accurate, thereby further improving the accuracy of flow measurement, especially flow measurement under large flow conditions.

[0094] S35: The fitted valve port pressure, valve core displacement, oil night temperature, main valve port flow, and flow coefficient data of the electro-hydraulic control valve 12 in the full operating range are used as a sample data set and input into the untrained neural network model for training to obtain the target neural network model.

[0095] Therefore, in actual applications, flow calculation and measurement can be achieved by directly obtaining easily measurable signals from each valve port of the electro-hydraulic control valve 12, thereby improving the speed and real-time performance of flow measurement, especially under high-flow conditions. This avoids the shortcomings and inconveniences of using large-scale flow meters 4 for direct flow measurement in actual working conditions, which are expensive, have a low frequency response, are bulky, and are difficult to maintain. It also solves the problem that large-scale flow meters 4 have difficulty in achieving real-time and accurate dynamic flow measurement and are unable to adapt to the fast response speed of hydraulic transmission systems.

[0096] In some embodiments, in order to further improve user experience, the digital controller 7 can also implement differential processing. For example, the temperature range of a hydraulic system is preset to 0 to 50 degrees Celsius. When the digital controller 7 determines that the obtained oil night temperature exceeds the preset temperature range, for example, 60 degrees Celsius, it is not difficult to understand that under normal circumstances, the output flow value of the digital controller 7 will produce a sudden change. In order to avoid the user seeing this abnormal situation, the output value range of the digital controller 7 can be set to improve the user experience.

[0097] In some embodiments, the digital controller 7 is also used to monitor the flow state of the electro-hydraulic control valve 12 according to the determined target flow of the electro-hydraulic control valve 12. Since the target flow is calculated in real time by the digital controller 7 based on easily measurable data such as oil temperature, valve port pressure, and valve core displacement, the flow monitoring solution in the embodiment of the present application improves the rapidity and real-time performance of flow measurement, especially under large flow conditions, compared with traditional flow monitoring solutions. This avoids the shortcomings and inconveniences of directly using large-scale flow meters 4 that are expensive, have low frequency response, are large in size, and are difficult to maintain for flow monitoring in actual working conditions. It also solves the problem that large-scale flow meters 4 are difficult to achieve real-time and accurate measurement of dynamic flow and cannot adapt to the fast response speed of hydraulic transmission systems, making the flow self-monitoring of the electro-hydraulic control valve integrated module provided by the present application faster and more accurate.

[0098] The following will be combined Figure 7 , the principle of the flow-specific calibration phase provided in the embodiment of this application is described in detail. Please refer to Figure 7 ,

[0099] Figure 7 This is a schematic diagram of the principle of the flow characteristic calibration stage of an electro-hydraulic control valve 12 provided in an embodiment of the present application, which includes steps such as sensor signal preprocessing, neural network calculation model, full-condition flow characteristic prediction, and flow characteristic database. Figure 7 The displacement X refers to the valve core displacement, the temperature T refers to the oil night temperature, the pressure difference ΔP refers to the valve port pressure difference, and the flow rate Q refers to the main valve port flow rate.

[0100] It should be understood that in some embodiments, the prediction of flow characteristics under all operating conditions in the flow-specific calibration stage can be completed before the training of the neural network model, so that the data under all operating conditions can be fitted based on at least part of the data under limited operating conditions, thereby realizing the sample set construction of the target neural network model in this application.

[0101] By measuring information such as the flow rate, valve port pressure, spool displacement, and oil temperature of the electro-hydraulic control valve 12 under different operating conditions, a mathematical relationship between the flow rate and various variables is constructed. Furthermore, based on a limited number of sampling points, data such as the flow rate, valve port pressure, spool displacement, oil temperature, and flow coefficient for the full operating range of the electro-hydraulic control valve 12 are fitted. This data is used as a sample set for training a neural network model, and the trained model is then transplanted into the digital controller 7 of the electro-hydraulic control valve integrated module. In actual use, the digital controller 7 only needs to obtain easily measurable signals such as the pressure, displacement, and temperature of the electro-hydraulic control valve 12 to calculate the corresponding flow rate, thereby achieving real-time and accurate flow measurement of the electro-hydraulic control valve under different actual operating conditions.

[0102] The electro-hydraulic control valve integrated module provided by the present application is designed with a multi-sensor integrated valve body 15 near the original oil inlet and outlet of the valve body in response to the structural characteristics and complexity of the state information of the original electro-hydraulic control valve. It embeds micro pressure and temperature sensors, and avoids the pressure loss caused by excessively long pipelines without affecting the original flow characteristics in the valve, thereby making the pressure and temperature detection at the valve port more direct and accurate. A displacement sensor 14 is installed on the main valve core 121 to directly detect and feedback the valve core displacement signal. A digital controller collects and processes multiple sensor data in real time, including directly measurable data such as valve port pressure, valve core displacement, and oil temperature, and uses flow soft measurement technology to obtain flow information in real time to complete the monitoring of various state information of the original electro-hydraulic control valve. The new generation of electro-hydraulic control valves that integrate the electro-hydraulic control valve, the multi-sensor integrated valve body 15, and the controller can realize the automatic detection function of its own multiple state information, and has the characteristics of lightweight, integration, and digitization.

[0103] It is understood that the above scenarios are merely examples and do not limit the application scenarios of the technical solutions provided in the embodiments of this application. The technical solutions of this application can also be applied to other scenarios. For example, those skilled in the art will appreciate that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application will also be applicable to similar technical problems.

[0104] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0105] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0106] The components in the hydraulic system of the embodiment of the present application can be combined, divided and deleted according to actual needs.

[0107] In this application, the same or similar terminology, technical solutions and / or application scenario descriptions are generally only described in detail the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, for the same or similar terminology, technical solutions and / or application scenario descriptions that are not described in detail later, you can refer to the previous relevant detailed descriptions.

[0108] In this application, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0109] The various technical features of the technical solution of this application can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0110] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a storage disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state storage disk Solid State Disk (SSD)).

[0111] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An electro-hydraulic control valve integrated module with multi-state self-monitoring function, used in a hydraulic system, characterized in that: include: An electro-hydraulic control valve (12) comprises a main valve and a pilot valve, wherein a differential pressure reducing valve (17) is connected between the main valve and the pilot valve for setting the oil supply pressure for the pilot valve, the main valve comprises a main valve body (121) and a main valve core (122), and the pilot valve comprises a pilot valve body (161) and a pilot valve core (162); A multi-sensor integrated valve body (15) is provided as a base of the electro-hydraulic control valve (12) at the bottom of the main valve of the electro-hydraulic control valve (12), and the multi-sensor integrated valve body (15) comprises: an oil inlet temperature and pressure sensor (8) provided at the oil inlet of the electro-hydraulic control valve (12), an oil outlet pressure sensor (11) provided at the oil outlet of the electro-hydraulic control valve (12), a first pressure sensor (9) provided at the first main valve port (12A) of the electro-hydraulic control valve (12), a second pressure sensor (10) provided at the second main valve port (12B) of the electro-hydraulic control valve (12), and a displacement sensor (14) provided at the main valve core (122) of the electro-hydraulic control valve (12); The oil inlet temperature and pressure sensor (8) is used to measure the oil temperature and pressure of the oil inlet of the electro-hydraulic control valve (12); the oil outlet pressure sensor (11) is used to measure the oil outlet pressure of the electro-hydraulic control valve (12); the first pressure sensor (9) is used to measure the pressure of the first main valve port of the electro-hydraulic control valve (12); the second pressure sensor (10) is used to measure the pressure of the second main valve port of the electro-hydraulic control valve (12); the displacement sensor (14) is used to measure the valve core displacement of the electro-hydraulic control valve (12); A digital controller (7) is connected to the electro-hydraulic control valve (12) and the multi-sensor integrated valve body (15), and is used to monitor the operating state of the electro-hydraulic control valve (12) based on the sensor data obtained from the multi-sensor integrated valve body (15).

2. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 1, characterized in that: The digital controller (7) monitors the operating state of the electro-hydraulic control valve (12) based on the sensor data obtained from the multi-sensor integrated valve body (15) in the following manner: The digital controller (7) acquires sensor data measured by at least part of the sensors in the multi-sensor integrated valve body (15) in real time; The digital controller (7) determines whether the sensor data is within a preset normal range; When the digital controller (7) determines that the sensor data is within a preset normal range, it determines that the corresponding sensor is in a normal state; When the digital controller (7) determines that the sensor data exceeds a preset normal range, it determines that the corresponding sensor is in an abnormal state, locates the position of the sensor corresponding to the abnormal sensor data, and reports fault information.

3. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 2, characterized in that: The sensor data includes the oil temperature at the oil inlet of the electro-hydraulic control valve (12) measured by the oil inlet temperature and pressure sensor (8); the oil outlet pressure of the electro-hydraulic control valve (12) measured by the oil outlet pressure sensor (11); the first main valve port pressure of the electro-hydraulic control valve (12) measured by the first pressure sensor (9), the second main valve port pressure of the electro-hydraulic control valve (12) measured by the second pressure sensor (10); and the valve core displacement of the electro-hydraulic control valve (12) measured by the displacement sensor (14).

4. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 1, characterized in that: A flow meter (4) is provided between the first main valve port (12A) of the electro-hydraulic control valve (12) and the load actuator (13), and is used to measure the flow rate of the main valve port of the electro-hydraulic control valve (12).

5. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 4, characterized in that: The digital controller (7) is further configured to determine a target flow rate of the electro-hydraulic control valve (12) based on at least part of the sensor data.

6. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 5, characterized in that: At least part of the data of the hydraulic system includes at least the valve core displacement and main valve port flow of the electro-hydraulic control valve (12) under multiple working conditions.

7. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 5, characterized in that: At least part of the data includes main valve port flow, valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve (12) under multiple working conditions, and a target neural network model is transplanted into the digital controller (7). The digital controller (7) determines the target flow rate of the electro-hydraulic control valve (12) based on at least part of the data in the following manner: The digital controller (7) acquires the valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve (12) in real time; The digital controller (7) inputs the valve port pressure, valve core displacement, and oil temperature acquired in real time into the target neural network model to obtain a target flow corresponding to the valve port pressure, valve core displacement, and oil temperature acquired in real time of the electro-hydraulic control valve (12), wherein the target neural network model is pre-trained based on at least part of the data.

8. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 7, characterized in that: The target neural network model is obtained by training with a high-computing-power electronic device, the high-computing-power electronic device being connected to the digital controller (7), and the high-computing-power electronic device obtaining the target neural network model by training based on at least part of the data in the following manner: obtaining at least part of the data; Preprocessing the acquired at least part of the data to obtain at least part of the preprocessed data; Based on at least part of the pre-processed data, determining the corresponding relationship between the valve port pressure, valve core displacement, oil temperature and main valve port flow of the electro-hydraulic control valve (12) under multiple working conditions, so as to obtain multiple valve port flow coefficients of the electro-hydraulic control valve (12) under the multiple working conditions; Based on the valve port pressure, valve core displacement, oil temperature, main valve port flow rate, and flow coefficient of the electro-hydraulic control valve (12) under multiple working conditions, fitting the valve port pressure, valve core displacement, oil temperature, main valve port flow rate, and flow coefficient data of the electro-hydraulic control valve (12) in the full working condition range; The fitted valve port pressure, valve core displacement, oil temperature, main valve port flow, and flow coefficient data of the electro-hydraulic control valve (12) in the full operating range are used as a sample data set and input into an untrained neural network model for training to obtain the target neural network model.

9. The electro-hydraulic control valve integrated module with multi-state self-monitoring function according to claim 8, characterized in that: The digital controller (7) is further configured to monitor the flow state of the electro-hydraulic control valve (12) based on the determined target flow of the electro-hydraulic control valve (12).

Images