Electro-hydraulic control valve flow soft measurement system and method

Abstract

The application provides an electro-hydraulic control valve flow soft measurement system and method, and the electro-hydraulic control valve flow soft measurement system comprises an electro-hydraulic control valve, a plurality of sensors, a digital controller, the digital controller is transplanted with a target neural network model, and the digital controller acquires valve port pressure, valve core displacement and oil temperature of the electro-hydraulic control valve in real time; the digital controller inputs the valve port pressure, the valve core displacement and the oil temperature acquired in real time into the target neural network model to obtain a target flow corresponding to the valve port pressure, the valve core displacement and the oil temperature of the electro-hydraulic control valve acquired in real time, wherein the target neural network model is obtained by training according to relevant parameters in advance. According to the application, only the easily measured signals such as pressure, displacement and temperature of the electro-hydraulic control valve need to be acquired, and the corresponding flow can be quickly calculated, so that the real-time and accurate measurement of the electro-hydraulic control valve flow under different working conditions is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to an electro-hydraulic control valve flow soft measurement system and method. BACKGROUND

[0002] The electro-hydraulic control valve is a core control element of hydraulic transmission, is widely used in various heavy equipment, and is a key to realize the automation and intelligentization of various heavy equipment. The flow is one of the important parameters of the hydraulic system, and directly reflects the running condition of the load actuator in the hydraulic system.

[0003] However, the traditional flow measurement method is to directly measure by using a flowmeter. However, the large-scale flowmeter has the disadvantages of high price, low frequency response, large size, and difficult maintenance. Moreover, the flowmeter is difficult to realize real-time accurate measurement of dynamic flow due to the complexity of oil properties, fluid flow state, and inertia of the moving parts of the flowmeter itself, and cannot adapt to the fast response speed of the hydraulic transmission system. With the continuous development and application of electro-hydraulic proportional technology, the accuracy and rapidity of the flow test technology of the electro-hydraulic control valve are also increasingly required. SUMMARY

[0004] In view of the above technical problems, the present application provides an electro-hydraulic control valve flow soft measurement system and method. By measuring the flow, valve port pressure, valve core displacement, oil temperature and other information of the electro-hydraulic control valve under limited working conditions, the mathematical relationship between the flow and each variable is constructed, and the flow, valve port pressure, valve core displacement, oil temperature, flow coefficient and other data of the electro-hydraulic control valve in the full working condition range are fitted according to the limited sampling points. These data are used as a sample set to train a neural network model, and the trained model is transplanted into a digital controller of the electro-hydraulic control valve flow soft measurement system. In actual use, the digital controller only needs to obtain the pressure, displacement, temperature and other easy-to-measure signals of the electro-hydraulic control valve, and the corresponding flow can be calculated to realize real-time accurate measurement of the flow of the electro-hydraulic control valve under actual different working conditions.

[0005] In the first aspect, the present application provides an electro-hydraulic control valve flow soft measurement system connected between a motor and a load actuator of a hydraulic system. The electro-hydraulic control valve flow soft measurement system comprises: an electro-hydraulic control valve; an oil inlet temperature and pressure sensor arranged at an oil inlet of the electro-hydraulic control valve, an oil outlet pressure sensor arranged at an oil outlet of the electro-hydraulic control valve, a first pressure sensor arranged at a first main valve port 12A of the electro-hydraulic control valve, a second pressure sensor arranged at a second main valve port 12B of the electro-hydraulic control valve, and a displacement sensor arranged at a main valve core of the electro-hydraulic control valve.

[0006] The oil inlet temperature and pressure sensor is configured to measure the oil inlet temperature and pressure of the electro-hydraulic control valve; the oil outlet pressure sensor is configured to measure the oil outlet pressure of the electro-hydraulic control valve; the first pressure sensor is configured to measure the first main valve port pressure of the electro-hydraulic control valve; and the second pressure sensor is configured to measure the second main valve port pressure of the electro-hydraulic control valve.

[0007] The displacement sensor is configured to measure the spool displacement of the electro-hydraulic control valve.

[0008] The digital controller is connected to the electro-hydraulic control valve, configured to acquire the related parameters of the hydraulic system, and determine the target flow of the electro-hydraulic control valve based on the related parameters.

[0009] In a possible implementation of the first aspect, a flow meter is arranged between the first main valve port 12A of the electro-hydraulic control valve and the load actuator, and is configured to measure the main valve port flow of the electro-hydraulic control valve.

[0010] In a possible implementation of the first aspect, the related parameters of the hydraulic system at least include the spool displacement, the main valve port flow of the electro-hydraulic control valve under multiple working conditions.

[0011] In a possible implementation of the first aspect, the related parameters of the hydraulic system further include at least one of the following parameters:

[0012] The valve port pressure, the oil temperature, and the oil viscosity of the electro-hydraulic control valve under multiple working conditions.

[0013] In a possible implementation of the first aspect, the related parameters include the main valve port flow, the valve port pressure, the spool displacement, and the oil temperature of the electro-hydraulic control valve under multiple working conditions, and the digital controller is transplanted with a target neural network model.

[0014] The digital controller determines the target flow of the electro-hydraulic control valve based on the related parameters in the following manner:

[0015] The digital controller acquires the valve port pressure, the spool displacement, and the oil temperature of the electro-hydraulic control valve in real time.

[0016] The digital controller inputs the valve port pressure, the spool displacement, and the oil temperature acquired in real time into the target neural network model, to obtain the target flow corresponding to the valve port pressure, the spool displacement, and the oil temperature of the electro-hydraulic control valve acquired in real time, wherein the target neural network model is obtained by pre-training according to the related parameters.

[0017] In a second aspect, the present application provides a method for soft measurement of the flow of an electro-hydraulic control valve, which is used for the digital controller of the electro-hydraulic control valve flow soft measurement system in any possible implementation of the first aspect, and the digital controller is transplanted with a target neural network model, and the method comprises the following steps:

[0018] The digital controller obtains in real time the valve port pressure, the valve core displacement and the oil temperature of the electro-hydraulic control valve.

[0019] The digital controller inputs the valve port pressure, the valve core displacement and the oil temperature obtained in real time into a target neural network model to obtain a target flow corresponding to the valve port pressure, the valve core displacement and the oil temperature of the electro-hydraulic control valve obtained in real time, wherein the target neural network model is obtained by training according to relevant parameters in advance.

[0020] In a possible implementation of the second aspect, the electro-hydraulic control valve flow soft measurement system is further connected to a high-performance electronic device, and the high-performance electronic device obtains the target neural network model by training according to relevant parameters in the following manner:

[0021] obtaining the relevant parameters;

[0022] preprocessing the obtained relevant parameters to obtain preprocessed relevant parameters;

[0023] determining, based on the preprocessed relevant parameters, a corresponding relationship among the valve port pressure, the valve core displacement, the oil temperature and the main valve port flow of the electro-hydraulic control valve under multiple working conditions to obtain multiple valve port flow coefficients of the electro-hydraulic control valve under the multiple working conditions;

[0024] fitting, based on the valve port pressure, the valve core displacement, the oil temperature, the main valve port flow and the flow coefficient of the electro-hydraulic control valve under the multiple working conditions, valve port pressure, valve core displacement, oil temperature, main valve port flow and flow coefficient data of the electro-hydraulic control valve in a full working condition range;

[0025] inputting the fitted valve port pressure, valve core displacement, oil temperature, main valve port flow and flow coefficient data of the electro-hydraulic control valve in the full working condition range as sample data sets into an untrained neural network model to train the untrained neural network model to obtain the target neural network model.

[0026] In a possible implementation of the second aspect, the high-performance electronic device preprocesses the obtained relevant parameters to obtain preprocessed relevant parameters, and specifically includes:

[0027] filtering the relevant parameters to remove noise interference, sampling and digital signal processing to obtain the preprocessed relevant parameters.

[0028] In a possible implementation of the second aspect, the high-performance electronic device determines, based on the preprocessed relevant parameters, a corresponding relationship among the valve port pressure, the valve core displacement, the oil temperature and the main valve port flow of the electro-hydraulic control valve under multiple working conditions to obtain multiple valve port flow coefficients of the electro-hydraulic control valve under the multiple working conditions, and specifically includes:

[0029] The high-performance electronic device determines the corresponding relationship among the valve port pressure, the valve core displacement, the oil temperature and the main valve port flow of the electro-hydraulic control valve under multiple working conditions based on the pre-processed parameters according to the flow rate calculation formula of the orifice, so as to obtain multiple valve port flow coefficients of the electro-hydraulic control valve under multiple working conditions.

[0030] In a possible implementation of the second aspect, the method further includes:

[0031] The high-performance electronic device corrects the flow coefficient before fitting the valve port pressure, the valve core displacement, the oil temperature, the main valve port flow and the flow coefficient of the electro-hydraulic control valve in the full working condition range based on the valve port pressure, the valve core displacement, the oil temperature, the main valve port flow and the flow coefficient of the electro-hydraulic control valve under multiple working conditions, so as to make the fitted data more accurate.

[0032] The application measures the main valve port flow, the valve port pressure, the valve core displacement, the oil temperature and other data of the electro-hydraulic control valve under different working conditions, constructs the mathematical relationship between the flow and each variable, and fits the main valve port flow, the valve port pressure, the valve core displacement, the oil temperature, the flow coefficient and other data of the electro-hydraulic control valve in the full working condition range according to the limited sampling points, trains the neural network model by taking these data as a sample set, and transplants the trained model to the digital controller of the electro-hydraulic control valve flow soft measurement system. In actual use, the digital controller only needs to obtain the valve port pressure, the valve core displacement, the oil temperature and other easily measured signals of the electro-hydraulic control valve, and can calculate the corresponding flow, so as to realize the real-time and accurate measurement of the flow of the electro-hydraulic control valve under actual different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0034] Figure 1 A system principle diagram of a hydraulic system provided for the embodiment of the application;

[0035] Figure 2 An installation position schematic diagram of a displacement sensor of an electro-hydraulic control valve provided for the embodiment of the application;

[0036] Figure 3 A flow schematic diagram of an electro-hydraulic control valve flow soft measurement method provided for the embodiment of the application;

[0037] Figure 4A high-computing-power electronic device provided by an embodiment of the present application provides a flowchart of a process of training a target neural network model according to relevant parameters;

[0038] Figure 5 A principle diagram of a calibration phase of a flow characteristic of an electro-hydraulic control valve is provided by an embodiment of the present application.

[0039] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. The above-described drawings have shown the specific embodiments of the present application, and more detailed description will be given hereinafter. These drawings and the written description are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0040] The exemplary embodiments will be described in detail herein with reference to the accompanying drawings. The following description is presented with reference to the drawings, wherein like reference numerals are used to refer to like elements throughout. The following description is not intended to represent all embodiments in accordance with the present application. Rather, they are merely examples in accordance with some aspects of the present application as detailed in the appended claims.

[0041] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. In addition, components, features, elements that have the same name in different embodiments of the present application can have the same meaning or different meanings, and the specific meaning thereof should be determined in combination with the explanation thereof in the specific embodiment or further in combination with the context in the specific embodiment.

[0042] It should be understood that, although terms, first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a particular order or hierarchy among the information. These terms are used only to distinguish one category of information from another category of information. For example, a first information can be termed a second information, and similarly, a second information can be termed a first information without departing from the scope hereof. The word "if' as used herein, depending on the context in which it is used, can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Also, the word "comprise" or "comprising" as used herein, can be interpreted as meaning "comprising but not limited to." It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, and / or groups but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, and / or groups thereof. As used herein, the terms "or," "and / or," "and," "at least one of," and the like are to be interpreted as inclusive, unless the context of their use indicates otherwise. For example, "A, B, or C" or "A, B, and / or C" or "at least one of A, B, or C" can be interpreted to mean "A; B; C; A and B; A and C; B and C; A, B, and C," or any combination thereof. Similarly, "A, B, or C" or "A, B, and / or C" or "at least one of A, B, or C" can be interpreted to mean "A; B; C; A and B; A and C; B and C; A, B, and C," or any combination thereof. Only when the context of their use indicates otherwise is the definition of these terms to be interpreted as exclusive.

[0043] It should be understood that, although various steps in the flowcharts of the embodiments of the present application are shown in a sequential order, these steps are not necessarily performed in the order shown. Unless explicitly stated, the steps of the embodiments of the present application are not necessarily performed in the order shown. Moreover, at least some of the steps can include multiple sub-steps or multiple stages, which are not necessarily performed in a same time instant, but can be performed in different time instants, and not necessarily sequentially, but can be performed in a round-robin or alternating manner with other steps or sub-steps or stages of other steps.

[0044] The word "if' as used herein, depending on the context in which it is used, can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Similarly, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted to mean "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)," depending on the context of their use.

[0045] It should be understood that the specific embodiments described herein are merely exemplary and do not limit the application.

[0046] The technical solutions of the application will be described in detail below with reference to the drawings.

[0047] Figure 1 A system schematic diagram of a hydraulic system is provided for the embodiments of the application. As shown in the hydraulic system includes a motor 1, a hydraulic pump 2, a relief valve 3, a flowmeter 4, an oil tank 5, a gate valve 6, an electro-hydraulic control valve flow soft measurement system, and a load actuator 13. Figure 1

[0048] The electro-hydraulic control valve flow soft measurement system 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, and the flowmeter 4 is arranged between the first main valve port 12A of the electro-hydraulic control valve 12 and the load actuator 13, for measuring the flow 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 solutions of the application is only used in the flow characteristic calibration stage of the technical solutions of the application, and is not the real-time flow presented to the user. The meaning and specific implementation steps of the flow characteristic calibration stage will be described in detail in the subsequent content, which will not be expanded here.

[0049] 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.

[0050] Optionally, the electro-hydraulic control valve flow soft measurement system includes: an electro-hydraulic control valve 12; an oil inlet temperature and pressure sensor 8 arranged at the oil inlet of the electro-hydraulic control valve 12, an oil outlet pressure sensor 11 arranged at the oil outlet of the electro-hydraulic control valve 12, a first pressure sensor 9 arranged at the first main valve port 12A of the electro-hydraulic control valve 12, a second pressure sensor 10 arranged at the second main valve port 12B of the electro-hydraulic control valve 12, and a displacement sensor arranged at the main valve core of the electro-hydraulic control valve 12.

[0051] The oil inlet temperature and pressure sensor 8 is used to measure the oil inlet temperature and pressure 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 is used to measure the displacement of the valve core of the electro-hydraulic control valve 12.

[0052] Optionally, the installation position of the displacement sensor of the electro-hydraulic control valve can be seen from Figure 2 , Figure 2 A schematic diagram of the installation position of the displacement sensor 14 of the electro-hydraulic control valve is provided for the embodiments of the application. In​Figure 2 In the illustrated embodiment, 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.

[0053] Optionally, the digital controller 7 is connected to the electro-hydraulic control valve 12 to obtain relevant parameters of the hydraulic system, and determine the target flow of the electro-hydraulic control valve 12 based on the relevant parameters. Wherein, the target flow is the real-time flow of the electro-hydraulic control valve output by the digital controller 7 in the actual application scenario of the technical scheme of the present application, for example, applied to Figure 1 In the application scenario of the illustrated hydraulic system, the digital controller 7 outputs the accurate real-time flow of the electro-hydraulic control valve. In actual use, the digital controller 7 only needs to obtain the easily measured signals such as electro-hydraulic control valve pressure, displacement, temperature, etc., to calculate the corresponding flow, so as to realize the real-time accurate measurement of the flow of the electro-hydraulic control valve under different working conditions.

[0054] Optionally, the relevant parameters of the hydraulic system at least include the valve core displacement and the main valve port flow of the electro-hydraulic control valve 12 under multiple working conditions.

[0055] In some embodiments, the relevant parameters of the hydraulic system further include at least one of the following parameters: valve port pressure, oil temperature, oil viscosity of the electro-hydraulic control valve 12 under multiple working conditions. For example, the relevant parameters of the hydraulic system include 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.

[0056] In the following Figure 3 , and taking the example that the relevant parameters of the hydraulic system include 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, a kind of electro-hydraulic control valve flow soft measurement method provided by the present application will be described in detail, for digital controller 7, so as to further facilitate the basic principle of the digital controller 7 based on the relevant parameters to determine the target flow of the electro-hydraulic control valve 12 for the person skilled in the art to understand.

[0057] Exemplarily, in the case that the relevant parameters of the hydraulic system include 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, a target neural network model is transplanted in the digital controller 7. Referring to Figure 3 , the electro-hydraulic control valve flow soft measurement method specifically includes the following steps:

[0058] S11: The digital controller 7 obtains the main valve port pressure, valve core displacement, and oil temperature of the electro-hydraulic control valve 12 in real time.

[0059] It should be noted that in the application stage of the electro-hydraulic control valve flow soft measurement method, the main valve port pressure, the valve core displacement and the oil temperature of the electro-hydraulic control valve 12 herein refer to those measured by the corresponding sensors in the actual working condition of the hydraulic system. The main valve port pressure (also referred to as the valve port pressure in some of the foregoing or subsequent contents) is the first main valve port pressure measured by the first pressure sensor 9 and the second main valve port pressure measured by the second pressure sensor 10; 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 (i.e., a temperature and pressure integrated sensor).

[0060] S12: The digital controller 7 inputs the real-time acquired main valve port pressure, valve core displacement and oil temperature into the target neural network model to obtain a target flow corresponding to the real-time acquired main valve port pressure, valve core displacement and oil temperature of the electro-hydraulic control valve 12, wherein the target neural network model is obtained by pre-training according to relevant parameters.

[0061] It should be noted that, considering the cost and volume of the hydraulic system, the computing power of the computing device in the hydraulic system is generally insufficient to implement the training process of the neural network model, and therefore, in general, the person skilled in the art will choose to train the neural network model that has not been trained according to the relevant parameters involved in the present application on a high-power electronic device, and then transplant the target neural network model obtained by training into the digital controller 7 involved in the present application. For example, the electro-hydraulic control valve flow soft measurement system is connected to a high-power electronic device that can communicate with the digital controller 7, and the high-power electronic device includes but is not limited to a computer that can communicate with the digital controller 7.

[0062] In the process of using the hydraulic system of the embodiment of the present application by the user, the digital controller 7 only needs to input the easily measured data such as the real-time acquired main valve port pressure, valve core displacement and oil temperature from the sensors into the target neural network model to obtain the target flow corresponding to the real-time acquired main valve port pressure, valve core displacement and oil temperature of the electro-hydraulic control valve 12. In the application stage, efficient and rapid dynamic flow measurement can be achieved, the use of large-scale flow meters 4 is avoided, and the rapidity, real-time performance and accuracy of flow measurement, especially in large flow working conditions, are improved.

[0063] The principle of training the target neural network model by the high-power electronic device according to the relevant parameters will be described in detail below with reference to the flowchart shown in Figure 4 The principle of training the target neural network model by the high-power electronic device according to the relevant parameters will be described in detail below with reference to the flowchart shown in Figure 4 The steps of training the target neural network model by the high-power electronic device according to the relevant parameters are as follows:

[0064] S21: Obtain the relevant parameters.

[0065] In some embodiments, the relevant parameters herein include the flow, valve port pressure, valve core displacement, oil temperature and the like of the electro-hydraulic control valve 12 under different working conditions measured by the corresponding sensors during the flow characteristic calibration stage. The use and time of measurement of the relevant parameters involved in the flow shown above are different, and belong to different data. Figure 3

[0066] S22: Preprocess the acquired relevant parameters to obtain preprocessed relevant parameters.

[0067] For example, the high-performance electronic device preprocesses the acquired relevant parameters to obtain preprocessed relevant parameters, which specifically includes: removing noise interference, sampling, and digital signal processing of the relevant parameters to obtain preprocessed relevant parameters.

[0068] S23: Based on the preprocessed relevant parameters, 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 is determined to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple working conditions.

[0069] In some embodiments, the high-performance electronic device determines 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 based on the preprocessed relevant parameters to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple working conditions, which specifically includes:

[0070] The high-performance electronic device determines 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 based on the preprocessed relevant parameters according to the orifice flow calculation formula to obtain multiple valve port flow coefficients of the electro-hydraulic control valve 12 under multiple working conditions.

[0071] 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:

[0072]

[0073] Wherein, Q is the electro-hydraulic control valve port flow; C d is the electro-hydraulic control valve port flow coefficient; A is the electro-hydraulic control valve port flow area; ΔP is the electro-hydraulic control valve port pressure difference; ρ is the oil density.

[0074] Wherein, A=X·K A , ΔP=(P P -P A )+(P​B -P T ) or ΔP = (P P -P B ) + (P A -P T ),

[0075] X is the three-position four-way valve port opening; K A is the three-position four-way valve port flow area coefficient; P P is the P port pressure of the three-position four-way valve; P A is the A port pressure of the three-position four-way valve; P B is the B port pressure of the three-position four-way valve; P T is the T port pressure of the three-position four-way valve.

[0076] S24: 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, 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 are fitted.

[0077] Thus, the technical scheme of the present application only needs to collect a small amount of parameter information under different working conditions in the flow coefficient calibration stage, and the flow characteristics in the full working condition range can be obtained according to the limited parameters, avoiding complicated testing and being simple and practical to operate. Moreover, the technical scheme of the present application is realized based on the mechanical characteristics of the basic components of the hydraulic system, and can be widely applied in various electro-hydraulic control valves.

[0078] In some embodiments, the above method further comprises: before fitting the valve port pressure, valve core displacement, oil temperature, main valve port flow rate and flow coefficient of the electro-hydraulic control valve 12 in the full working condition range 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, the high-performance electronic device corrects the flow coefficient to make the fitted data more accurate, further improving the accuracy of flow measurement, especially in large flow working conditions.

[0079] S25: inputting the fitted 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 as a sample data set into an untrained neural network model for training to obtain a target neural network model.

[0080] Thus, in practical applications, only the easily measured signals of the valve ports of the electro-hydraulic control valve 12 need to be directly obtained to realize the calculation and measurement of the flow, thereby improving the rapidity and real-time performance of the flow measurement, especially in large flow conditions. The disadvantages and inconvenience caused by directly using large-scale flow meters with high prices, low frequency response, large size and difficult maintenance in actual working conditions are avoided, and the problem that large-scale flow meters are difficult to realize real-time and accurate measurement of dynamic flow and cannot adapt to the fast response speed of the hydraulic transmission system is solved.

[0081] In some embodiments, in order to further improve the user experience, the difference processing of the digital controller 7 can also be realized, for example, a temperature range of 0 to 50 degrees Celsius is preset for the hydraulic system, when the digital controller 7 determines that the obtained oil temperature exceeds the preset temperature range, for example, 60 degrees Celsius, it is not difficult to understand that in general cases, the output flow value of the digital controller 7 will change suddenly, in order to avoid the user from seeing this abnormal situation, the output value range of the digital controller 7 can be set, thereby improving the user experience.

[0082] The specific calibration stage of the flow provided by the embodiments of the present application will be described in detail below. Figure 5 The principle of the flow specific calibration stage provided by the embodiments of the present application will be described in detail. Please refer to Figure 5 ,

[0083] Figure 5 A schematic diagram of the flow characteristic calibration stage of the electro-hydraulic control valve provided by the embodiments of the present application, wherein the sensor signal preprocessing, neural network calculation model, full working condition flow characteristic prediction, flow characteristic database and other steps. Figure 5 The displacement X in the formula refers to the displacement of the valve core, the temperature T refers to the oil temperature, the pressure difference ΔP refers to the pressure difference of the valve port, and the flow Q refers to the flow of the main valve port.

[0084] It should be understood that in some embodiments, the full working condition flow characteristic prediction in the flow specific calibration stage can be completed before the neural network model training, so as to fit the data of the full working condition according to the related parameters in the limited working condition, and realize the sample set construction of the target neural network model in the present application.

[0085] The application measures the flow, valve port pressure, valve core displacement, oil temperature and other information of the electro-hydraulic control valve under different working conditions, constructs the mathematical relationship between the flow and each variable, and fits the flow, valve port pressure, valve core displacement, oil temperature, flow coefficient and other data of the electro-hydraulic control valve in the full working condition range according to the limited sampling points. The data are used as a sample set to train the neural network model, and the trained model is transplanted into the digital controller 7 of the electro-hydraulic control valve flow soft measurement system. In actual use, the digital controller 7 only needs to obtain the easily measured signals such as pressure, displacement and temperature of the electro-hydraulic control valve, and the corresponding flow can be calculated to realize real-time and accurate measurement of the flow of the electro-hydraulic control valve under different working conditions.

[0086] It can be understood that the above scenarios are only examples and do not constitute a limitation on the application scenarios of the technical solutions provided by the embodiments of the application. The technical solutions provided by the embodiments of the application are also applicable to other scenarios. For example, those skilled in the art can know that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the application are also applicable to similar technical problems.

[0087] The above sequence numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0088] The steps in the method of the embodiments of the application can be adjusted, combined and reduced in sequence according to actual needs.

[0089] The components in the hydraulic system of the embodiments of the application can be combined, divided and reduced according to actual needs.

[0090] In the present application, for the same or similar term concept, technical solution and / or application scenario description, generally only detailed description is made when it appears for the first time, and for the sake of brevity, it is generally not repeated when it appears repeatedly, and for the understanding of the technical solutions of the present application, the same or similar term concept, technical solution and / or application scenario description which is not described in detail can be referred to the related description before.

[0091] In the present application, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0092] The technical features of the technical solutions of the present application can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope recorded in the present application.

[0093] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented 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, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. 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 through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, storage disk, magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk (SSD)) and the like.

[0094] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for electro-hydraulic control valve flow soft-sensing, comprising an electro-hydraulic control valve flow soft-sensing system, the electro-hydraulic control valve flow soft-sensing system comprising a digital controller (7), characterized in that, The digital controller (7) is transplanted with a target neural network model, and the method comprises: 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; The digital controller (7) inputs the real-time obtained valve port pressure, valve core displacement and oil temperature into the target neural network model to obtain a target flow corresponding to the real-time obtained valve port pressure, valve core displacement and oil temperature of the electro-hydraulic control valve (12), wherein the target neural network model is obtained by pre-training according to relevant parameters; The electro-hydraulic control valve flow soft measurement system is connected to a high-performance electronic device, and the high-performance electronic device obtains the target neural network model according to the relevant parameters in the following manner: Obtain the relevant parameters; Preprocess the obtained relevant parameters to obtain preprocessed relevant parameters; Based on the preprocessed relevant parameters, 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 is determined 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 and flow coefficient of the electro-hydraulic control valve (12) under multiple working conditions, the valve port pressure, valve core displacement, oil temperature, main valve port flow and flow coefficient data of the electro-hydraulic control valve (12) under the full working condition range are fitted; 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) under the full working condition range are input into an untrained neural network model for training to obtain the target neural network model; The electro-hydraulic control valve flow soft measurement system is connected between the motor and the load actuator of the hydraulic system, and the electro-hydraulic control valve flow soft measurement system comprises: An electro-hydraulic control valve (12); An oil inlet temperature and pressure sensor (8) arranged at the oil inlet of the electro-hydraulic control valve (12), an oil outlet pressure sensor (11) arranged at the oil outlet of the electro-hydraulic control valve (12), a first pressure sensor (9) arranged at the first main valve port (12A) of the electro-hydraulic control valve (12), a second pressure sensor (10) arranged at the second main valve port (12B) of the electro-hydraulic control valve (12), and a displacement sensor (14) arranged 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 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); The digital controller (7) is connected to the electro-hydraulic control valve (12), used to obtain relevant parameters of the hydraulic system, and determine the target flow of the electro-hydraulic control valve (12) based on the relevant parameters.

2. The electro-hydraulic control valve flow soft sensing method of claim 1, wherein, The high-performance electronic device pre-processes the obtained relevant parameters to obtain pre-processed relevant parameters, specifically including: The relevant parameters are filtered to remove noise interference, sampled, and digitally signal processed to obtain pre-processed relevant parameters.

3. The electro-hydraulic control valve flow soft sensing method of claim 1, wherein, The high-performance electronic device determines 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 based on the pre-processed relevant parameters, to obtain multiple valve port flow coefficients of the electro-hydraulic control valve (12) under the multiple working conditions, specifically including: The high-performance electronic device determines 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 based on the pre-processed relevant parameters, to obtain multiple valve port flow coefficients of the electro-hydraulic control valve (12) under the multiple working conditions, specifically including:

4. The electro-hydraulic control valve flow soft measurement method according to claim 1, characterized in that, Further comprising: Before fitting the valve port pressure, valve core displacement, oil temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve (12) in the full working condition range based on the valve port pressure, valve core displacement, oil temperature, main valve port flow, and flow coefficient of the electro-hydraulic control valve (12) under multiple working conditions, the high-performance electronic device corrects the flow coefficient to make the fitted data more accurate.

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