Carrier and control method and system of electromagnetic valve

Abstract

The invention provides a carrier and an electromagnetic valve control method and system. The control method comprises the steps that a characteristic parameter set of an electromagnetic valve is obtained; characteristic parameters of each dimension in the characteristic parameter set are analyzed and determined according to parameters influencing the response of the electromagnetic valve; determining the flutter current frequency of the characteristic parameter set; determining a flutter current amplitude based on the characteristic parameter set and a first mapping relation; the first mapping relation represents the mapping relation between the characteristic parameter set and the flutter current amplitude; the target current is generated according to the flutter current frequency and the flutter current amplitude, the target current is used for controlling the electromagnetic valve, the accuracy of valve element control of the electromagnetic valve is improved, the hysteresis effect of the electromagnetic valve is eliminated, and then the dynamic response speed and the control precision of the electromagnetic valve are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a control method and system for a vehicle and a solenoid valve. Background Art

[0002] Solenoid valves are widely used in electric vehicles, such as the integrated brake-by-wire system of the vehicle chassis and shock absorbers. The control effect of the solenoid valve has an important impact on the performance of electric vehicles.

[0003] As the driving experience of electric vehicles improves, higher requirements are placed on the control accuracy and response speed of solenoid valves. Since solenoid valves involve the integration of multiple technologies such as electronics, electromagnetics, mechanics and hydraulics, solenoid valves are prone to hysteresis during use, affecting the response effect of the solenoid valves. Summary of the invention

[0004] In order to solve the problem in the prior art that the solenoid valve is prone to produce a hysteresis effect that affects the response effect, the present invention provides a control method and system for a vehicle and a solenoid valve.

[0005] In a first aspect, the present disclosure discloses a control method for a solenoid valve, the control method comprising:

[0006] Acquire a characteristic parameter set of the solenoid valve; the characteristic parameter of each dimension in the characteristic parameter set is determined based on the analysis of the parameters that affect the response of the solenoid valve;

[0007] determining a dither current frequency of a characteristic parameter set;

[0008] Determine the dither current amplitude based on the characteristic parameter set and the first mapping relationship; the first mapping relationship represents the mapping relationship between the characteristic parameter set and the dither current amplitude;

[0009] A target current is generated according to the dither current frequency and the dither current amplitude, and the target current is used to control the solenoid valve.

[0010] In one embodiment, before generating the target current according to the dithering current frequency and the dithering current amplitude, the method further includes:

[0011] Determine the average current based on the characteristic parameter set and the second mapping relationship; the second mapping relationship represents the mapping relationship between the characteristic parameter set and the average current;

[0012] Generate a target current according to the dither current frequency and the dither current amplitude, including:

[0013] generating a dither current according to a dither current frequency and a dither current amplitude;

[0014] The average current and the dither current are accumulated to obtain the target current.

[0015] In one embodiment, the characteristic parameter set includes a target displacement and a displacement amplitude of a solenoid valve core;

[0016] The displacement amplitude is determined according to the target displacement and a third mapping relationship, and the third mapping relationship represents a mapping relationship between the target displacement and the displacement amplitude.

[0017] In one embodiment, the first mapping relationship includes a mapping relationship between a displacement amplitude and a target displacement in a characteristic parameter set and a dither current amplitude;

[0018] Determining the dither current amplitude based on the characteristic parameter set and the first mapping relationship includes:

[0019] The dither current amplitude is determined based on the displacement amplitude of the characteristic parameter set, the target displacement and the first mapping relationship.

[0020] In one embodiment, the characteristic parameter set further includes the temperature of the solenoid valve and the pressure difference across the valve port of the solenoid valve.

[0021] In one embodiment, the first mapping relationship is determined by fitting the dither current amplitude according to the characteristic parameter set;

[0022] And / or, the first mapping relationship is determined according to the dynamic characteristics of the solenoid valve.

[0023] In one embodiment, the target current controls the solenoid valve by generating a target pulse width modulation current, the target pulse width modulation current corresponds to the target current one by one, and the target pulse width modulation current is loaded on the coil winding of the solenoid valve.

[0024] In one embodiment, the duty cycle of the target PWM current is set according to the temperature of the solenoid valve.

[0025] In a second aspect, an embodiment of the present disclosure provides a control system for a solenoid valve, the control system comprising:

[0026] An acquisition module is used to acquire a characteristic parameter set of the solenoid valve; the characteristic parameters of each dimension in the characteristic parameter set are determined by analyzing the influencing factors of the response of the solenoid valve;

[0027] A first determination module, used to determine the dither current frequency of the characteristic parameter set;

[0028] A second determination module is used to determine the dither current amplitude based on the characteristic parameter set and the first mapping relationship; the first mapping relationship represents the mapping relationship between the characteristic parameter set and the dither current amplitude;

[0029] The generating module is used to generate a target current according to the dither current frequency and the dither current amplitude, and the target current is used to control the solenoid valve.

[0030] In one embodiment, before executing the generating module 84, the system further includes:

[0031] A third determination module is used to determine the average current based on the characteristic parameter set and a second mapping relationship; the second mapping relationship represents a mapping relationship between the characteristic parameter set and the average current;

[0032] The generated modules include:

[0033] A generating unit, used for generating a dither current according to a dither current frequency and a dither current amplitude;

[0034] The accumulation unit is used to accumulate the average current and the dither current to obtain the target current.

[0035] In one embodiment, the characteristic parameter set includes a target displacement and a displacement amplitude of the solenoid valve core; the displacement amplitude is determined according to the target displacement and a third mapping relationship, and the third mapping relationship represents a mapping relationship between the target displacement and the displacement amplitude.

[0036] In one embodiment, the first mapping relationship includes a mapping relationship between a displacement amplitude and a target displacement in a characteristic parameter set and a dither current amplitude;

[0037] The second determination module is further used to determine the vibration current amplitude based on the displacement amplitude of the characteristic parameter set, the target displacement and the first mapping relationship.

[0038] In one embodiment, the characteristic parameter set further includes the temperature of the solenoid valve and the pressure difference across the valve port of the solenoid valve.

[0039] In one embodiment, the first mapping relationship is determined by fitting the dither current amplitude according to the characteristic parameter set;

[0040] And / or, the first mapping relationship is determined according to the dynamic characteristics of the solenoid valve.

[0041] In one embodiment, the target current controls the solenoid valve by generating a target pulse width modulation current, the target pulse width modulation current corresponds to the target current one by one, and the target pulse width modulation current is loaded on the coil winding of the solenoid valve.

[0042] In one embodiment, the duty cycle of the target PWM current is set according to the temperature of the solenoid valve.

[0043] In a third aspect, an embodiment of the present disclosure provides a vehicle, characterized in that the vehicle includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement a control method for a solenoid valve as described in any one of the first aspects.

[0044] The control method and system of the vehicle and the solenoid valve provided by the embodiments of the present disclosure have the following technical effects:

[0045] Before controlling the solenoid valve to eliminate the hysteresis effect of the solenoid valve, a characteristic parameter set of the solenoid valve is first obtained, and the characteristic parameter set includes characteristic parameters of at least one dimension. The target current is generated according to the characteristic parameter set to control the solenoid valve, which can effectively eliminate the interference of different factors on the valve core of the solenoid valve, so as to improve the accuracy of the valve core control of the solenoid valve, eliminate the hysteresis effect of the solenoid valve, and thereby improve the dynamic response speed and control accuracy of the solenoid valve.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present disclosure or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present disclosure;

[0049] Figure 2 is a flow chart of a control method of a solenoid valve provided by an embodiment of the present disclosure;

[0050] Figure 3 is a schematic diagram of a xi-fem curve provided by an embodiment of the present disclosure;

[0051] Figure 4 is a schematic diagram of a target displacement range provided by an embodiment of the present disclosure;

[0052] Figure 5 is a schematic diagram of a dither current amplitude provided by an embodiment of the present disclosure;

[0053] Figure 6 is a schematic diagram of an actual displacement range provided by an embodiment of the present disclosure;

[0054] Figure 7 is a flow chart of step S24 of a solenoid valve control method provided by an embodiment of the present disclosure;

[0055] Figure 8 is a module diagram of a control system of a solenoid valve provided in an embodiment of the present disclosure;

[0056] Fig. 9It is a module diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0059] See also Figure 1 , Figure 1 1 is a schematic diagram of an application environment provided by an embodiment of the present application, the schematic diagram includes a vehicle 101 and a server 102, wherein, in an optional implementation, the server 102 may be an onboard server disposed in the vehicle 101, the onboard server includes acquiring characteristic parameters of the solenoid valve, and generating a target current for controlling the solenoid valve according to the characteristic parameters. In another optional implementation, the vehicle 101 may be provided with its own onboard server, and the onboard server and Figure 1 The server 102 shown in the figure is not the same server. After the vehicle-mounted server transmits the acquired data to the server 102, the server can complete the subsequent steps and finally obtain the security analysis result. The vehicle-mounted server involved in the first case and the server involved in the second case are collectively referred to as servers.

[0060] Specifically, the server 102 obtains the characteristic parameter set of the vehicle 101. At the same time, the server 102 can determine the amplitude and frequency of the flutter current based on the characteristic parameter set. Finally, the server 102 will generate a target current for controlling the solenoid valve based on the flutter current to avoid the hysteresis effect of the battery valve.

[0061] The following describes a specific embodiment of a control method for a solenoid valve of the present application. Figure 2It is a flow chart of a solenoid valve control method provided in an embodiment of the present application. This specification provides method operation steps such as the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in the order shown in the embodiment or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method may include:

[0062] S21. Obtain a characteristic parameter set of the solenoid valve.

[0063] Among them, the solenoid valve is made of soft magnetic materials and is widely used in the integrated wire control braking system and shock absorbers of the chassis of new energy electric vehicles.

[0064] The solenoid valve is an integrated system involving electronic, electromagnetic, mechanical and hydraulic systems. Therefore, the control accuracy and response speed of the solenoid valve are often affected by various factors. For example, the oil in the solenoid valve will bring viscous resistance and friction of relative motion, thus bringing about hysteresis effect; the soft magnetic material characteristics of the solenoid valve will cause hysteresis in the solenoid valve, etc.

[0065] In order to eliminate the above-mentioned influence, the common practice is to add a dither current to the current used to control the solenoid valve so that the valve core of the solenoid valve can vibrate slightly, thereby reducing the repetitive hysteresis error of the solenoid valve and improving the dynamic response speed and control accuracy of the solenoid valve.

[0066] However, during the actual operation of the valve core of the solenoid valve, the state of the valve core is not always in the ideal state expected during control.

[0067] For example, temperature will also affect the viscosity of the oil, causing the vibration amplitude of the valve core to be very different at the same flutter current frequency and amplitude of the solenoid valve; the flutter current amplitude of the valve core in different positions remains unchanged, resulting in large differences in the actual flutter displacement amplitude. Even if the coil current is the same, the electromagnetic force exerted on the valve core is not the same; when the inlet and outlet fluid pressures of the solenoid valve are different, the fluid force exerted on the valve core will also change accordingly.

[0068] When the solenoid valve core cannot be precisely controlled, the solenoid valve core will vibrate too much or too little under the action of the dither current. This kind of vibration can easily cause the solenoid valve to be opened or closed, resulting in large pressure fluctuations and destroying the stability of the solenoid valve pressure control; or the dither amplitude is too small to achieve the effect of reducing hysteresis. In addition, this kind of vibration will also make the solenoid valve have obvious noise, greatly reducing the noise, vibration and harshness (NVH) performance of the solenoid valve.

[0069] Therefore, in this embodiment, before the solenoid valve is controlled to eliminate the hysteresis effect of the solenoid valve, a characteristic parameter set of the solenoid valve is first obtained, and the characteristic parameter set includes characteristic parameters of at least one dimension. The target current is generated according to the characteristic parameter set to control the solenoid valve. This can effectively eliminate the interference of different factors on the valve core of the solenoid valve, so as to improve the accuracy of the valve core control of the solenoid valve, and thereby improve the dynamic response speed and control accuracy of the solenoid valve.

[0070] Therefore, the characteristic parameters of each dimension in the characteristic parameter set of this embodiment are determined based on the analysis of the parameters that affect the response of the solenoid valve. The characteristic parameters may specifically be the factors that affect the vibration amplitude fluctuation of the valve core of the solenoid valve.

[0071] Specifically, the characteristic parameters of each dimension in the characteristic parameter set can be determined by analyzing the force on the valve core of the solenoid valve. Specifically, a model of the electromagnetic force and characteristic parameters on the valve core of the solenoid valve can be established to analyze the influence of each parameter on the electromagnetic force, so as to determine the parameters that meet the conditions as characteristic parameters. Similarly, other methods can also be used. This embodiment is only an example and can be selected according to actual needs.

[0072] Based on the above analysis of the parameters that affect the response of the solenoid valve, the characteristic parameter set in this embodiment preferably includes characteristic parameters of the following dimensions: the target displacement of the solenoid valve core, the temperature of the solenoid valve, and the pressure difference at both ends of the solenoid valve port, but is not limited to this, and is selected based on the actual application scenario.

[0073] In addition, the solenoid valve in this embodiment can preferably be a linear valve.

[0074] S22. Determine the dither current frequency of the characteristic parameter set.

[0075] The dither current frequency refers to the frequency of periodic current fluctuations introduced into the control current in the solenoid valve to reduce the hysteresis effect and improve the response speed. Selecting the appropriate dither frequency is crucial to improving the performance of the solenoid valve.

[0076] The dither current frequency in this embodiment is determined based on the characteristic parameter set of the solenoid valve, which can fully refer to the factors affecting the response of the solenoid valve to eliminate the influence on the solenoid valve to the greatest extent and improve the dynamic response speed and control accuracy of the solenoid valve.

[0077] In one embodiment, the characteristic parameter set further includes a preset modulation frequency of a pulse width modulation current (PWM) and a natural frequency of the solenoid valve.

[0078] Among them, the natural frequency f0 is the natural vibration frequency of the mechanical or fluid dynamics solenoid valve. It is determined by the mass, stiffness, damping and other factors of the solenoid valve. The existence of the natural frequency will affect the vibration characteristics of the solenoid valve. The solenoid valve may resonate near the natural frequency, resulting in a significant increase in the vibration amplitude.

[0079] PWM modulation frequency f PWM It is the frequency of the control current, which determines the periodic change of the PWM current. A higher PWM frequency can improve the fineness of the control current, but it may also increase the energy consumption and noise of the solenoid valve.

[0080] Determining the dither current frequency of the characteristic parameter set in step S22 specifically includes:

[0081] The dither current frequency is determined based on the modulation frequency of the PWM, the natural frequency of the solenoid valve, and a fourth mapping relationship.

[0082] Specifically, the dither current frequency f d =f1(f PWM ,f0).

[0083] In the process of determining the dither current frequency of the solenoid valve, the following principles need to be followed. First, avoid the dither current frequency being close to the natural frequency of the solenoid valve to reduce the excessive amplitude or solenoid valve instability caused by resonance; second, avoid the dither current frequency being too close to the PWM modulation frequency to reduce the interference between the PWM current and the dither current.

[0084] Therefore, the fourth mapping relationship f4 can be set to be lower than the multiple f0 of the natural frequency and the modulation frequency f of the principle PWM. PWM For example, if the natural frequency f0 of the solenoid valve is 50Hz, the modulation frequency f of PWM is PWM It is recommended to select the dither current frequency f d Between 75Hz and 150Hz. This can effectively avoid interference with the natural frequency and PWM modulation frequency. The fourth mapping relationship can also simulate the modulation frequency and the natural frequency according to the set experiment and algorithm fitting, and the flutter current frequency f d The best mapping state between .

[0085] S23. Determine the dither current amplitude based on the characteristic parameter set and the first mapping relationship.

[0086] The first mapping relationship represents a mapping relationship between the characteristic parameter set and the dither current amplitude, and the first mapping relationship is determined by fitting the dither current amplitude according to the characteristic parameter set.

[0087] The dither current amplitude refers to the current strength of the dither signal used to control the solenoid valve or other equipment. The appropriate dither current amplitude can enhance the vibration effect of the solenoid valve, reduce the hysteresis error caused by hysteresis, friction, etc., and improve the control accuracy of the solenoid valve. However, at the same time, too large a dither current amplitude i d It may cause excessive vibration or solenoid valve instability, affecting the reliability and durability of the solenoid valve; too small dither current amplitude may not be enough to significantly reduce the hysteresis effect, thus affecting the control performance. Therefore, it is very important to determine the appropriate dither current amplitude.

[0088] In this embodiment, the dither current amplitude is determined by a characteristic parameter set that affects the response of the solenoid valve, and a first mapping relationship between the characteristic parameter set and the dither current amplitude. On the one hand, a suitable dither current amplitude can be obtained to enhance the vibration effect of the solenoid valve; on the other hand, the dither current amplitude fully refers to the characteristic parameters of the solenoid valve response to eliminate its negative impact on the solenoid valve response.

[0089] In one embodiment, the dither current amplitude is further described by taking the characteristic parameter set including the target displacement of the solenoid valve core, the temperature of the solenoid valve, and the pressure difference across the solenoid valve port as an example:

[0090] In many cases, the displacement amplitude is linearly related to the dither current amplitude, so before determining the dither current amplitude, the displacement amplitude needs to be determined first.

[0091] Specifically, the displacement amplitude is determined according to the target displacement and a third mapping relationship, and the third mapping relationship represents a mapping relationship between the target displacement and the displacement amplitude.

[0092] The target displacement is the displacement that the solenoid valve needs to achieve under a specific working state. The target displacement is set according to the control requirements of the solenoid valve. For example, in order to achieve a specific flow or pressure value, the valve core needs to reach a certain target position. The displacement amplitude refers to the vibration amplitude of the valve core under the action of the dither current amplitude.

[0093] There is a third mapping relationship between the target displacement and the displacement amplitude. By adjusting the displacement amplitude of the solenoid valve, the solenoid valve can reach a specific displacement, that is, the target displacement. The third mapping relationship between the target displacement and the displacement amplitude can be determined according to a specific mapping relationship table or according to the solenoid valve modeling, which is not particularly limited here. Therefore, the displacement amplitude xd =f2(x t ), x t is the target displacement.

[0094] After the displacement amplitude is determined, the dither current amplitude can then be determined using the characteristic parameter set.

[0095] In a specific implementation, the dither current amplitude may be determined by the displacement amplitude and the target displacement in the characteristic parameter set, and step S23 specifically includes:

[0096] The dither current amplitude is determined based on the displacement amplitude of the characteristic parameter set, the target displacement and the first mapping relationship.

[0097] Specifically, the first mapping relationship includes a mapping relationship between the displacement amplitude and the target displacement in the characteristic parameter set and the dither current amplitude. In this embodiment, the first mapping relationship can be determined according to the dynamic characteristic description of the magnetic valve.

[0098] The dynamic characteristics of the solenoid valve are described by taking the valve core of the solenoid valve as the analysis object. The force analysis equation of the valve core of the solenoid valve is as follows:

[0099]

[0100] Among them, F em is the electromagnetic force on the valve core; F p It is the static liquid pressure caused by the pressure difference at both ends of the valve port; ΔP is proportional to the pressure difference at both ends of the valve port, which can be the difference between the pressure at the inlet end of the solenoid valve and the pressure at the outlet end of the solenoid valve; F fl is the fluid damping force, F fl It is related to the fluid viscosity, which is greatly affected by temperature; temp is the temperature of the solenoid valve; F s is the spring force; x is the displacement of the solenoid valve; F f is the sliding friction force; i is the current of the solenoid valve.

[0101] Regarding ΔP, temp, and x in the above-mentioned force analysis equation, they respectively represent characteristic parameters of dimensions such as pressure difference, temperature, and target displacement in the characteristic parameter set of this embodiment. The characteristic parameters and the force analysis equation are only used as examples. When the characteristic parameter set includes characteristic parameters of other dimensions, this embodiment will analyze the influence of other characteristic parameters on the electromagnetic force exerted on the solenoid valve, and fit the corresponding force analysis equation, which will not be repeated here.

[0102] According to the above force analysis equation, to obtain the amplitude of the flutter current, we must first determine the displacement range of the solenoid valve. The displacement range of the solenoid valve can be determined based on the displacement amplitude x of the solenoid valve. d and the target displacement x t Determine, that is, the target displacement range is [xt -x d , x t +x d ].

[0103] By inputting the upper limit value of the target displacement range and the lower limit value of the target displacement range into the valve core force analysis equation of the solenoid valve, the range of the electromagnetic force on the corresponding solenoid valve can be obtained [F emmin , F emmax ].

[0104] Figure 3 A xi-Fem curve is shown. The current amplitude corresponding to the solenoid valve can be searched through the displacement of the solenoid valve and the electromagnetic force on the solenoid valve. t -x d , x t +x d ] and [F emmin , F emmax ]Substitute Figure 3 , the corresponding current amplitude range of the solenoid valve [i min ,i max ]. According to the current amplitude range [i min ,i max ] Take the average value to get the dither current amplitude

[0105] The target displacement, displacement amplitude and dither current amplitude can be found in Figure 4-Figure 6 , Figure 4 is the target displacement range, Figure 5 is the dither current amplitude, Figure 6 is the actual displacement range of the valve core after adding the dither current, and Figure 4 and Figure 6 The waveform change in is the displacement amplitude in this embodiment, Figure 4 and Figure 6 The waveform center axis in is the target displacement in this embodiment.

[0106] S24. Generate a target current according to the dither current frequency and the dither current amplitude.

[0107] Among them, the target current is used to control the solenoid valve. The target current is generally applied directly to the coil (or electromagnet) of the solenoid valve. The coil of the solenoid valve is usually wound around a magnet or an iron core. At the same time, the target current generates a magnetic field through the coil of the solenoid valve. This magnetic field acts on the valve core to generate an electromagnetic force, so that the valve core moves to the desired position or remains in a certain position. The size and direction of the target current determine the strength and direction of the magnetic field generated, thereby controlling the movement of the valve core.

[0108] In some usage scenarios, the target current may only include the dither current, which is used to introduce a small amplitude vibration in the coil of the solenoid valve to reduce the hysteresis effect and friction of the solenoid valve and improve the dynamic response. The dither current is generated according to the dither current frequency and the dither current amplitude. The application of the dither current enhances the dynamic control capability of the valve core, enabling it to respond to the control signal faster and reduce the position error.

[0109] In other usage scenarios, the target current includes an average current and a dither current. The average current is used to set and maintain the static position of the valve core of the solenoid valve, that is, to determine the target displacement of the valve core. The appropriate dither current amplitude can help the valve core adjust to the target displacement more quickly, thereby improving the dynamic response speed of the solenoid valve.

[0110] In order to obtain the corresponding target current, before step S24, the average current needs to be determined. Specifically:

[0111] Based on the characteristic parameter set and the second mapping relationship, an average current is determined.

[0112] Among them, the second mapping relationship represents the mapping relationship between the characteristic parameter set and the average current. Since the target displacement is the displacement that the solenoid valve needs to achieve under a specific working state, and the average current can set the target displacement of the solenoid valve core, the second mapping relationship in this embodiment can be specifically a mapping relationship between the target displacement and the average current. The second mapping relationship can be determined based on the dynamic characteristics description of the magnetic valve. The dynamic characteristics description of the solenoid valve takes the valve core of the solenoid valve as the analysis object, and the force analysis equation of the valve core of the solenoid valve is as follows:

[0113]

[0114] Among them, F em is the electromagnetic force on the valve core; F p It is the static liquid pressure caused by the pressure difference at both ends of the valve port; ΔP is proportional to the pressure difference at both ends of the valve port, which can be the difference between the pressure at the inlet end of the solenoid valve and the pressure at the outlet end of the solenoid valve; F fl is the fluid damping force, F fl It is related to the fluid viscosity, which is greatly affected by temperature; temp is the temperature of the solenoid valve; F s is the spring force; x is the displacement of the solenoid valve; F f is the sliding friction force; i is the current of the solenoid valve.

[0115] Regarding ΔP, temp, and x in the above-mentioned force analysis equation, they respectively represent characteristic parameters of dimensions such as pressure difference, temperature, and target displacement in the characteristic parameter set of this embodiment. The characteristic parameters and the force analysis equation are only used as examples. When the characteristic parameter set includes characteristic parameters of other dimensions, this embodiment will analyze the influence of other characteristic parameters on the electromagnetic force exerted on the solenoid valve, and fit the corresponding force analysis equation, which will not be repeated here.

[0116] Set the target displacement x of the solenoid valve t The electromagnetic force F of the solenoid valve can be obtained em . Figure 3 shows a xi-Fem curve, where the target displacement x of the solenoid valve is t And the electromagnetic force F on the solenoid valve em The average current i corresponding to the solenoid valve can be searched ave .

[0117] After obtaining the corresponding average current, see Figure 7 , step S24 specifically includes:

[0118] S241 . Generate a dither current according to the dither current frequency and the dither current amplitude.

[0119] The dither current is generated according to the dither current frequency and the dither current amplitude, that is, the dither current i v =f3(i d ,f d ), where i d is the dither current amplitude, f d is the dither current frequency.

[0120] S242: Accumulate the average current and the dither current to obtain a target current.

[0121] Among them, the target current i in =i ave +i v ,i ave is the average current, i v is the dither current.

[0122] In this embodiment, the target current obtained by combining the flutter current and the average current, when applied to the valve core, can enable the valve core of the solenoid valve to accurately adjust and maintain the target position, while improving the static and dynamic performances of the solenoid valve, and improving the dynamic response and control accuracy of the solenoid valve.

[0123] In one embodiment, after the target current is obtained in step S24, the solenoid valve is controlled by the target current. Specifically, the target current controls the solenoid valve by generating a target pulse width modulation current. The target pulse width modulation current corresponds to the target current one by one. The target pulse width modulation current can be obtained by loading the target current on a preset pulse width modulation current. The target pulse width modulation current can be generated by a high-frequency PWM generator. After being amplified by a MOSFET (metal oxide semiconductor field effect transistor) amplifier, the target pulse width modulation current is loaded on the coil winding of the solenoid valve to achieve control of the solenoid valve.

[0124] In addition, the duty cycle of the target PWM current is set according to the temperature of the solenoid valve. The main reason for setting the duty cycle of the target PWM current by temperature is to compensate for the effect of temperature changes on the performance of the solenoid valve. Specifically, the coil resistance of the solenoid valve changes with temperature. For example, an increase in temperature increases the resistance, resulting in a decrease in current at the same voltage. Since the electromagnetic force is a square function of the current, changes in current will directly affect the electromagnetic force, and a decrease in current will significantly reduce the electromagnetic force, thereby affecting the position of the valve core and the control effect. Temperature changes will also affect the magnetic properties of the coil, including the magnetic flux density and inductance value, which will affect the response speed and control accuracy of the solenoid valve. At the same time, temperature affects the viscosity of the oil of the solenoid valve, thereby affecting the fluid mechanics characteristics and the control performance of the solenoid valve.

[0125] The duty cycle of the target PWM current can be obtained by converting the temperature according to the temperature compensation model. Generally speaking, at high temperatures, the increase in temperature leads to an increase in coil resistance. In order to maintain the stability of the target current of the control solenoid valve, the duty cycle needs to be increased to ensure that the current does not decrease; at low temperatures, the decrease in temperature leads to a decrease in coil resistance. In order to avoid excessive current, the duty cycle needs to be reduced.

[0126] In one embodiment, before controlling the solenoid valve, it is also necessary to determine whether the solenoid valve needs to be controlled by the target current. This determination logic generally occurs before step S21 and after step S24.

[0127] Before step S21, the method further includes:

[0128] The working condition of the solenoid valve is obtained, and it is determined whether the solenoid valve needs to be controlled according to the working condition. If it is determined that the solenoid valve needs to be controlled, step S21 is executed.

[0129] Among them, the working conditions include: current working conditions and historical working conditions; the current working conditions involve the valve core position and load of the solenoid valve, the current characteristics of the solenoid valve, and the control accuracy of the solenoid valve; the historical working conditions include the historical working data and historical fault records of the solenoid valve. For example, when there is a large change in the load or frequent adjustment requirements, or the current is unstable or has large fluctuations, or the valve core position often has errors or hysteresis, it indicates that the solenoid valve needs to be controlled to improve the performance and control accuracy of the solenoid valve through the target current.

[0130] After step S24, the method further comprises:

[0131] The real-time current of the solenoid valve is obtained, and the real-time current is compared with the target current. When it is determined that the real-time current and the target current do not match, the target current is controlled to be loaded on the coil winding of the solenoid valve to achieve control of the solenoid valve.

[0132] In this embodiment, the target current is set by the dither current amplitude and dither frequency of the solenoid valve to achieve more accurate control of the solenoid valve and eliminate the influence of system hysteresis; at the same time, a characteristic parameter set that affects the response of the solenoid valve is introduced to refer to the target current, which can fully eliminate the influence of different external factors on the coil control. For example, when the characteristic parameter set includes temperature, the influence of temperature rise on the coil resistance and liquid viscosity of the solenoid valve is considered, and the temperature compensation of the electromagnetic force and fluid damping force is increased; the characteristic parameter set includes the pressure difference and target displacement at both ends of the valve port as variables, and the influence of different pressure differences and displacements on the fluid force of the valve core is considered; the consideration of these characteristic parameters can make the dither current amplitude more accurate, and when controlled by the target current, better dynamic performance of the solenoid valve can be obtained, and the solenoid valve has the smallest pressure fluctuation.

[0133] An exemplary embodiment of the present invention further discloses a control system for a solenoid valve, see Figure 8 , the control system includes:

[0134] The acquisition module 81 is used to acquire a characteristic parameter set of the electromagnetic valve. The characteristic parameter of each dimension in the characteristic parameter set is determined by analyzing the parameters that affect the response of the electromagnetic valve.

[0135] The first determination module 82 is used to determine the dither current frequency of the characteristic parameter set.

[0136] The second determination module 83 is used to determine the dither current amplitude based on the characteristic parameter set and the first mapping relationship; the first mapping relationship represents the mapping relationship between the characteristic parameter set and the dither current amplitude.

[0137] The generating module 84 is used to generate a target current according to the dither current frequency and the dither current amplitude, and the target current is used to control the solenoid valve.

[0138] In one embodiment, before executing the generating module 84, the system further includes:

[0139] A third determination module is used to determine the average current based on the characteristic parameter set and a second mapping relationship; the second mapping relationship represents a mapping relationship between the characteristic parameter set and the average current;

[0140] The generation module 84 includes:

[0141] A generating unit, used for generating a dither current according to a dither current frequency and a dither current amplitude;

[0142] The accumulation unit is used to accumulate the average current and the dither current to obtain the target current.

[0143] In one embodiment, the characteristic parameter set includes a target displacement and a displacement amplitude of the solenoid valve core; the displacement amplitude is determined according to the target displacement and a third mapping relationship, and the third mapping relationship represents a mapping relationship between the target displacement and the displacement amplitude.

[0144] In one embodiment, the first mapping relationship includes a mapping relationship between a displacement amplitude and a target displacement in a characteristic parameter set and a dither current amplitude;

[0145] The second determination module 83 is further configured to determine the vibration current amplitude based on the displacement amplitude of the characteristic parameter set, the target displacement and the first mapping relationship.

[0146] In one embodiment, the characteristic parameter set further includes the temperature of the solenoid valve and the pressure difference across the valve port of the solenoid valve.

[0147] In one embodiment, the first mapping relationship is determined by fitting the dither current amplitude according to the characteristic parameter set;

[0148] And / or, the first mapping relationship is determined according to the dynamic characteristics of the solenoid valve.

[0149] In one embodiment, the target current controls the solenoid valve by generating a target pulse width modulation current, the target pulse width modulation current corresponds to the target current one by one, and the target pulse width modulation current is loaded on the coil winding of the solenoid valve.

[0150] In one embodiment, the duty cycle of the target PWM current is set according to the temperature of the solenoid valve.

[0151] The system and method embodiments in the disclosed embodiments are based on the same disclosed concepts.

[0152] An exemplary embodiment of the present disclosure provides a vehicle, which may be a car, an airplane, a ship, etc., and is not particularly limited here. Fig. 9As shown, the vehicle 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing system such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The storage medium 920 stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above method.

[0153] Furthermore, the CPU 910 may be configured to communicate with the storage medium 920 and execute a series of instruction operations in the storage medium 920 on the vehicle 900. The vehicle 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 90, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0154] The input / output interface 940 may be used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the vehicle 900. In one example, the input / output interface 940 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0155] It can be understood by those skilled in the art that Fig. 9 The structure shown is for illustration only and does not limit the structure of the electronic system. Fig. 9 More or fewer components as shown, or with and Fig. 9 Different configurations shown.

[0156] An embodiment of the present disclosure also provides a computer-readable storage medium, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a system method in an embodiment of the system method. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the above-mentioned system method.

[0157] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0158] It should be noted that the above-mentioned sequence of the embodiments of the present disclosure is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0159] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the system method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the system method embodiment.

[0160] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0161] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A control method for a solenoid valve, characterized in that: The control method comprises: Acquire a characteristic parameter set of the solenoid valve; the characteristic parameter of each dimension in the characteristic parameter set is determined by analyzing the parameters that affect the response of the solenoid valve; determining a dither current frequency of a characteristic parameter set; Determining a dither current amplitude based on the characteristic parameter set and a first mapping relationship; the first mapping relationship represents a mapping relationship between the characteristic parameter set and the dither current amplitude; A target current is generated according to the dither current frequency and the dither current amplitude, and the target current is used to control the solenoid valve.

2. The control method of the solenoid valve according to claim 1, characterized in that: Before generating the target current according to the dither current frequency and the dither current amplitude, the method further includes: Determining an average current based on the characteristic parameter set and a second mapping relationship; the second mapping relationship represents a mapping relationship between the characteristic parameter set and the average current; The generating a target current according to the dither current frequency and the dither current amplitude comprises: generating a dither current according to the dither current frequency and the dither current amplitude; The average current and the dither current are accumulated to obtain the target current.

3. The control method of the solenoid valve according to claim 1, characterized in that: The characteristic parameter set includes the target displacement and displacement amplitude of the solenoid valve core; The displacement amplitude is determined according to the target displacement and a third mapping relationship, and the third mapping relationship represents a mapping relationship between the target displacement and the displacement amplitude.

4. The control method according to claim 3, characterized in that: The first mapping relationship includes a mapping relationship between the displacement amplitude and the target displacement in the characteristic parameter set and the dither current amplitude; The determining of the dither current amplitude based on the characteristic parameter set and the first mapping relationship comprises: Based on the displacement amplitude of the characteristic parameter set, the target displacement and the first mapping relationship, a dither current amplitude is determined.

5. The control method of the solenoid valve according to claim 1, characterized in that: The characteristic parameter set also includes the temperature of the solenoid valve and the pressure difference at both ends of the solenoid valve port.

6. The control method of the solenoid valve according to claim 1, characterized in that: The first mapping relationship is determined by fitting the dither current amplitude according to the characteristic parameter set; And / or, the first mapping relationship is determined according to the dynamic characteristics of the solenoid valve.

7. The control method according to claim 1, characterized in that: The target current controls the solenoid valve by generating a target pulse width modulation current, the target pulse width modulation current corresponds to the target current one by one, and the target pulse width modulation current is loaded on the coil winding of the solenoid valve.

8. The control method according to claim 6, characterized in that: The duty cycle of the target PWM current is set according to the temperature of the solenoid valve.

9. A control system for a solenoid valve, characterized in that: The control system comprises: An acquisition module, used for acquiring a characteristic parameter set of the solenoid valve; the characteristic parameters of each dimension in the characteristic parameter set are determined by analyzing the influencing factors of the response of the solenoid valve; A first determination module, used to determine the dither current frequency of the characteristic parameter set; A second determination module is used to determine the dither current amplitude based on the characteristic parameter set and a first mapping relationship; the first mapping relationship represents a mapping relationship between the characteristic parameter set and the dither current amplitude; A generating module is used to generate a target current according to the dither current frequency and the dither current amplitude, wherein the target current is used to control the solenoid valve.

10. A carrier, characterized in that: The carrier includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the control method of the solenoid valve as described in any one of claims 1-8.

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