Valve element control method suitable for multiple scenes, controller and bus proportional control valve

Abstract

The invention provides a valve element control method suitable for multiple scenes, a controller and a bus proportional control valve. A flow control instruction sent by an external host is received through a CAN bus, the flow control instruction is converted into a communication message capable of being recognized by the flow control instruction through protocol stack routing selection, and the communication message is analyzed to extract a specific command or data; converting the command or data into a valve core displacement instruction; the valve element displacement instruction is applied to a valve element, and meanwhile the current value at the position of the valve element is collected; the PWM duty ratio is determined according to the current value collected in real time and the valve element displacement instruction; the valve element is driven to move according to the PWM duty ratio, closed-loop control is conducted on the position of the valve element, one set of hardware can support multiple protocols, and the compatibility of the bus proportional control valve is expanded; the control precision of the bus proportional control valve is improved by conducting closed-loop control over the displacement of the bus proportional control valve, and the requirement for flow input of a user is met.

Description

Technical Field

[0001] The present invention relates to the field of valve core control technology, and in particular to a valve core control method, a controller and a bus proportional control valve suitable for multiple scenarios. Background Art

[0002] Traditional hydraulic products are increasingly integrating with advanced electronic technology, sensor detection technology, computer control technology, new materials, and new processes, and have better control characteristics. The mainstream bus control valve products are implemented with private CAN protocols, which are only adapted to controllers with a single protocol stack, and rely on the host to complete additional communication protocol programming work to support the control of proportional control valves with different protocols. As the application scenarios become more and more extensive, the same host often adapts to multiple bus proportional control valves, which brings a lot of communication protocol programming work to the host and affects the host's control of other devices. Summary of the invention

[0003] The present invention provides a valve core control method, a controller and a bus proportional control valve suitable for multiple scenarios, so as to solve the defect that traditional bus control valve products are only adapted to the controller of a single protocol stack and cannot meet the scenario where users simultaneously connect control valve devices of different protocols.

[0004] The present invention provides a valve core control method applicable to multiple scenarios, comprising: Receive a flow control instruction sent by an external host through the CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; Converting the command or data into a valve core displacement instruction; Applying the valve core displacement instruction to the valve core and simultaneously collecting the current value at the valve core; Determine the PWM duty cycle based on the current value and valve core displacement command collected in real time; The valve core displacement is driven according to the PWM duty cycle, and the valve core position is controlled in a closed loop.

[0005] According to the valve core control method applicable to multiple scenarios provided by the present invention, the command or data includes a flow set point, and the step of converting the command or data into a valve core displacement instruction includes: The ramp generator gradually adjusts the flow output value according to the set time interval until the flow output value is adjusted to the flow set point; The preset flow-displacement mapping table is queried according to the flow output value, the valve core displacement value matching the current flow output value is obtained, and the valve core displacement instruction is obtained.

[0006] According to the valve core control method applicable to multiple scenarios provided by the present invention, the flow control instruction is converted into a self-recognizable communication message through protocol stack routing selection, including: The data frame type of the message of the flow control instruction is judged. If the data frame of the flow control instruction is a standard frame, the message of the flow control instruction is input into the cob-ID registration table screening branch to find out whether the message of the flow control instruction is in the registered cob-ID list. If so, the message of the flow control instruction is released; If the data frame of the flow control instruction is an extended frame, the message of the flow control instruction is input into the PGN registration table screening branch; find out whether the message of the flow control instruction is in the registered PGN registration list, and if so, release the message of the flow control instruction; For the released messages, they are routed to the corresponding protocol stack components for processing according to the different functional requirements of CANopen or J1939 and the content and destination of the messages. The functional requirements include at least one of state machine management, parameter setting, and application functions.

[0007] According to the valve core control method applicable to multiple scenarios provided by the present invention, the valve core displacement is driven according to the PWM duty cycle to perform closed-loop control on the valve core position, including: Continuously compare the difference between the actual valve core position from the position sensor and the target displacement converted from the flow command to obtain an error signal; Based on the error signal, a PID algorithm is used to calculate a PWM duty cycle adjustment amount; The valve core displacement is driven according to the PWM duty cycle adjustment amount, and the valve core position is controlled in a closed loop.

[0008] According to the valve core control method applicable to multiple scenarios provided by the present invention, the valve core displacement is driven according to the PWM duty cycle to perform closed-loop control on the valve core position, and further includes: A dither signal is superimposed on the PWM duty cycle adjustment amount, and the dither signal is used to maintain the active state of the valve core.

[0009] The valve core control method applicable to multiple scenarios provided by the present invention also includes: Use current sensor to monitor the driving current of valve core solenoid in real time; Compare the actual current with the set current value and calculate the current error; Based on the current error, a required control signal is calculated using a PID algorithm; The power amplifier circuit is controlled by the control signal to adjust the driving current of the valve core electromagnet so that it is as close to the current setting value as possible.

[0010] The present invention also provides a controller, comprising: A routing module is used to receive a flow control instruction sent by an external host through a CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; An instruction generation module, used for converting the command or data into a valve core displacement instruction; The valve core displacement closed-loop control module is used to apply the valve core displacement command to the valve core and collect the current value at the valve core at the same time; determine the PWM duty cycle according to the current value collected in real time and the valve core displacement command; drive the valve core displacement according to the PWM duty cycle, and perform closed-loop control on the valve core position.

[0011] The controller provided according to the present invention further includes: The dither generator is used to generate a dither signal, wherein the dither signal is used to maintain the active state of the valve core.

[0012] The controller provided by the present invention further includes: a current closed-loop control module, The current closed-loop control module is used to use a current sensor to monitor the driving current of the valve core electromagnet in real time; compare the actual current with the set current value to calculate the current error; based on the current error, use the PID algorithm to calculate the required control signal; control the power amplifier circuit through the control signal to adjust the driving current of the valve core electromagnet to make it as close to the current set value as possible.

[0013] The present invention also provides a bus proportional control valve, comprising: a controller as described in any one of the above items.

[0014] The valve core control method, controller and bus proportional control valve applicable to multiple scenarios provided by the present invention receive flow control instructions sent by an external host via a CAN bus, convert the flow control instructions into self-recognizable communication messages through protocol stack routing selection, parse the communication messages to extract specific commands or data; convert the commands or data into valve core displacement instructions; apply the valve core displacement instructions to the valve core, and simultaneously collect the current value at the valve core; determine the PWM duty cycle according to the current value collected in real time and the valve core displacement instructions; drive the valve core displacement according to the PWM duty cycle, and perform closed-loop control on the valve core position, so as to realize a set of hardware to support multiple protocols and expand the compatibility of the bus proportional control valve; improve the control accuracy of the bus proportional control valve by performing closed-loop control on the displacement of the bus proportional control valve, and meet the user's flow input requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is one of the flow charts of the valve core control method applicable to multiple scenarios provided by an embodiment of the present invention; Figure 2 This is one of the schematic diagrams of the traditional valve core controller structure; Figure 3 This is the second schematic diagram of the traditional valve core controller structure; Figure 4 This is a schematic diagram of message routing provided by an embodiment of the present invention; Figure 5 This is the second flow chart of the valve core control method applicable to multiple scenarios provided by an embodiment of the present invention; Figure 6 It is a functional structure diagram of a controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 A flow chart of a valve core control method applicable to multiple scenarios provided by an embodiment of the present invention, such as Figure 1 As shown, the valve core control method applicable to multiple scenarios provided by the embodiment of the present invention includes: Step 101: Receive a flow control instruction sent by an external host through a CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; Step 102, converting the command or data into a valve core displacement instruction; Step 103, applying the valve core displacement instruction to the valve core, and collecting the current value at the valve core at the same time; Step 104, determining the PWM duty cycle according to the current value and the valve core displacement command acquired in real time; Step 105 : driving the valve core to move according to the PWM duty cycle, and performing closed-loop control on the position of the valve core.

[0019] Traditional bus control valve products are only compatible with controllers with a single protocol stack and cannot meet the scenario where users can simultaneously connect control valve devices with different protocols. Figure 2 , 3 As shown in the figure, according to the application function, it is divided into two parts: communication task and application task. If the CANopen communication protocol is supported, its message routing is defined by the configuration in the CANopen object dictionary. If the J1939 communication protocol is supported, its message routing is defined by the configuration in the PGN table.

[0020] The valve core control method applicable to multiple scenarios provided by the embodiment of the present invention receives flow control instructions sent by an external host through a CAN bus, converts the flow control instructions into a self-recognizable communication message through protocol stack routing selection, parses the communication message to extract specific commands or data; converts the commands or data into valve core displacement instructions; applies the valve core displacement instructions to the valve core, and simultaneously collects the current value at the valve core; determines the PWM duty cycle according to the current value collected in real time and the valve core displacement instruction; drives the valve core displacement according to the PWM duty cycle, and performs closed-loop control on the valve core position, thereby realizing a set of hardware to support multiple protocols and expanding the compatibility of bus valves; improves the control accuracy of the control valve by performing closed-loop control on the control valve displacement, and meets the user's flow input requirements.

[0021] Based on any of the above embodiments, the command or data includes a flow set point, and converting the command or data into a valve core displacement instruction includes: Step 201, gradually adjusting the flow output value according to the set time interval by a ramp generator until the flow output value is adjusted to the flow set point; Step 202: query a preset flow-displacement mapping table according to the flow output value, obtain a valve core displacement value matching the current flow output value, and obtain a valve core displacement instruction.

[0022] Based on any of the above embodiments, the converting of the flow control instruction into a self-recognizable communication message through protocol stack routing selection includes: Step 301: determine the data frame type of the message of the flow control instruction. If the data frame of the flow control instruction is a standard frame, input the message of the flow control instruction into the cob-ID registration table screening branch to find out whether the message of the flow control instruction is in the registered cob-ID list. If so, release the message of the flow control instruction. Step 302: If the data frame of the flow control instruction is an extended frame, the message of the flow control instruction is input into the PGN registration table screening branch; find out whether the message of the flow control instruction is in the registered PGN registration list; if so, release the message of the flow control instruction; Step 303: For the released message, it is routed to the corresponding protocol stack component for processing according to different functional requirements of CANopen or J1939 and the content and destination of the message. The functional requirements include at least one of state machine management, parameter setting, and application function.

[0023] like Figure 4 As shown in the figure, in the communication task, in addition to the typical CAN driver and message queue management, the message routing module is introduced. First, according to the type of CAN message, different messages are directed to the message routing callback function corresponding to the protocol stack for processing. This can make the same hardware compatible with multiple protocols.

[0024] The CAN message received by the controller first passes through the "data frame type judgment" module to determine whether the data frame is a "standard frame" or an "extended frame". If it is a standard frame, it will take the "cob-ID registry screening" branch. If it is an extended frame, it will take the "PGN registry screening" branch. In the PGN registry and cob-ID registry links, the pre-registered PGN list and cob-ID list are screened by table lookup, and only the messages in the registration list are released. Messages not in the registration list do not occupy the processor's computing resources, which can improve the program's operating efficiency. Then, according to the different functions of the CANopen or J1939 functional modules, such as state machine management, parameter settings, application functions, etc., the message routing of the protocol stack will divert the received messages.

[0025] The CAN messages that the controller needs to send come from CANopen (CAN 2.0A) and J1939 (CAN 2.0B), which are passed to the "message queue management" module by the "data frame merging" function module and then sent to the outside by the CAN driver.

[0026] The embodiment of the present invention achieves compatibility of multiple CAN protocol stacks by means of soft routing, and can be compatible with controllers of different host devices without additional programming of the host controller, thus having high compatibility.

[0027] Based on any of the above embodiments, the driving of the valve core displacement according to the PWM duty cycle to perform closed-loop control on the valve core position includes: Step 401, continuously comparing the difference between the actual valve core position from the position sensor and the target displacement converted from the flow command to obtain an error signal; Step 402: Calculate the PWM duty cycle adjustment amount based on the error signal using a PID algorithm; Step 403: driving the valve core to move according to the PWM duty cycle adjustment amount, and performing closed-loop control on the valve core position.

[0028] The main process of valve core control is as follows: Figure 5 As shown, parameter management completes the reading and writing of all application function modules from communication messages to application variables; the ramp generator and flow-displacement linearization are instruction generation modules, which complete the conversion of flow instructions to valve core displacement instructions, and the valve core displacement closed-loop control module receives the valve core displacement instruction and valve core displacement feedback to generate current instructions; the outputs of the flutter generator and the valve core displacement closed-loop control module are superimposed as actual current instructions; the current closed-loop control module receives current instructions and current feedback, outputs PWM duty cycle, and then the signal output function module generates driving current through the power circuit to drive the electromagnet in the pilot valve to actuate, and the valve core closed-loop control function is completed through the series function modules.

[0029] Based on any of the above embodiments, the driving of the valve core displacement according to the PWM duty cycle to perform closed-loop control on the valve core position further includes: A dither signal is superimposed on the PWM duty cycle adjustment amount, and the dither signal is used to maintain the active state of the valve core.

[0030] In the embodiment of the present invention, the dither signal is a high-frequency, small-amplitude sine wave or random noise signal, which is superimposed on the control signal of the proportional valve. Its main purpose is to overcome the friction between the valve core and the valve seat, maintain the active state of the valve core, and improve the dynamic performance of the system. The dither signal plays an important role in the hydraulic system. For example, in a stationary state, there may be a large static friction between the valve core and the valve seat, which will hinder the start of the valve core. By applying the dither signal, it can be ensured that the valve core is always in a slight vibration state, thereby avoiding the adhesion between the valve core and the valve seat, and reducing the friction that needs to be overcome during startup. The dither signal helps to prevent the valve core from being stuck after a long period of inactivity. When the valve core is continuously subjected to slight vibrations, it can maintain a certain flexibility even in a low flow demand or closed state, so as to facilitate a faster response at the next action. Since the dither signal causes the valve core to continuously move in a small range, it can improve the system's sensitivity to input changes. Even a small input change can cause a corresponding output response, thereby improving the dynamic performance of the entire system.

[0031] For some nonlinear valve characteristics, appropriate dither can help average out these nonlinear effects, making the actual flow-displacement relationship closer to the ideal linear curve. In some cases, dither can also help stabilize the control loop. For example, in the presence of hysteresis or dead zone, dither can provide additional energy to cross these areas, ensuring that the control system works more smoothly. Continuous micro-motion helps maintain good lubrication conditions between the internal parts of the valve, reducing wear and extending service life.

[0032] By introducing a dither signal, the working characteristics and dynamic performance of the proportional valve can be effectively improved without significantly increasing energy consumption, which is also conducive to maintaining the long-term reliable operation of the equipment. When designing and applying dither, the selection of parameters such as frequency and amplitude needs to be considered to ensure that they are suitable for specific application scenarios and do not cause unnecessary noise or other negative effects.

[0033] Based on any of the above embodiments, the valve core control method applicable to multiple scenarios further includes: Step 501: Use a current sensor to monitor the driving current of the valve core electromagnet in real time; Step 502, compare the actual current with the set current value and calculate the current error; Step 503: Based on the current error, use a PID algorithm to calculate a required control signal; Step 504: Control the power amplifier circuit through the control signal to adjust the driving current of the valve core electromagnet to make it as close to the current setting value as possible.

[0034] The valve core control method applicable to multiple scenarios provided by the embodiment of the present invention receives instructions and sends status feedback signals through CAN communication, and realizes compatibility of multiple protocol stacks through the CAN message routing management machine, which can avoid additional programming work of the host controller and is compatible with different host devices. In the application task, functional modules such as network status management, device status management, parameter management, real-time tasks, and fault diagnosis are set up, which can effectively handle the strong dead zone and nonlinear characteristics caused by the nonlinearity of the proportional valve core, and improve the control indicators such as the response speed and control accuracy of the valve core through functions such as current closed loop and dither.

[0035] The controller provided by the present invention is described below. The controller described below and the valve core control method applicable to multiple scenarios described above can be referenced to each other.

[0036] The controller provided by the embodiment of the present invention includes: A routing module is used to receive a flow control instruction sent by an external host through a CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; By setting the routing module, the received CAN message can be directed to the callback function module of different protocol stacks to realize the protocol routing function; An instruction generation module, used for converting the command or data into a valve core displacement instruction; The valve core displacement closed-loop control module is used to apply the valve core displacement command to the valve core and collect the current value at the valve core at the same time; determine the PWM duty cycle according to the current value collected in real time and the valve core displacement command; drive the valve core displacement according to the PWM duty cycle, and perform closed-loop control on the valve core position.

[0037] In the embodiment of the present invention, for the valve core closed-loop function, complete functional modules such as device state machine management, data acquisition, current dithering, valve core closed-loop control, current closed-loop control, and signal output are provided.

[0038] In an embodiment of the present invention, the controller further includes: The dither generator is used to generate a dither signal, wherein the dither signal is used to maintain the active state of the valve core.

[0039] In an embodiment of the present invention, the controller further includes: a current closed-loop control module, The current closed-loop control module is used to use a current sensor to monitor the driving current of the valve core electromagnet in real time; compare the actual current with the set current value to calculate the current error; based on the current error, use the PID algorithm to calculate the required control signal; control the power amplifier circuit through the control signal to adjust the driving current of the valve core electromagnet to make it as close to the current set value as possible.

[0040] like Figure 6 As shown in the figure, in the application tasks, there are real-time tasks and non-real-time tasks. In the non-real-time tasks, there are functional modules such as network status management, parameter management, fault diagnosis and callback function management. In the real-time tasks, there are modules such as device state machine management, data acquisition, current vibration, valve core closed-loop control, current closed-loop control, signal output, etc. Through these modules, the valve core closed-loop control can be completed, and the control indicators such as the response speed and control accuracy of the valve core can be improved.

[0041] The embodiments of the present invention can realize the current closed loop and valve core closed loop functions through the cooperation of functional modules, and improve the control indicators such as the response speed and control accuracy of the valve core.

[0042] The embodiment of the present invention provides a bus proportional control valve controller with multiple protocol stacks. The controller receives instructions and sends status feedback signals through CAN communication, and realizes compatibility with multiple protocol stacks through CAN message routing management machine, which can avoid additional programming work of the host controller and is compatible with different host devices. In the application task, functional modules such as network status management, device status management, parameter management, real-time tasks, and fault diagnosis are set, which can effectively handle the strong dead zone and nonlinear characteristics caused by the nonlinearity of the proportional valve core, and improve the control indicators such as the response speed and control accuracy of the valve core through functions such as current closed loop and dither.

[0043] An embodiment of the present invention further provides a bus proportional control valve, comprising: a controller as described in any of the above embodiments.

[0044] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0045] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A valve core control method suitable for multiple scenarios, characterized in that: include: Receive a flow control instruction sent by an external host through the CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; Converting the command or data into a valve core displacement instruction; Applying the valve core displacement instruction to the valve core and simultaneously collecting the current value at the valve core; Determine the PWM duty cycle based on the current value and valve core displacement command collected in real time; The valve core displacement is driven according to the PWM duty cycle, and the valve core position is controlled in a closed loop.

2. The valve core control method applicable to multiple scenarios according to claim 1, characterized in that: The command or data includes a flow set point, and converting the command or data into a valve core displacement instruction includes: The ramp generator gradually adjusts the flow output value according to the set time interval until the flow output value is adjusted to the flow set point; The preset flow-displacement mapping table is queried according to the flow output value, the valve core displacement value matching the current flow output value is obtained, and the valve core displacement instruction is obtained.

3. The valve core control method applicable to multiple scenarios according to claim 1, characterized in that: The converting of the flow control instruction into a self-recognizable communication message via protocol stack routing selection includes: The data frame type of the message of the flow control instruction is judged. If the data frame of the flow control instruction is a standard frame, the message of the flow control instruction is input into the cob-ID registration table screening branch to find out whether the message of the flow control instruction is in the registered cob-ID list. If so, the message of the flow control instruction is released; If the data frame of the flow control instruction is an extended frame, the message of the flow control instruction is input into the PGN registration table screening branch; find out whether the message of the flow control instruction is in the registered PGN registration list, and if so, release the message of the flow control instruction; For the released messages, they are routed to the corresponding protocol stack components for processing according to the different functional requirements of CANopen or J1939 and the content and destination of the messages. The functional requirements include at least one of state machine management, parameter setting, and application functions.

4. The valve core control method applicable to multiple scenarios according to claim 1, characterized in that: The driving of the valve core displacement according to the PWM duty cycle to perform closed-loop control on the valve core position includes: Continuously compare the difference between the actual valve core position from the position sensor and the target displacement converted from the flow command to obtain an error signal; Based on the error signal, a PID algorithm is used to calculate a PWM duty cycle adjustment amount; The valve core displacement is driven according to the PWM duty cycle adjustment amount, and the valve core position is controlled in a closed loop.

5. The valve core control method applicable to multiple scenarios according to claim 4, characterized in that: The driving of the valve core displacement according to the PWM duty cycle to perform closed-loop control on the valve core position also includes: A dither signal is superimposed on the PWM duty cycle adjustment amount, and the dither signal is used to maintain the active state of the valve core.

6. The valve core control method applicable to multiple scenarios according to claim 1, characterized in that: Also includes: Use current sensor to monitor the driving current of valve core solenoid in real time; Compare the actual current with the set current value and calculate the current error; Based on the current error, a required control signal is calculated using a PID algorithm; The power amplifier circuit is controlled by the control signal to adjust the driving current of the valve core electromagnet so that it is as close to the current setting value as possible.

7. A controller, characterized in that: include: A routing module is used to receive a flow control instruction sent by an external host through a CAN bus, convert the flow control instruction into a communication message that can be recognized by itself through protocol stack routing selection, and parse the communication message to extract specific commands or data; An instruction generation module, used for converting the command or data into a valve core displacement instruction; A valve core displacement closed-loop control module, used for applying the valve core displacement instruction to the valve core and collecting the current value at the valve core; Determine the PWM duty cycle based on the current value and valve core displacement command collected in real time; The valve core displacement is driven according to the PWM duty cycle, and the valve core position is controlled in a closed loop.

8. The controller according to claim 7, characterized in that: Also includes: The dither generator is used to generate a dither signal, wherein the dither signal is used to maintain the active state of the valve core.

9. The controller according to claim 7, characterized in that: Also includes: Current closed-loop control module, The current closed-loop control module is used to use a current sensor to monitor the driving current of the valve core electromagnet in real time; compare the actual current with the set current value to calculate the current error; based on the current error, use the PID algorithm to calculate the required control signal; The power amplifier circuit is controlled by the control signal to adjust the driving current of the valve core electromagnet so that it is as close to the current setting value as possible.

10. A bus proportional control valve, characterized in that: Comprising a controller as claimed in any one of claims 7 to 9.

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