Control system and method of spherical exhaust waterproof valve

Abstract

The invention discloses a control system and method for a spherical exhaust waterproof valve. The method comprises the steps that (1) an actuator receives a switching signal transmitted by a main controller; (2) the actuator module comprises a position sensor chip, and a position sensor detects the current position; (3) a microprocessor module in the actuator receives a position signal transmitted by a position sensor; (4) the microprocessor determines the current position of the spherical valve according to the position signal transmitted by the position sensor; and (5) the microprocessor firstly controls the motor driving chip to output 100% duty ratio to quickly close the spherical switch valve by calculating the current position and the final position of the switch, and then fine adjustment is performed by adopting an incremental PID control method, and the method can quickly open and close the spherical valve by combining PWM (100%) and incremental PID control, so that the spherical valve can be quickly opened and closed, and the safety of the spherical valve is improved. Therefore, the purposes of sealing and opening are achieved.

Description

Technical Field

[0001] The invention relates to the field of automobile component control, and in particular to a control system and method for a ball-type exhaust waterproof valve. Background Art

[0002] New energy vehicles can be divided into pure electric, hybrid, extended-range and other types. Regardless of new energy vehicles or traditional fuel vehicles, most vehicles do not have the conditions for wading. However, vehicles are limited by their use environment, and wading on rainy days is a necessary auxiliary function of vehicles. In order to improve the wading ability of vehicles, the existing technology adopts a variety of solutions for treatment, including increasing sealing, waterproofing key electrical systems, etc., to improve the waterproof performance of the vehicle as much as possible; such as the patent application number 201310729252.3, a chassis-type waterproof battery box, which improves the wading ability of the vehicle by involving a waterproof battery box to avoid electrical damage caused by immersion in water.

[0003] Although some sealing methods can be used to improve the water resistance of the electrical parts of new energy pure electric vehicles, for extended-range and traditional fuel vehicles, an important place for water ingress is the exhaust pipe. Therefore, the prior art often designs some special waterproof exhaust tail pipes to reduce or avoid water ingress into the exhaust. For example, a waterproof exhaust tail pipe with patent application number 201921759886.2, a special waterproof exhaust pipe has high cost and requires targeted design, and the wading scene actually only accounts for a very small part of the vehicle usage scene, so it is not economical to use a special exhaust pipe. The ball-type exhaust waterproof valve is a simple component. By setting a ball-type exhaust waterproof valve in the exhaust pipe, the exhaust pipe can be prevented from entering the water, which can achieve good effect and low cost. However, the control strategy of the ball-type exhaust waterproof valve in the prior art is too simple to meet the requirements of speed and precision. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a control system and method for a ball-type exhaust and waterproof valve, so as to achieve rapid and accurate control by improving the control strategy of the ball-type exhaust and waterproof valve.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a control system of a ball-type exhaust waterproof valve, a ball-type valve is arranged in the exhaust pipe to control the opening and closing of the exhaust pipe; the control system also includes an actuator module and a transmission shaft module; the actuator module is connected to the vehicle control module to obtain a switch control signal; the actuator module is connected to the ball-type valve through the transmission shaft module to control the opening and closing of the ball-type valve.

[0006] The actuator module is connected to the vehicle control module via LIN communication to receive the switch control signal transmitted by the vehicle main control module.

[0007] The actuator module includes a microprocessor, a motor driver chip, a DC motor and a communication circuit. The microprocessor is connected to the vehicle control module through the communication circuit; the microprocessor is connected to the DC motor through the motor driver chip, and the DC motor is used to drive the transmission shaft module to rotate to achieve switch control of the ball valve.

[0008] The actuator module also includes a temperature sensor, which is used to collect the current internal temperature of the actuator, and its output end is connected to the input end of the microprocessor; the microprocessor controls the working state of the DC motor in the actuator according to the collected current temperature of the actuator.

[0009] The actuator also includes a position sensor chip, which is used to collect the current position of the ball valve. The output end of the position sensor chip is connected to a microprocessor. The microprocessor controls the rotation of the DC motor based on the current position signal of the ball valve to achieve accurate control of the ball valve.

[0010] The microprocessor is equipped with a PWM control unit and an incremental PID fine-tuning unit. When the microprocessor controls the opening and closing of the ball valve through a DC motor, the microprocessor first controls the ball valve to quickly reach the corresponding open and closed positions through the PWM control unit with a duty cycle control signal, and then controls the ball valve to slowly fine-tune to the final open or closed position through the incremental PID fine-tuning unit.

[0011] A heat insulation pad module is arranged between the actuator module and the exhaust pipe to isolate the heat of the exhaust pipe.

[0012] A control method for a control system of a ball-type exhaust waterproof valve comprises: an actuator receives a switch signal of the ball-type valve sent by a vehicle control module through a LIN signal; the actuator converts the switch signal into a motor control signal and drives a transmission shaft module through a DC motor in the actuator, thereby driving the ball-type valve to perform an opening or closing action through the transmission shaft module.

[0013] The method also includes that after receiving the opening or closing signal of the vehicle control module, the microprocessor in the actuator module collects the current temperature inside the actuator through the temperature sensor. When the temperature is less than the set temperature threshold, the microprocessor executes the received opening or closing signal, otherwise the microprocessor prohibits the execution of the opening or closing signal and feeds back the temperature abnormality signal to the vehicle control module.

[0014] When the microprocessor controls the opening and closing of the ball valve, it is achieved through the microprocessor of the actuator to drive the DC motor. When executing the opening or closing control, the PWM control unit is first used to control the ball valve to quickly reach the corresponding open and closed positions with a duty cycle control signal, and then the incremental PID fine-tuning unit is used to control the ball valve to slowly fine-tune it to the final open or closed position.

[0015] In this embodiment, in order to avoid the impact of long-term closure of the exhaust pipe on vehicle driving, timing is performed each time the exhaust pipe is closed. After the timing reaches the set time threshold, the ball valve is automatically opened to the set opening range and maintained for the set time to achieve the exhaust demand. After the duration ends, the exhaust pipe is restored to the exhaust pipe ratio state and the timing is restarted until the microprocessor receives the opening command from the vehicle control module.

[0016] The advantages of the present invention are as follows: the present invention adopts a method of combining PWM with incremental PID to control the ball-type exhaust waterproof valve, which can realize fast and accurate control of the valve closing and closing, solves the problem of exhaust pipe sealing of new energy vehicles entering deep water areas in the later stage, and improves the safety performance of sealing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0018] Figure 1 It is a schematic block diagram of the module connection of the present invention;

[0019] Figure 2 It is a schematic diagram of the internal structure of the actuator of the present invention;

[0020] Figure 3 It is a system workflow diagram of the present invention.

[0021] The marks in the above figures are: 1 is the actuator housing, 2 is the circuit board, 3 is the microprocessor, 4 is the temperature sensor chip, 5 is the position sensor chip, 6 is the motor drive chip, and 7 is the DC motor. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0023] The present invention discloses a control method for a ball-type exhaust waterproof valve, which mainly includes: an actuator module, a transmission shaft module, a heat insulation pad module, and a ball-type switch valve module. The actuator module includes a microprocessor, a temperature sensor chip, a position sensor chip, a motor drive chip, and a DC motor. The control method includes:

[0024] (1) The actuator receives a switch signal transmitted by the main controller;

[0025] (2) The actuator module contains a position sensor chip, which detects the current position;

[0026] (3) A microprocessor module in the actuator receives a position signal transmitted by the position sensor;

[0027] (4) The microprocessor determines the current position of the ball valve through the position signal transmitted by the position sensor;

[0028] (5) The microprocessor calculates the current position and the final position of the switch, and first controls the motor driver chip to output a 100% duty cycle to quickly close the spherical switch valve, and then uses the incremental PID control method for fine-tuning. This method combines PWM (100%) with incremental PID control to enable the spherical valve to open and close quickly without excessive rotation, thereby achieving the purpose of sealing and opening.

[0029] In this embodiment, a control system of a ball-type exhaust waterproof valve includes: an actuator module, a transmission shaft module, a heat insulation pad module, and a ball-type switch valve module. The actuator module, the transmission shaft module, and the heat insulation pad module form a control tooling, wherein the actuator module is located above the overall tooling, and the actuator includes a microprocessor, a temperature sensor, a position sensor chip, a motor drive chip, a DC motor, and a peripheral circuit to complete the detection, processing, control communication, and other tasks of the equipment.

[0030] The ball switch valve module is located between the exhaust pipes. The DC motor in the actuator drives the transmission shaft to control the opening and closing of the ball switch valve. The valve is opened when the exhaust pipe needs to be exhausted and closed when the car enters the deep water area. It can be sealed for the car to enter the deep water area. A heat insulation pad module is arranged between the exhaust valve or the ball valve and the actuator. The heat insulation pad module can be made of heat insulation material. The function of the heat insulation pad module is to isolate the heat transmitted from below to avoid the internal circuit of the actuator from not working due to excessive heat. The actuator consists of a protective shell and an internal circuit board. The microprocessor and other controllers are fully connected through the circuit board to realize the execution control function.

[0031] The components and connection relationships of the actuator module, transmission shaft module, and ball valve module are as follows: Figure 1 , 2 As shown:

[0032] A ball valve is set in the exhaust pipe to control the opening and closing of the exhaust pipe; the actuator module is connected to the vehicle control module to obtain the switch control signal; the actuator module is connected to the ball valve through the transmission shaft module to control the opening and closing of the ball valve. The actuator module is connected to the vehicle control module through LIN communication to receive the switch control signal transmitted by the vehicle main control module. The actuator module includes a microprocessor, a motor drive chip, a DC motor and a communication circuit. The microprocessor is connected to the vehicle control module through the communication circuit; the microprocessor is connected to the DC motor through the motor drive chip, and the DC motor is used to drive the transmission shaft module to rotate to realize the switch control of the ball valve.

[0033] The actuator module also includes a temperature sensor, which is used to collect the current internal temperature of the actuator, and its output end is connected to the input end of the microprocessor; the microprocessor controls the working state of the DC motor in the actuator according to the collected current temperature of the actuator.

[0034] The actuator also includes a position sensor chip, which is used to collect the current position of the ball valve. The output end of the position sensor chip is connected to a microprocessor. The microprocessor controls the rotation of the DC motor based on the current position signal of the ball valve to achieve accurate control of the ball valve.

[0035] The microprocessor has a built-in PWM control unit and an incremental PID fine-tuning unit. When the microprocessor controls the opening and closing of the ball valve through a DC motor, it first controls the ball valve to quickly reach the corresponding open and closed positions through the PWM control unit with a duty cycle control signal, and then controls the ball valve to slowly fine-tune to the final open or closed position through the incremental PID fine-tuning unit.

[0036] like Figure 3 As shown, a ball-type exhaust waterproof valve control method specifically comprises the following steps:

[0037] Step S1: The actuator receives the switch control signal transmitted by the vehicle main control module through LIN communication. After the microprocessor in the actuator receives the switch signal, it first detects the current temperature inside the actuator through the temperature sensor in the actuator. If the current ambient temperature is higher than the set temperature limit, the output is turned off to prevent damage to the actuator due to high temperature. When the detected temperature is within the set limit range, the current position of the ball valve is detected through the position sensor.

[0038] Step S2: The position sensor transmits the detected position signal to the microprocessor, and the microprocessor converts the position signal into a switch signal for executing the spherical valve.

[0039] Step S3: When controlling the rotation of the ball valve, the microprocessor first outputs a 100% duty cycle through PWM, so that the valve reaches the corresponding open and closed positions as quickly as possible.

[0040] Step S4: Then the incremental PID is used for fine adjustment, so that the ball valve will not be in an overshoot state or in an under-adjusted state, thereby achieving fast and complete opening and closing. The specific fine adjustment calculation formula is:

[0041]

[0042]

[0043] Subtracting formula (1) from formula (2) yields:

[0044] ΔU(k)=U(k)-U(k-1) (3)

[0045] After merging, we get:

[0046] ΔU(k)=K1×err(k)-K2×err(k-1)+K3×err(k-2) (4)

[0047] In formula (4): K1 = K P +K i +K d , K2=K P +2K d , K3=K d

[0048] It can be seen from the above formula that when using incremental PID regulation, it is only necessary to determine the control quantity ΔU k , and ΔU k The determination is only related to the three most recent deviation values, so the amount of calculation of the microprocessor is reduced, which can make the valve have no cumulative error when fine-tuning, and achieve precise control.

[0049] Furthermore, when the valve is fully opened or closed, the microprocessor in the actuator module transmits the switch status of the ball valve to the main control module on the vehicle through LIN communication.

[0050] The present invention adopts a method of combining PWM with incremental PID to control the ball-type exhaust waterproof valve, which can realize fast and accurate control of the valve opening and closing, solves the problem of exhaust pipe sealing of new energy vehicles entering deep water areas in the later stage, and improves the safety performance of sealing.

[0051] like Figure 1 , 2As shown, the present invention includes an actuator module, a transmission shaft module, a heat insulation pad module, and a ball switch valve module. The actuator module is located above the overall tooling and includes a microprocessor, a temperature sensor, a position sensor chip, a motor drive chip, a DC motor, and peripheral circuits to complete the detection, processing, control, communication, and other tasks of the equipment.

[0052] like Figure 3 As shown, the control method of the present invention is as follows:

[0053] Step S1: The actuator receives the switch control signal transmitted by the vehicle main control module through LIN communication. After the microprocessor in the actuator receives the switch signal, it first detects the current temperature inside the actuator through the temperature sensor in the actuator. If the current ambient temperature is higher than the set temperature limit, the output is turned off to prevent damage to the actuator due to high temperature. When the detected temperature is within the set limit range, the current position of the ball valve is detected through the position sensor.

[0054] Step S2: The position sensor transmits the detected position signal to the microprocessor, and the microprocessor converts the position signal into a switch signal for executing the spherical valve.

[0055] Step S3: When controlling the rotation of the ball valve, the microprocessor first enables the motor drive chip to output a 100% duty cycle through PWM, so that the valve reaches the corresponding open and closed positions as quickly as possible.

[0056] Step S4: Then the incremental PID is used for fine adjustment, so that the ball valve will not be in an overshoot state or in an under-adjusted state, thereby achieving fast and complete opening and closing. The specific fine adjustment calculation formula is:

[0057]

[0058] Subtracting formula (1) from formula (2) yields:

[0059] ΔU(k)=U(k)-U(k-1) (3)

[0060] After merging, we get:

[0061] ΔU(k)=K1×err(k)-K2×err(k-1)+K3×err(k-2) (4)

[0062] Where: K1 = K P +K i +K d , K2=K P +2K d , K3=K d Where K P is the proportionality coefficient, Ki is the integral coefficient, K d is the differential coefficient, err(k) is the k-th deviation, err(k-1) is the k-1-th deviation, and err(k-2) is the k-2-th deviation.

[0063] It can be seen from the above formula that when using incremental PID regulation, it is only necessary to determine the control quantity ΔU k , and ΔU k The determination is only related to the three most recent deviation values, so the amount of calculation of the microprocessor is reduced, which can make the valve have no cumulative error when fine-tuning, and achieve precise control.

[0064] After completing the above complete opening and closing, the microprocessor transmits the current switching status of the ball valve to the main controller through LIN communication.

[0065] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A control system for a ball-type exhaust waterproof valve, in which a ball-type valve is arranged in an exhaust pipe to control the opening and closing of the exhaust pipe; characterized in that: The control system also includes an actuator module and a transmission shaft module; the actuator module is connected to the vehicle control module to obtain a switch control signal; the actuator module is connected to the ball valve through the transmission shaft module to control the opening and closing of the ball valve.

2. A control system for a ball-type exhaust waterproof valve as claimed in claim 1, characterized in that: The actuator module is connected to the vehicle control module via LIN communication to receive the switch control signal transmitted by the vehicle main control module.

3. A control system for a ball-type exhaust and waterproof valve as claimed in claim 1, characterized in that: The actuator module includes a microprocessor, a motor driver chip, a DC motor and a communication circuit. The microprocessor is connected to the vehicle control module through the communication circuit; the microprocessor is connected to the DC motor through the motor driver chip, and the DC motor is used to drive the transmission shaft module to rotate to achieve switch control of the ball valve.

4. A control system for a ball-type exhaust waterproof valve as claimed in claim 3, characterized in that: The actuator module also includes a temperature sensor, which is used to collect the current internal temperature of the actuator, and its output end is connected to the input end of the microprocessor; the microprocessor controls the working state of the DC motor in the actuator according to the collected current temperature of the actuator.

5. A control system for a ball-type exhaust and waterproof valve as claimed in claim 3, characterized in that: The actuator also includes a position sensor chip, which is used to collect the current position of the ball valve. The output end of the position sensor chip is connected to a microprocessor. The microprocessor controls the rotation of the DC motor based on the current position signal of the ball valve to achieve accurate control of the ball valve.

6. A control system for a ball-type exhaust waterproof valve according to any one of claims 1 to 5, characterized in that: The microprocessor is equipped with a PWM control unit and an incremental PID fine-tuning unit. When the microprocessor controls the opening and closing of the ball valve through a DC motor, the microprocessor first controls the ball valve to quickly reach the corresponding open and closed positions through the PWM control unit with a duty cycle control signal, and then controls the ball valve to slowly fine-tune to the final open or closed position through the incremental PID fine-tuning unit.

7. A control system for a ball-type exhaust waterproof valve according to any one of claims 1 to 5, characterized in that: A heat insulation pad module is arranged between the actuator module and the exhaust pipe to isolate the heat of the exhaust pipe.

8. A control method for a control system of a ball-type exhaust waterproof valve according to any one of claims 1 to 6, characterized in that: include: The actuator receives the switch signal of the ball valve sent by the vehicle control module through the LIN signal; the actuator converts the switch signal into a motor control signal and works through the DC motor in the actuator with the drive shaft module, and drives the ball valve to perform the opening or closing action through the drive shaft module.

9. The control method of the control system of the ball-type exhaust waterproof valve according to claim 8, characterized in that: The method also includes that after receiving the opening or closing signal of the vehicle control module, the microprocessor in the actuator module collects the current temperature inside the actuator through the temperature sensor. When the temperature is less than the set temperature threshold, the microprocessor executes the received opening or closing signal, otherwise the microprocessor prohibits the execution of the opening or closing signal and feeds back the temperature abnormality signal to the vehicle control module.

10. The control method of the control system of the ball-type exhaust waterproof valve according to claim 8 or 9, characterized in that: When the microprocessor controls the opening and closing of the ball valve, it is achieved through the microprocessor of the actuator to drive the DC motor. When executing the opening or closing control, the PWM control unit is first used to control the ball valve to quickly reach the corresponding open and closed positions with a duty cycle control signal, and then the incremental PID fine-tuning unit is used to control the ball valve to slowly fine-tune it to the final open or closed position.

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