Proportional flow valve with emergency function and intelligent flow control method

Abstract

The invention discloses a proportional flow valve with an emergency function and an intelligent flow control method, the proportional flow valve comprises a pilot stage and a main valve stage, and the pilot stage comprises a first proportional electromagnet with the emergency function, a three-way proportional pressure reducing valve element, a three-way proportional pressure reducing valve body, a second proportional electromagnet with the emergency function and a fixed value pressure reducing valve; the main valve level comprises a displacement sensor, a main valve element, a main valve body, a left end cover, a right end cover and a centering spring. The electromagnet output current of the proportional flow valve is dynamically adjusted by adopting target current instruction online planning in combination with valve element displacement, electromagnet output current and proportional valve output flow state sensing, and accurate flow control of the proportional flow valve is achieved. The problems of over-temperature and over-pressure of a controller, failure of a displacement sensor, disconnection of an electromagnet, clamping stagnation of a valve element and the like in the working process of the proportional flow valve are solved.

Description

Technical Field

[0001] The present invention belongs to the field of fluid power transmission and control. Specifically, it is a proportional flow valve with an emergency function and an intelligent flow control method. Background Art

[0002] As a typical pressure control valve in industrial systems, the proportional flow valve is mainly used to control the flow rate of the hydraulic system, thereby controlling the movement speed of actuators such as hydraulic motors or hydraulic cylinders. The proportional flow valve mainly acts on the main spool through the combined action of the pilot stage outlet pressure, spring force, frictional force, and hydrodynamic force to control the opening of the valve port and thus control the outlet flow rate of the proportional flow valve. Patent CN202311484298.3 discloses a pilot-operated pressure proportional flow valve, which mainly focuses on solving the problem of intelligent regulation of the flow rate of the proportional flow valve depending on the load condition, lacking the fault perception and fault mechanical repair functions of the proportional flow valve. Patent CN202311562189.9 discloses a fault diagnosis method for a proportional flow valve, which eliminates the interference of the flow rate change caused by the pressure difference change on the fault identification of the proportional flow valve, making the fault identification of the proportional flow valve more accurate, but lacking the functions of fault emergency repair and intelligent regulation of the flow rate. Summary of the Invention

[0003] The purpose of the present invention is to provide a proportional flow valve with an emergency function and an intelligent flow control method, which can improve the on-line diagnosis accuracy and repairability of the proportional flow valve fault, ensure the flow control accuracy of the proportional flow valve, and ensure the normal operation of the proportional flow valve in harsh environments.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A proportional flow valve with an emergency function includes a pilot stage and a main valve stage. The pilot stage includes a first proportional electromagnet with an emergency function, a three-way proportional pressure reducing valve spool, a three-way proportional pressure reducing valve body, a second proportional electromagnet with an emergency function, and a constant pressure reducing valve; the main valve stage includes a displacement sensor, a main spool, a main valve body, a left end cover, a right end cover, and a centering spring.

[0005] The three-way proportional pressure reducing valve spool is installed in the three-way proportional pressure reducing valve body. The push rod of the first proportional electromagnet with an emergency function is coaxially connected to the left side of the three-way proportional pressure reducing valve spool, and the push rod of the second proportional electromagnet with an emergency function is coaxially connected to the right side of the three-way proportional pressure reducing valve spool. The first proportional electromagnet with an emergency function and the second proportional electromagnet with an emergency function are respectively installed on the three-way proportional pressure reducing valve body by threads; the constant pressure reducing valve is installed between the three-way proportional pressure reducing valve and the main valve stage.

[0006] The main spool is installed in the main valve body. The centering spring is connected to the main spool and the left end cover respectively. The left end cover and the right end cover are connected to the main valve body respectively. The displacement sensor is coaxially connected to the main spool and is installed on the right end cover. The filter is installed on the main valve body.

[0007] Furthermore, the X control oil port of the main valve stage is connected to the inlet of the filter. The outlet of the filter is connected to the inlet of the constant pressure reducing valve. The drain port of the constant pressure reducing valve, the drain port of the three-way proportional reducing valve, and the Y drain port of the main valve stage are connected. The outlet oil port of the constant pressure reducing valve is connected to the control oil port of the constant pressure reducing valve and the inlet oil port of the three-way proportional reducing valve respectively. The spool and the valve body together form a three-way proportional reducing valve composed of two sub-three-way proportional reducing valves with two working positions. The left outlet oil port of the three-way proportional reducing valve is connected to the left control oil port of the power main valve stage and the control oil port of the sub-three-way proportional reducing valve at the left working position. The right outlet oil port of the three-way proportional reducing valve is connected to the right control oil port of the power main valve stage and the control oil port of the sub-three-way proportional reducing valve at the right working position, controlling the movement of the spool of the power main valve stage to realize the switching and connection of the inlet oil port P, the load oil port A, the load oil port B, and the return oil port T of the power main valve stage. The displacement of the main spool is collected by the displacement sensor to observe the movement displacement of the spool.

[0008] A flow intelligent control method for a proportional flow valve with an emergency function adopts online planning of the target current command combined with the perception of the spool displacement, the output current of the electromagnet, and the output flow of the proportional valve, and dynamically adjusts the output current of the proportional flow valve electromagnet to achieve precise control of the flow of the proportional flow valve.

[0009] Furthermore, based on the displacement sensor, the displacement state of the main spool of the proportional flow valve is monitored, warned, and fed back. The output electromagnetic force of the electromagnet is continuously adjusted through the electromagnet push rod adjustment mechanism. Without affecting the performance of the proportional flow valve, the opening of the pilot stage pressure valve is pushed, the control pressure of the main valve stage is adjusted, the movement of the main spool is pushed, and the main valve opening of the proportional valve is adjusted to solve the problem that the flow of the whole valve cannot be adjusted due to spool jamming.

[0010] Furthermore, the emergency procedure of the proportional flow valve is as follows: First, judge the operating status of the proportional flow valve controller. If the controller operating status shows fault states such as overheating, overpressure, and overcurrent, repair the controller hardware; if the controller operating status is normal, power on the controller, and the controller outputs a control command to the electromagnet; if the spool displacement of the proportional flow valve is normal, the proportional flow valve is used for the system-set flow rate; if the spool displacement or flow rate of the proportional flow valve does not change continuously with the command signal, first determine the displacement state of the spool and the output current state of the electromagnet based on the displacement sensor. If the input command signal of the electromagnet is in the positive state, adjust the emergency structure of the first proportional electromagnet with emergency function to make the spool of the proportional flow valve continuously change back to the middle position; if the input command signal of the electromagnet is in the negative state, adjust the emergency structure of the second proportional electromagnet with emergency function to make the main spool of the proportional flow valve continuously change back to the middle position. When the flow rate adjustment function ends, carry out disassembly and repair of the proportional flow valve.

[0011] Furthermore, when the signal output from the controller to the proportional electromagnet is zero, the oil fluid passes through the filter from the oil inlet X of the main valve stage control oil, flows to the oil inlet of the constant pressure reducing valve, and then the oil fluid returns to the oil tank through the oil drain port Y of the main valve stage; the centering spring positions the spool in the middle position, and there is no oil fluid output from the power main valve stage.

[0012] Furthermore, when the controller outputs a continuous positive command signal to the first proportional electromagnet with emergency function, through on-line current programming, on-line adjust the output force of the first proportional electromagnet with emergency function to overcome the spring force, frictional force, and hydraulic force, so that the spool of the three-way proportional pressure reducing valve moves to the right. The oil fluid passes through the filter from the oil inlet X of the main valve stage control oil, flows to the oil inlet of the constant pressure reducing valve, and the oil fluid at the outlet of the constant pressure reducing valve passes through the left-position three-way proportional pressure reducing valve to the left control chamber of the power main valve stage. The spring force and oil fluid pressure act on the main spool together to make the control main spool move to the right. The oil fluid at the oil inlet P of the power main valve stage is connected to the load oil port B, and the load oil port A of the power main valve stage is connected to the oil return port T. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the electromagnet current.

[0013] Further, when the controller outputs a continuous negative command signal to the second proportional electro-magnet with emergency function, through on-line current programming, the output of the first proportional electro-magnet with emergency function is adjusted on-line to overcome the spring force, frictional force and hydrodynamic force, causing the spool of the three-way proportional pressure reducing valve to move leftward. The oil fluid flows from the X port, the inlet port of the main valve stage control oil, through the filter, to the inlet port of the fixed value pressure reducing valve. The oil fluid at the outlet port of the fixed value pressure reducing valve flows through the right-position three-way proportional pressure reducing valve to the right control chamber of the power main valve stage. The spring force and the oil fluid pressure act together on the main spool, causing the control main spool to move leftward. The oil fluid at the P port, the inlet port of the power main valve stage, is connected to the A port, the load port, and the B port, the load port of the power main valve stage, is connected to the T port, the oil return port. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the electro-magnet current.

[0014] Further, when the pilot stage three-way proportional pressure reducing valve is stuck or the controller fails, based on the displacement sensor observing the displacement state of the main spool, the positive and negative of the displacement of the main spool are observed. When the displacement of the main spool stays at a positive position, the emergency mechanical structure of the first proportional electro-magnet with emergency function is adjusted, and the position of the push rod of the first proportional electro-magnet with emergency function is continuously adjusted to replace the thrust of the first proportional electro-magnet with emergency function, overcoming the spring force, frictional force and hydrodynamic force, and pushing the spool of the three-way proportional pressure reducing valve to move continuously rightward, causing the spool of the three-way proportional pressure reducing valve to move rightward. The oil fluid flows from the X port, the inlet port of the main valve stage control oil, through the filter, to the inlet port of the fixed value pressure reducing valve. The oil fluid at the outlet port of the fixed value pressure reducing valve flows through the left-position three-way proportional pressure reducing valve to the left control chamber of the power main valve stage. The spring force and the oil fluid pressure act together on the main spool, causing the control main spool to move rightward. The oil fluid at the P port, the inlet port of the power main valve stage, is connected to the B port, the load port, and the A port, the load port of the power main valve stage, is connected to the T port, the oil return port.

[0015] Further, when the displacement of the main spool stays at a negative position, the emergency mechanical structure of the second proportional electro-magnet with emergency function is adjusted, and the position of the push rod of the second proportional electro-magnet with emergency function is continuously adjusted to replace the thrust of the second proportional electro-magnet with emergency function, overcoming the spring force, frictional force and hydrodynamic force, and pushing the spool of the three-way proportional pressure reducing valve to move continuously leftward. The oil fluid flows from the X port, the inlet port of the main valve stage control oil, through the filter, to the inlet port of the fixed value pressure reducing valve. The oil fluid at the outlet port of the fixed value pressure reducing valve flows through the right-position three-way proportional pressure reducing valve to the right control chamber of the power main valve stage. The spring force and the oil fluid pressure act together on the main spool, causing the control main spool to move leftward. The oil fluid at the P port, the inlet port of the power main valve stage, is connected to the A port, the load port, and the B port, the load port of the power main valve stage, is connected to the T port, the oil return port. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the electro-magnet current.

[0016] The present invention aims at the problems that are likely to occur during the working process of the proportional flow valve, such as overheating, overpressure of the controller, failure of the displacement sensor, open circuit of the electro-magnet, and spool jamming, and has the following advantages:

[0017] 1. Fault diagnosis, fault repair, and manual emergency. Based on displacement sensors, monitor, give early warning, and feedback on the displacement state of the main spool valve. Continuously adjust the electromagnetic force output by the electromagnet through the manual adjustment mechanism of the electromagnet push rod, and adjust the opening degree of the main valve of the proportional valve to solve the problem that the whole valve flow cannot be adjusted due to spool jamming; monitor and identify the fault points of the controller, and repair the controller to solve the controller fault.

[0018] 2. Intelligent flow regulation. Adopt online planning of target current commands combined with perception of spool displacement, electromagnet output current, and proportional valve output flow state, and dynamically adjust the electromagnet output current of the proportional flow valve to achieve precise control of the proportional flow valve flow.

[0019] While this invention improves the online diagnosis accuracy and repairability of the proportional flow valve, it ensures the flow control accuracy of the proportional flow valve, thus ensuring the normal operation of the proportional flow valve in harsh environments. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a proportional flow valve with an emergency function according to this invention.

[0021] Figure 2 It is a working principle diagram of a proportional flow valve with an emergency function according to this invention.

[0022] Figure 3 It is an emergency flow chart of a proportional flow valve with an emergency function according to this invention. Detailed Embodiments

[0023] The following further describes this invention with reference to the drawings in the specification.

[0024] Combined with Figure 1 , a proportional flow valve with an emergency function according to this invention includes a pilot stage and a main valve stage. The pilot stage includes a first proportional electromagnet with an emergency function, a three-way proportional pressure reducing valve spool, a three-way proportional pressure reducing valve body, a second proportional electromagnet with an emergency function, and a constant pressure reducing valve; the main valve stage includes a displacement sensor, a main spool valve, a main valve body, a left end cover, a right end cover, and a centering spring.

[0025] The spool of the three-way proportional pressure reducing valve is installed in the valve body of the three-way proportional pressure reducing valve. The first proportional electromagnet push rod with emergency function is coaxially connected to the left side of the spool of the three-way proportional pressure reducing valve, and the second proportional electromagnet push rod with emergency function is coaxially connected to the right side of the spool of the three-way proportional pressure reducing valve. The first proportional electromagnet with emergency function and the second proportional electromagnet with emergency function are respectively installed on the valve body of the three-way proportional pressure reducing valve by threads; the fixed-value pressure reducing valve is installed between the three-way proportional pressure reducing valve and the main valve stage. The main spool is installed in the main valve body. The centering spring is respectively connected to the main spool and the left end cover. The left end cover and the right end cover are respectively connected to the valve body. The displacement sensor is coaxially connected to the spool and is installed on the right end cover. The filter is installed on the main valve body.

[0026] The X control oil port of the main valve stage is connected to the inlet of the filter, the outlet of the filter is connected to the inlet of the fixed-value pressure reducing valve, the drain port of the fixed-value pressure reducing valve, the drain port of the three-way proportional pressure reducing valve and the Y drain port of the main valve stage are connected. The outlet oil port of the fixed-value pressure reducing valve is respectively connected to the control oil port of the fixed-value pressure reducing valve and the inlet oil port of the three-way proportional pressure reducing valve. The spool and the valve body together form a three-way proportional pressure reducing valve composed of two sub-three-way proportional pressure reducing valves with two working positions. The left outlet oil port of the three-way proportional pressure reducing valve is connected to the left control oil port of the power main valve stage and the control oil port of the sub-three-way proportional pressure reducing valve at the left working position. The right outlet oil port of the three-way proportional pressure reducing valve is connected to the right control oil port of the power main valve stage and the control oil port of the sub-three-way proportional pressure reducing valve at the right working position, controlling the movement of the spool of the power main valve stage to realize the switching connection of the inlet oil port P, the load oil port A, the load oil port B and the return oil port T of the power main valve stage. The displacement of the main spool is collected by the displacement sensor to observe the movement displacement of the spool.

[0027] Combined Figure 2 When the signal output by the controller to the proportional electromagnet is zero, the oil fluid enters from the X port of the control oil inlet of the main valve stage through the filter, flows to the inlet of the fixed-value pressure reducing valve, and then the oil fluid returns to the fuel tank through the Y port of the drain of the main valve stage. The centering spring makes the spool in the middle position and there is no oil fluid output from the power main valve stage.

[0028] When the controller outputs a continuous positive command signal to the first proportional electromagnet with emergency function, through on-line current programming, the output force of the first proportional electromagnet with emergency function is adjusted on-line to overcome the spring force, frictional force and hydraulic force, so that the spool of the three-way proportional pressure reducing valve moves to the right. The oil fluid enters from the X port of the control oil inlet of the main valve stage through the filter, flows to the inlet of the fixed-value pressure reducing valve. The oil fluid at the outlet of the fixed-value pressure reducing valve passes through the left sub-three-way proportional pressure reducing valve to the left control chamber of the power main valve stage. The spring force and the oil fluid pressure act on the main spool together to make the main spool move to the right. The oil fluid at the P port of the inlet of the power main valve stage is connected to the B port of the load, and the A port of the load of the power main valve stage is connected to the T port of the return oil. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the electromagnet current.

[0029] When the controller outputs a continuous negative command signal to the second proportional solenoid valve with emergency function, through on-line current planning, the output of the first proportional solenoid valve with emergency function is adjusted on-line to overcome the spring force, friction force and hydrodynamic force, so that the spool of the three-way proportional pressure reducing valve moves to the left. The oil fluid flows from the X port of the main valve stage control oil inlet through the filter to the inlet of the fixed value pressure reducing valve. The oil fluid at the outlet of the fixed value pressure reducing valve passes through the three-way proportional pressure reducing valve at the right position to the right control chamber of the power main valve stage. The spring force and oil pressure act on the main spool together, causing the control main spool to move to the left. The oil fluid at the P port of the power main valve stage inlet is connected to the A port of the load oil port, and the B port of the load oil port of the power main valve stage is connected to the T port of the oil return port. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the solenoid current.

[0030] Combined with Figure 3 , when the three-way proportional pressure reducing valve of the pilot stage is stuck or the controller fails, based on the displacement sensor observing the displacement state of the main spool, the positive and negative of the displacement of the main spool are observed. When it is observed that the displacement of the main spool stays at the positive position, manually adjust the emergency mechanical structure of the first proportional solenoid valve with emergency function, manually continuously adjust the position of the push rod of the first proportional solenoid valve with emergency function, replace the thrust of the first proportional solenoid valve with emergency function, overcome the spring force, friction force and hydrodynamic force, and push the spool of the three-way proportional pressure reducing valve to move continuously to the right, so that the spool of the three-way proportional pressure reducing valve moves to the right. The oil fluid flows from the X port of the main valve stage control oil inlet through the filter to the inlet of the fixed value pressure reducing valve. The oil fluid at the outlet of the fixed value pressure reducing valve passes through the three-way proportional pressure reducing valve at the left position to the left control chamber of the power main valve stage. The spring force and oil pressure act on the main spool together, causing the control main spool to move to the right. The oil fluid at the P port of the power main valve stage inlet is connected to the B port of the load oil port, and the A port of the load oil port of the power main valve stage is connected to the T port of the oil return port.

[0031] When it is observed that the displacement of the main spool stays at the negative position, manually adjust the emergency mechanical structure of the second proportional solenoid valve with emergency function, manually continuously adjust the position of the push rod of the second proportional solenoid valve with emergency function, replace the thrust of the second proportional solenoid valve with emergency function, overcome the spring force, friction force and hydrodynamic force, and push the spool of the three-way proportional pressure reducing valve to move continuously to the left. The oil fluid flows from the X port of the main valve stage control oil inlet through the filter to the inlet of the fixed value pressure reducing valve. The oil fluid at the outlet of the fixed value pressure reducing valve passes through the three-way proportional pressure reducing valve at the right position to the right control chamber of the power main valve stage. The spring force and oil pressure act on the main spool together, causing the control main spool to move to the left. The oil fluid at the P port of the power main valve stage inlet is connected to the A port of the load oil port, and the B port of the load oil port of the power main valve stage is connected to the T port of the oil return port. At the same time, the displacement sensor observes the displacement state of the main spool, that is, the displacement of the main spool changes continuously with the solenoid current.

[0032] The online planning model for the proportional valve current command is

[0033]

[0034] Where: k 1 is the slope of the first segment of the current-voltage segmented curve; k 2 is the slope of the second segment of the current-voltage segmented curve; U 0 is the segmentation point of the current-voltage segmented curve, which is related to the size of the dead zone.

[0035] Based on the displacement state of the main spool of the proportional flow valve and the current collected by the proportional solenoid, while meeting the dead zone index, the parameters k 1 , k 2 , U 0 in formula (1) are adjusted online.

[0036] Emergency procedure for proportional flow valve: First, judge the operating state of the proportional flow valve controller. If the controller is in a fault state such as overheating, overpressure, overcurrent, etc., repair the controller hardware; if the controller is operating normally, power on the controller, and the controller outputs a control instruction to the solenoid. If the spool displacement of the proportional flow valve is normal, the proportional flow valve is used to adjust the flow rate of the system; if the spool displacement or flow rate of the proportional flow valve does not change continuously with the command signal, first determine the displacement state of the spool and the output current state of the solenoid based on the displacement sensor. If the input command signal of the solenoid is in the positive state, manually adjust the emergency structure of the first solenoid with emergency function to make the spool of the proportional flow valve change continuously back to the middle position; if the input command signal of the solenoid is in the negative state, manually adjust the emergency structure of the second solenoid with emergency function to make the main spool of the proportional flow valve change continuously back to the middle position. When the flow rate adjustment function ends, carry out disassembly and repair of the proportional flow valve.

Claims

1. A proportional flow valve with emergency function, characterized in that: It comprises a pilot stage and a main valve stage, wherein the pilot stage comprises a first proportional solenoid with an emergency function, a three-way proportional pressure reducing valve core (3), a three-way proportional pressure reducing valve body (2), a second proportional solenoid with an emergency function, and a fixed value pressure reducing valve (4); the main valve stage comprises a displacement sensor (10), a main valve core (8), a main valve body (7), a left end cover (5), a right end cover (9), and a centering spring (6); The three-way proportional pressure reducing valve core (3) is installed in the three-way proportional pressure reducing valve body (2); the first proportional solenoid push rod with emergency function is coaxially connected to the left side of the three-way proportional pressure reducing valve core (3); the second proportional solenoid push rod with emergency function is coaxially connected to the right side of the three-way proportional pressure reducing valve core (3); the first proportional solenoid with emergency function and the second proportional solenoid with emergency function are respectively installed on the three-way proportional pressure reducing valve body (2) through threads; the fixed value pressure reducing valve (4) is installed between the three-way proportional pressure reducing valve and the main valve stage; The main valve core (8) is installed in the main valve body (7), the centering spring (6) is connected to the main valve core (8) and the left end cover respectively, the left end cover and the right end cover are connected to the main valve body (7) respectively, the displacement sensor (10) is coaxially connected to the main valve core (8), the displacement sensor (10) is installed on the right end cover, and the filter is installed on the main valve body (7).

2. The proportional flow valve with emergency function according to claim 1, characterized in that: The X control oil port of the main valve stage is connected to the inlet of the filter, the outlet of the filter is connected to the inlet of the fixed value pressure reducing valve (4), the drain port of the fixed value pressure reducing valve (4) and the drain port of the three-way proportional pressure reducing valve are connected to the Y drain port of the main valve stage, the oil outlet of the fixed value pressure reducing valve (4) is respectively connected to the control oil port of the fixed value pressure reducing valve (4) and the oil inlet of the three-way proportional pressure reducing valve, and the valve core and the valve body together form two sub-three-way proportional pressure reducing valves to form a three-way proportional pressure reducing valve with two working positions. The left oil outlet of the pressure relief valve is connected to the left control oil port of the power main valve stage and the control oil port of the sub-three-way proportional pressure reducing valve of the left working position; the right oil outlet of the three-way proportional pressure reducing valve is connected to the right control oil port of the power main valve stage and the control oil port of the sub-three-way proportional pressure reducing valve of the right working position, so as to control the movement of the valve core of the power main valve stage and realize the switching connection of the power main valve stage oil inlet port P, the load oil port A, the load oil port B and the return oil port T; the displacement of the main valve core is collected by the displacement sensor (10) to observe the displacement of the valve core movement.

3. A flow intelligent control method for a proportional flow valve with emergency function, characterized in that: The target current command is used for online planning, combined with the valve core displacement, solenoid output current and proportional valve output flow state perception, to dynamically adjust the solenoid output current of the proportional flow valve to achieve precise flow control of the proportional flow valve.

4. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3 is characterized in that: Based on the displacement sensor, the displacement status of the main valve core of the proportional flow valve is monitored, warned and fed back. The electromagnetic force output by the electromagnet is continuously adjusted through the solenoid push rod adjustment mechanism. Under the premise of not affecting the performance of the proportional flow valve, the pilot stage pressure valve opening is promoted, the main valve stage control pressure is adjusted, the main valve core movement is promoted, and the main valve opening of the proportional valve is adjusted to solve the problem of the valve core being stuck and the flow of the entire valve being unable to be adjusted.

5. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3, characterized in that: The emergency process of the proportional flow valve is as follows: first determine the operating status of the proportional flow valve controller. If the controller has fault conditions such as overtemperature, overvoltage, and overcurrent, repair the controller hardware; if the controller is in normal operating status, power the controller and the controller outputs control instructions to the electromagnet; if the displacement of the proportional flow valve spool is normal, the proportional flow valve is used to adjust the system flow; if the displacement of the proportional flow valve spool or the flow does not change continuously with the command signal, first determine the displacement state of the spool and the output current state of the electromagnet based on the displacement sensor. If the electromagnet input command signal is in a positive state, adjust the emergency structure of the first electromagnet with an emergency function so that the proportional flow valve spool changes continuously back to the middle position; if the electromagnet input command signal is in a negative state, adjust the emergency structure of the second electromagnet with an emergency function so that the main valve spool of the proportional flow valve changes continuously back to the middle position. When the flow adjustment function ends, disassemble and repair the proportional flow valve.

6. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3 is characterized in that: When the signal output by the controller to the proportional solenoid (1) is zero, the oil flows from the control oil inlet port X of the main valve stage through the filter to the oil inlet of the fixed value pressure reducing valve (4), and then the oil returns to the oil tank through the oil drain port Y of the main valve stage; the centering spring (6) keeps the valve core in the middle position, and there is no oil output from the power main valve stage.

7. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3 is characterized in that: When the controller outputs a continuous positive command signal to the first proportional solenoid with an emergency function, the output of the first proportional solenoid with an emergency function is adjusted online through current online planning, overcoming the spring force, friction force and hydraulic force, so that the valve core (3) of the three-way proportional pressure reducing valve moves to the right, and the oil flows from the main valve stage control oil inlet port X through the filter to the oil inlet of the fixed value pressure reducing valve (4). The oil at the oil outlet of the fixed value pressure reducing valve (4) passes through the left position three-way proportional pressure reducing valve to the left control chamber of the power main valve stage. The spring force and oil pressure act on the main valve core together, so that the control main valve core moves to the right. The oil at the power main valve stage oil inlet port P is connected to the load oil port B, and the power main valve stage load oil port A is connected to the return oil port T. At the same time, the displacement sensor (10) observes the displacement state of the main valve core, that is, the displacement of the main valve core changes continuously with the solenoid current.

8. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3 is characterized in that: When the controller outputs a continuous negative command signal to the second proportional solenoid with an emergency function, the output of the first proportional solenoid with an emergency function is adjusted online through current online planning, overcoming the spring force, friction force and hydraulic force, so that the valve core (3) of the three-way proportional pressure reducing valve moves to the left, and the oil flows from the main valve stage control oil inlet port X through the filter to the oil inlet of the fixed value pressure reducing valve (4). The oil at the oil outlet of the fixed value pressure reducing valve (4) passes through the right position three-way proportional pressure reducing valve to the right control chamber of the power main valve stage. The spring force and oil pressure act on the main valve core together, so that the control main valve core moves to the left. The oil at the power main valve stage oil inlet port P is connected to the load oil port A, and the power main valve stage load oil port B is connected to the return oil port T. At the same time, the displacement sensor (10) observes the displacement state of the main valve core, that is, the displacement of the main valve core changes continuously with the solenoid current.

9. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3, characterized in that: When the pilot-stage three-way proportional pressure reducing valve is stuck or the controller fails, the displacement state of the main valve core is observed based on the displacement sensor, and the positive and negative displacement of the main valve core is observed; when the displacement of the main valve core stays in the positive position, the emergency mechanical structure of the first proportional solenoid with an emergency function is adjusted, and the position of the first proportional solenoid push rod with an emergency function is continuously adjusted to replace the thrust of the first proportional solenoid with an emergency function, overcome the spring force, friction force and hydraulic force, and push the valve core of the three-way proportional pressure reducing valve to move continuously to the right, so that the valve core of the three-way proportional pressure reducing valve moves to the right, and the oil flows from the main valve stage control oil inlet X through the filter to the oil inlet of the fixed value pressure reducing valve, and the oil at the fixed value pressure reducing valve outlet passes through the left position three-way proportional pressure reducing valve to the left control chamber of the power main valve stage, and the spring force and oil pressure act on the main valve core together to control the main valve core to move to the right, and the oil at the power main valve stage oil inlet P is connected to the load oil port B, and the power main valve stage load oil port A is connected to the return oil port T.

10. The intelligent flow control method of a proportional flow valve with emergency function according to claim 3, characterized in that: When the displacement of the main valve core stays in the negative position, adjust the emergency mechanical structure of the second proportional solenoid with emergency function, continuously adjust the position of the second proportional solenoid push rod with emergency function, replace the thrust of the second proportional solenoid with emergency function, overcome the spring force, friction and hydraulic force, and push the valve core of the three-way proportional pressure reducing valve to move continuously to the left. The oil flows from the main valve stage control oil inlet X through the filter to the oil inlet of the fixed value pressure reducing valve. The oil at the oil outlet of the fixed value pressure reducing valve passes through the right position three-way proportional pressure reducing valve to the right control chamber of the power main valve stage. The spring force and oil pressure act on the main valve core together to control the main valve core to move left. The oil at the power main valve stage oil inlet P is connected to the load oil port A, and the power main valve stage load oil port B is connected to the return oil port T. At the same time, the displacement sensor observes the displacement state of the main valve core, that is, the displacement of the main valve core changes continuously with the electromagnet current.

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