Current control method, device and equipment of electromagnetic valve and medium

Abstract

The invention discloses a current control method, device and equipment of an electromagnetic valve and a medium. The method comprises the following steps: determining an expected current according to a handle opening degree of a current control period; determining a current change trend according to the expected current and a first control current output in the previous control period; calculating a target current step length according to the expected current, the current change trend, multiple preset current data and current step length data; and determining a second control current according to the target current step length, the first control current and the current change trend, and outputting the second control current to the electromagnetic valve so as to control the electromagnetic valve current in the next control period. By adopting the technical scheme, the current change step length can be dynamically adjusted under the condition that the handle of the electromagnetic valve is quickly pulled and released, so that the electromagnetic valve quickly responds to the action of the handle, the comfort of the whole machine is ensured, and the service time of the electromagnetic valve is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering vehicle control, and particularly to a method, device, equipment and medium for controlling the current of a solenoid valve. Background Art

[0002] The solenoid valve in an engineering vehicle can be used to adjust the hydraulic oil flow rate entering the oil cylinder, and the opening degree of the solenoid valve is proportional to the hydraulic oil flow rate. The driver can adjust the current of the solenoid valve by pulling the control handle of the solenoid valve, and then adjust the opening degree of the solenoid valve through the current change.

[0003] In the prior art, generally, the solenoid valve current is adjusted in the following two ways: the solenoid valve current directly responds to the handle opening degree and the current is adjusted using a fixed slope.

[0004] However, in the case where the solenoid valve directly responds to the handle opening degree, there is no slope for the current to rise or fall, and the current corresponding to the handle opening degree is directly output in each control cycle. When the handle is pulled and released quickly, the change in current in consecutive control cycles is very large, resulting in a very large change in the hydraulic oil flow rate entering the oil cylinder in a short time, and the vehicle has a strong sense of jerk. This will not only reduce the comfort of the whole machine, but also shorten the service life of the solenoid valve; while in the case of adjusting the current using a fixed slope, although the comfort of the whole machine is greatly improved, when the handle is pulled and released quickly, the solenoid valve cannot respond to the handle action in time, and the control effect is poor. Summary of the Invention

[0005] The present invention provides a method, device, equipment and medium for controlling the current of a solenoid valve, which can dynamically adjust the current change step length in the case where the solenoid valve handle is pulled and released quickly, so that the solenoid valve can quickly respond to the handle action, and at the same time ensure the comfort of the whole machine and extend the service time of the solenoid valve.

[0006] According to one aspect of the present invention, there is provided a method for controlling the current of a solenoid valve, including:

[0007] Determine the desired current according to the handle opening degree of the current control cycle;

[0008] Determine the current change trend according to the desired current and the first control current output in the previous control cycle;

[0009] Calculate the target current step length according to the desired current, the current change trend, a plurality of preset current data and current step length data;

[0010] Determine the second control current according to the target current step length, the first control current and the current change trend, and output the second control current to the solenoid valve to control the solenoid valve current in the next control cycle.

[0011] According to another aspect of the present invention, there is provided a current control device for a solenoid valve, comprising:

[0012] A desired current calculation module for determining a desired current according to the handle opening degree in the current control cycle;

[0013] A current change trend determination module for determining a current change trend according to the desired current and a first control current output in the previous control cycle;

[0014] A target current step calculation module for calculating a target current step according to the desired current, the current change trend, a plurality of preset current data, and current step data;

[0015] A second control current calculation module for determining a second control current according to the target current step, the first control current, and the current change trend, and outputting the second control current to the solenoid valve to control the solenoid valve current in the next control cycle.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the current control method of the solenoid valve according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the current control method of the solenoid valve according to any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention can calculate the target current step according to the expected current, the current change trend, a plurality of preset current data, and the current step data. Different interpolation calculation methods can be used respectively during the current rising or falling stage to dynamically update the target current step. By determining the second control current according to the target current step, the first control current, and the current change trend, and outputting the second control current to the solenoid valve, the problem of poor overall comfort caused by the lack of slope in the current rise and fall in the prior art is solved. At the same time, by reasonably setting the current data and the current step data, the calculated target current step can better fit the user's intention. When the solenoid valve is just started, the flow rate changes slowly, thus avoiding the overall tremor caused by a large change in the flow rate at the moment of starting the solenoid valve, ensuring the overall comfort, and also ensuring that the solenoid valve can respond to the handle operation in a timely manner.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a flowchart of a method for controlling the current of a solenoid valve according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flowchart of another method for controlling the current of a solenoid valve according to Embodiment 2 of the present invention;

[0026] Figure 3 is a comparison diagram of the expected current and the control current according to the embodiment of the present invention;

[0027] Figure 4 is a schematic structural diagram of a device for controlling the current of a solenoid valve according to Embodiment 3 of the present invention;

[0028] Figure 5 is a schematic structural diagram of an electronic device for implementing the method for controlling the current of a solenoid valve in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 It is a flowchart of a method for controlling the current of a solenoid valve provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the current step is dynamically adjusted during the process of the driver pulling up or lowering the solenoid valve handle. This method can be executed by the current control device of the solenoid valve. The current control device of the solenoid valve can be implemented in the form of hardware and / or software, and is generally configured in the vehicle control system of an engineering vehicle. The vehicle control system should have a data processing function. As Figure 1 shown, the method includes:

[0033] S110. Determine the desired current according to the handle opening in the current control cycle.

[0034] Optionally, in the control system of an engineering vehicle, the size of the control cycle can be preset in advance. In each control cycle, a control current is output to the solenoid valve through the control system to control the current size of the solenoid valve, and further control the opening of the solenoid valve. Each control cycle can be a relatively short time period. For example, 10 milliseconds is a control cycle.

[0035] Optionally, the handle opening can refer to the pulling angle of the solenoid valve handle. The purpose for the driver to pull the handle is to adjust the solenoid valve opening, and there is a corresponding relationship between the solenoid valve opening and the solenoid valve current. The desired current can refer to the solenoid valve current corresponding to the handle opening desired by the driver, and the desired current can reflect the operation intention of the driver.

[0036] S120. Determine the current change trend according to the desired current and the first control current output in the previous control cycle.

[0037] Among them, determining the current change trend according to the desired current and the first control current output in the previous control cycle may include:

[0038] Determine the current change trend according to the magnitude relationship between the desired current and the first control current; among them, the current change trend includes rising, falling, and remaining.

[0039] Optionally, the first control current can refer to the magnitude of the control current sent by the control system of the engineering vehicle to the solenoid valve in the previous control cycle.

[0040] Optionally, when the desired current is greater than the first control current, it can represent that the control current to be output in the current control cycle is greater than the control current output in the previous control cycle. At this time, the current change trend is rising; when the desired current is less than the first control current, it can represent that the control current to be output in the current control cycle is less than the control current output in the previous control cycle. At this time, the current change trend is falling; when the desired current is equal to the first control current, it can represent that the current of the solenoid valve does not change. At this time, the current change trend is remaining.

[0041] S130. Calculate the target current step according to the desired current, the current change trend, a plurality of preset current data, and the current step data.

[0042] Among them, the current data includes the minimum current, the starting current, and the maximum current of the solenoid valve;

[0043] The step data includes a first current step, a second current step, and a third current step; among them, the first current step, the second current step, and the third current step respectively have a corresponding relationship with the minimum current, the starting current, and the maximum current; the second current step is less than the first current step and the third current step.

[0044] Optionally, the minimum current may refer to the minimum current supported by the solenoid valve, generally 0; the starting current may refer to the current that can turn on the solenoid valve. When the starting current is reached, the solenoid valve can overcome factors such as friction, and at this time the solenoid valve opens, and the hydraulic oil can enter the oil cylinder; the maximum current may respectively refer to the maximum input current that the solenoid valve can withstand under normal working conditions. When the maximum current is exceeded, the components of the solenoid valve may be damaged.

[0045] Optionally, the first current step size may refer to the current step size calibrated when the current of the solenoid valve is the minimum current; the second current step size may refer to the current step size calibrated when the current of the solenoid valve reaches the starting current; the third current step size may refer to the current step size calibrated when the current of the solenoid valve reaches the maximum current.

[0046] Optionally, considering the opening characteristics of the solenoid valve, when the current of the solenoid valve is closer to the starting current, the change in the current of the solenoid valve should be slower. Therefore, the second current step size is set to be smaller than the first current step size and the third current step size.

[0047] The advantage of this setting is that: when the current of the solenoid valve is closer to the starting current, by setting a smaller second current step size, the change in the current of the solenoid valve is slow, so that when the opening of the solenoid valve is small, the flow rate of the solenoid valve can be accurately controlled, thereby improving the controllability of the solenoid valve.

[0048] Optionally, the first current step size can be greater than the third current step size. The purpose of this setting is that: generally, the purpose of the driver pulling the handle is to open the solenoid valve. In order to respond to the driver's operation, the solenoid valve needs to reach the open state in a short time. Therefore, a larger first current step size can be set.

[0049] Among them, calculating the target current step size according to the expected current, the current change trend, a plurality of preset current data, and the current step size data may include:

[0050] Determine the current change stage according to the magnitude relationship between the expected current, the minimum current, and the starting current; wherein, the current change stage includes a pre-start stage and a post-start stage;

[0051] When the current change trend is rising or falling, calculate the target current step size according to the current change stage, the expected current, the current data, and the step size data.

[0052] Optionally, when setting the correspondence between the handle opening and the desired current, the desired current corresponding to the maximum handle opening is the maximum current. Therefore, the desired current will not be greater than the maximum current. When the desired current is greater than or equal to the starting current, it is determined that the current change stage is the post-start stage. When the desired current is greater than the minimum current and less than the starting current, it is determined that the current change stage is the pre-start stage.

[0053] Optionally, whether in the pre-start stage or the post-start stage, when the current change trend is to remain constant, the target current step size is 0.

[0054] Optionally, when the current change trend is rising or falling, if the current change stage is the pre-start stage, interpolation calculation is performed based on the minimum current, starting current, first current step size, second current step size, and desired current to determine the target current step size. If the current change stage is the post-start stage, interpolation calculation is performed based on the starting current, maximum current, second current step size, third current step size, and desired current to determine the target current step size.

[0055] S140. Determine the second control current based on the target current step size, the first control current, and the current change trend, and output the second control current to the solenoid valve to control the solenoid valve current in the next control cycle.

[0056] Optionally, when the current change trend is rising, calculate the sum of the first control current and the target current step size, and determine the calculation result as the second control current. When the current change trend is falling, calculate the difference between the first control current and the target current step size, and determine the calculation result as the second control current.

[0057] Optionally, the second control current may refer to the control current of the solenoid valve in the next control cycle. After determining the second control current, send the second control current to the solenoid valve to adjust the solenoid valve current in the next control cycle to the second control current.

[0058] Optionally, when the current change trend is to remain constant, if the current change stage is the pre-start stage, determine the second control current to be 0.

[0059] It can be understood that when the handle reaches a relatively small angle, its desired current can already reach the starting current. For example, when the handle opening is 2 degrees, the desired current can reach the starting current. Considering the actual pulling situation of the handle and the control situation of the solenoid valve, generally, the driver will not deliberately pull the handle to a relatively small angle and keep it stationary. If there is a situation where the current change trend is to remain constant and the current change stage is the pre-start stage, it may be caused by factors such as accidental touch or external interference. At this time, to ensure the safe use of the solenoid valve and reduce the loss of the solenoid valve, the second control current can be determined to be 0.

[0060] Optionally, when the current change trend is to remain constant, if the current change stage is the post-start stage, the sum of the first control current and the target current step is determined as the second control current. However, since the target current step is 0 when the current change trend is to remain constant, the second control current is equal to the first control current.

[0061] The technical solution of the embodiment of the present invention can use different interpolation calculation methods in the current rising or falling stage to dynamically update the target current step by calculating the target current step according to the desired current, the current change trend, a plurality of preset current data, and the current step data. By determining the second control current according to the target current step, the first control current, and the current change trend, and outputting the second control current to the solenoid valve, the problem in the prior art that there is no slope in the current rise and fall, resulting in poor comfort of the whole machine, is solved. At the same time, by reasonably setting the current data and the current step data, the calculated target current step can be made more in line with the user's intention. When the solenoid valve is just started, the flow rate changes slowly, thus avoiding the whole machine tremor caused by a large change in the flow rate at the moment of starting the solenoid valve, ensuring the comfort of the whole machine, and also ensuring that the solenoid valve can respond to the handle operation in a timely manner.

[0062] Embodiment 2

[0063] Figure 2 The flowchart of a method for controlling the current of a solenoid valve provided by Embodiment 2 of the present invention. On the basis of the above embodiment, the method for controlling the current of the solenoid valve is specifically described. As Figure 2 shown, the method includes:

[0064] S210. Determine the desired current according to the handle opening of the current control cycle.

[0065] Optionally, different handle openings correspond to different desired currents. The corresponding relationship between the handle opening and the desired current can be maintained in a table. After determining the handle opening, the desired current corresponding to the handle opening is determined by querying the table.

[0066] Optionally, the correspondence between the handle opening and the desired current can also be represented by a mathematical relationship. After determining the handle opening, substitute the handle opening into the mathematical relationship to further determine the desired current. Between the minimum handle opening and the maximum handle opening, the correspondence between the handle opening and the desired current can be represented in segments by multiple data relationships. For example, when the handle opening is 0 - 2 degrees, the relationship between the handle opening and the desired current is the first mathematical relationship; when it is 2 - 30 degrees, the relationship between the handle opening and the desired current is the second mathematical relationship; when it is 30 - 45 degrees, the relationship between the handle opening and the desired current is the third mathematical relationship. This is only for illustrative purposes and is not specifically limited.

[0067] S220. Determine the current change trend according to the magnitude relationship between the desired current and the first control current.

[0068] Among them, the current change trend includes rising, falling, and remaining unchanged.

[0069] S230. Determine the current change stage according to the magnitude relationship between the desired current, the minimum current, and the starting current.

[0070] Among them, the current change stage includes the pre - start stage and the post - start stage.

[0071] S240. When the current change trend is rising or falling, calculate the target current step according to the current change stage, the desired current, the current data, and the step data.

[0072] Among them, the current data includes the minimum current, the starting current, and the maximum current of the solenoid valve;

[0073] The step data includes the first current step, the second current step, and the third current step; among them, the first current step, the second current step, and the third current step have corresponding relationships with the minimum current, the starting current, and the maximum current respectively; the second current step is less than the first current step and the third current step.

[0074] Among them, when the current change trend is rising or falling, calculating the target current step according to the current change stage, the desired current, the current data, and the step data may include any of the following:

[0075] When the current control cycle belongs to the pre - start stage, perform interpolation calculation using the minimum current, the first step, the starting current, the second step, and the desired current to obtain the target current step; and

[0076] When the current control period belongs to the post-startup stage, interpolation calculation is performed using the startup current, the second step size, the maximum current, the third step size, and the desired current to obtain the target current step size.

[0077] In a specific embodiment, X can represent the desired current, X0 represents the minimum current, X1 represents the startup current, X2 represents the maximum current, Y0 represents the first current step size, Y1 represents the second current step size, and Y2 represents the third current step size. When X1 > X > X0, it is determined that the current control period belongs to the pre-startup stage, and the target current step size Step can be calculated by the following formula: Step = (Y1 - Y0) × (X - X0) / (X1 - X0) + Y0; when X > X1, it is determined that the current control period belongs to the post-startup stage, and the target current step size Step can be calculated by the following formula: Step = (Y2 - Y1) × (X - X1) / (X2 - X1) + Y1.

[0078] Among them, calculating the target current step size according to the desired current, the current change trend, a plurality of preset current data, and the current step size data may further include:

[0079] When the current change trend is to remain unchanged, it is determined that the target current step size is 0.

[0080] S250. Determine the second control current according to the target current step size, the first control current, and the current change trend.

[0081] Among them, determining the second control current according to the target current step size, the first control current, and the current change trend may include any one of the following:

[0082] When the current change trend is rising, calculate the sum of the first control current and the target current step size, and determine the calculation result as the second control current; and

[0083] When the current change trend is falling, calculate the difference between the first control current and the target current step size, and determine the calculation result as the second control current.

[0084] Continuing with the previous example, using X out to represent the first control current and Step to represent the target current step size, then when the current change trend is rising, the value of the second control current is equal to X out + Step; when the current change trend is falling, the value of the second control current is equal to X out - Step.

[0085] Among them, determining the second control current according to the target current step size, the first control current, and the current change trend may further include any one of the following:

[0086] When the current change trend is to remain constant and the current control period belongs to the pre-start stage, determine that the second control current is 0; and

[0087] When the current change trend is to remain constant and the current control period belongs to the post-start stage, determine that the second control current is the same as the first control current.

[0088] Figure 3 It is a comparison diagram of a desired current and a control current. As Figure 3 shown, the upper curve is the change of the desired current over a period of time, and the lower curve is the change of the actual control current over a period of time. The abscissa is the control time of the current (unit: second), and the ordinate is the current (unit: mA). It can be seen that the starting current of the solenoid valve is approximately 340 mA. Before reaching the starting current, the current increases significantly each time, that is, the target current step size in the pre-start stage is greater than the target current step size in the post-start stage. And, in the pre-start stage, the closer to the starting current, the target current step size is slightly smaller than the previous control current step size, so as to achieve precise control at the starting current; in the post-start stage, the change of the actual control current is from small to large, and the closer to the starting current, the smaller the change of the actual control current. In this way, when the solenoid valve is just started, the flow rate changes slowly, thus avoiding the whole machine tremor caused by a large change in the flow rate at the starting moment of the solenoid valve, ensuring the comfort of the whole machine. And as the flow rate stabilizes, the control current step size gradually increases, so as to ensure that the solenoid valve responds to the handle operation in time, making the actual control current quickly reach the desired current. Figure 3 In order to reflect the change of the current step size in the control process, the image is scaled proportionally. In the actual control process, the time period of each control cycle is very small, and the actual control curve image is smoother.

[0089] The technical solution of the embodiment of the present invention can make the current of the solenoid valve change slowly by setting the second current step size to be smaller than the first current step size and the third current step size when the current of the solenoid valve is closer to the starting current, so as to accurately control the flow rate of the solenoid valve when the opening of the solenoid valve is small, thereby improving the controllability of the solenoid valve. And by reasonably setting the current step size, it is possible to dynamically adjust the target step size when the handle is quickly pulled and released, so that the solenoid valve current quickly reaches the desired current. By setting different calculation schemes for the second control current in different current change stages when the current change trend is to remain constant, it is possible to ensure the safe use of the solenoid valve and reduce the loss of the solenoid valve when the handle is accidentally touched or affected by external forces and other factors.

[0090] Embodiment III

[0091] Figure 4 It is a schematic structural diagram of a current control device for a solenoid valve provided by Embodiment III of the present invention. AsFigure 4 As shown in Figure 4 , the device includes: an expected current calculation module 310, a current change trend determination module 320, a target current step calculation module 330, and a second control current calculation module 340.

[0092] The expected current calculation module 310 is configured to determine an expected current according to the handle opening degree of the current control period.

[0093] The current change trend determination module 320 is configured to determine the current change trend according to the expected current and the first control current output in the previous control period.

[0094] The target current step calculation module 330 is configured to calculate a target current step according to the expected current, the current change trend, a plurality of preset current data, and current step data.

[0095] The second control current calculation module 340 is configured to determine a second control current according to the target current step, the first control current, and the current change trend, and output the second control current to the solenoid valve to control the solenoid valve current in the next control period.

[0096] The technical solution of the embodiment of the present invention can use different interpolation calculation methods in the current rising or falling stage respectively by calculating the target current step according to the expected current, the current change trend, a plurality of preset current data, and current step data, and dynamically update the target current step. By determining the second control current according to the target current step, the first control current, and the current change trend, and outputting the second control current to the solenoid valve, the problem of poor overall comfort caused by the lack of slope in the current rising and falling in the prior art is solved. At the same time, by reasonably setting the current data and current step data, the calculated target current step can better fit the user's intention. When the solenoid valve is just started, the flow rate changes slowly, thereby avoiding the overall tremor caused by the large change in the flow rate at the moment when the solenoid valve is started, ensuring the overall comfort, and also ensuring that the solenoid valve can respond to the handle operation in time.

[0097] Based on the above embodiments, the current change trend determination module 320 may specifically be configured to:

[0098] Determine the current change trend according to the magnitude relationship between the expected current and the first control current; wherein, the current change trend includes rising, falling, and remaining unchanged.

[0099] Based on the above embodiments, the current data includes the minimum current, start current, and maximum current of the solenoid valve;

[0100] The step data includes a first current step, a second current step, and a third current step; wherein, the first current step, the second current step, and the third current step respectively have a corresponding relationship with the minimum current, the starting current, and the maximum current; the second current step is less than the first current step and the third current step.

[0101] Based on the above embodiments, the target current step calculation module 330 may include:

[0102] A current change stage determination unit, configured to determine a current change stage according to the magnitude relationship between the desired current, the minimum current, and the starting current; wherein, the current change stage includes a pre-start stage and a post-start stage;

[0103] A step calculation unit, configured to calculate a target current step according to the current change stage, the desired current, the current data, and the step data when the current change trend is rising or falling.

[0104] Based on the above embodiments, the current change stage includes a pre-start stage and a post-start stage;

[0105] The step calculation unit may specifically be configured to perform any one of the following:

[0106] When the current control cycle belongs to the pre-start stage, perform interpolation calculation using the minimum current, the first step, the starting current, the second step, and the desired current to obtain the target current step; and

[0107] When the current control cycle belongs to the post-start stage, perform interpolation calculation using the starting current, the second step, the maximum current, the third step, and the desired current to obtain the target current step.

[0108] Based on the above embodiments, the second control current calculation module 340 may specifically be configured to:

[0109] When the current change trend is rising, calculate the sum of the first control current and the target current step, and determine the calculation result as the second control current; and

[0110] When the current change trend is falling, calculate the difference between the first control current and the target current step, and determine the calculation result as the second control current.

[0111] Based on the above embodiments, the target current step calculation module 330 may further be configured to:

[0112] When the current change trend is maintaining, determine that the target current step is 0;

[0113] The second control current calculation module 340 can also be used to perform any of the following:

[0114] When the current change trend is to remain and the current control cycle belongs to the pre-start phase, determine that the second control current is 0; and

[0115] When the current change trend is to remain and the current control cycle belongs to the post-start phase, determine that the second control current is the same as the first control current.

[0116] The current control device for the solenoid valve provided by the embodiments of the present invention can execute the current control method for the solenoid valve provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0117] Embodiment 4

[0118] Figure 5 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0119] As Figure 5 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0120] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the current control method of the solenoid valve as described in the embodiments of the present invention. That is:

[0122] Determine the desired current according to the handle opening degree of the current control cycle;

[0123] Determine the current change trend according to the desired current and the first control current output in the previous control cycle;

[0124] Calculate the target current step according to the desired current, the current change trend, a plurality of preset current data, and the current step data;

[0125] Determine the second control current according to the target current step, the first control current, and the current change trend, and output the second control current to the solenoid valve to control the solenoid valve current in the next control cycle.

[0126] In some embodiments, the current control method of the solenoid valve can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the current control method of the solenoid valve described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the current control method of the solenoid valve by any other suitable means (for example, by means of firmware).

[0127] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0128] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0129] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0130] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0132] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0133] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0134] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A current control method for a solenoid valve, characterized in that: include: Determine the expected current according to the handle opening of the current control cycle; Determining a current change trend according to the desired current and a first control current output in a previous control cycle; Calculating a target current step length according to the expected current, the current change trend, the preset multiple current data and the current step length data; According to the target current step, the first control current and the current variation trend, a second control current is determined, and the second control current is output to the solenoid valve to control the solenoid valve current in the next control cycle.

2. The method according to claim 1, characterized in that: Determining a current change trend according to the expected current and a first control current output in a previous control cycle includes: The current variation trend is determined according to the magnitude relationship between the desired current and the first control current; wherein the current variation trend includes rising, falling and maintaining.

3. The method according to claim 2, characterized in that The current data includes the minimum current, the starting current and the maximum current of the solenoid valve; The step data includes a first current step, a second current step and a third current step; wherein the first current step, the second current step and the third current step respectively correspond to the minimum current, the starting current and the maximum current; and the second current step is smaller than the first current step and the third current step.

4. The method according to claim 3, characterized in that Calculating a target current step length according to the expected current, the current change trend, the preset multiple current data and the current step length data includes: Determine the current change stage according to the magnitude relationship between the expected current, the minimum current and the starting current; wherein the current change stage includes a pre-starting stage and a post-starting stage; When the current variation trend is rising or falling, the target current step length is calculated according to the current variation stage, the expected current, the current data and the step length data.

5. The method according to claim 4, characterized in that When the current change trend is rising or falling, the target current step length is calculated according to the current change stage, the expected current, the current data and the step length data, including any of the following: When the current control cycle belongs to the pre-startup stage, interpolation calculation is performed using the minimum current, the first step length, the starting current, the second step length and the expected current to obtain a target current step length; as well as When the current control cycle belongs to the post-startup stage, the start-up current, the second step length, the maximum current, the third step length and the expected current are used to perform interpolation calculation to obtain the target current step length.

6. The method according to claim 2, characterized in that Determining the second control current according to the target current step, the first control current, and the current change trend includes any of the following: When the current change trend is rising, calculating the sum of the first control current and the target current step length, and determining the calculation result as the second control current; as well as When the current variation trend is downward, the difference between the first control current and the target current step is calculated, and the calculation result is determined as the second control current.

7. The method according to claim 4, characterized in that Calculating the target current step length according to the expected current, the current change trend, the preset multiple current data and the current step length data, further comprising: When the current change trend is maintained, determining the target current step size to be 0; Determining the second control current according to the target current step, the first control current, and the current change trend includes any of the following: When the current change trend is maintained and the current control cycle belongs to the pre-startup stage, determining that the second control current is 0; and When the current variation trend is maintained and the current control cycle belongs to the post-startup stage, it is determined that the second control current is the same as the first control current.

8. A current control device for a solenoid valve, characterized in that: include: The expected current calculation module is used to determine the expected current according to the handle opening of the current control cycle; A current change trend determination module, used to determine the current change trend according to the expected current and the first control current output in the previous control cycle; A target current step length calculation module, used to calculate the target current step length according to the expected current, the current change trend, a plurality of preset current data and the current step length data; The second control current calculation module is used to determine the second control current according to the target current step, the first control current and the current change trend, and output the second control current to the solenoid valve to control the solenoid valve current in the next control cycle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the current control method for a solenoid valve according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the current control method of a solenoid valve according to any one of claims 1 to 7 when executed.

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