Control method and control device

Abstract

In the control method and the control device, a driving signal of an electrically operated valve is adjusted based on a rotating speed closed-loop control method, the rotating speed of a rotor changes to cause the change of the driving signal, a signal change rate is obtained based on the driving signal, the signal change rate is compared with an end collision change rate threshold value, and the end collision change rate threshold value is obtained. And the first comparison result is obtained, whether end collision happens to the electrically operated valve or not is recognized based on the first comparison result, and then the calibration time and abnormal sound time of the electrically operated valve are shortened.

Description

Technical Field

[0001] The present application relates to the field of control technologies, and particularly to a control method and a control device applied to an electric valve. Background Art

[0002] Current electric valves include a rotor, a stator, a mechanical limit structure, and a Hall element. The rotor is rotatably connected to the stator, and the mechanical limit structure is connected to the rotor and the stator in a limiting manner. The mechanical limit structure is used to limit the rotation stroke of the rotor relative to the stator, and the Hall element is used to generate a Hall signal based on the magnetic field change of the rotor. According to the rotation characteristics of the rotor, the calibration process can be successively divided into a rotation stage, a hitting end stage, and a hitting stop stage; in the rotation stage, the rotor rotates at a basically constant speed, the Hall element shows a jump signal, and the valve core has not reached the valve port; in the hitting end stage, the rotor vibrates due to hitting the mechanical limit structure, and the Hall element still shows a jump signal, and the valve core reaches the valve port; in the hitting stop stage, the rotor basically stops rotating, the Hall element shows a constant signal, and the valve core is still located at the valve port. The electric valve identifies whether the electric valve hits and stops according to whether the signal of the Hall element is constant. If the signal of the Hall element is constant, the fully open position or the fully closed position of the electric valve is calibrated.

[0003] However, in the hitting end stage, the valve core has actually reached the valve port. The current control technology can only identify whether the electric valve hits and stops, but cannot identify whether the electric valve hits the end. Summary of the Invention

[0004] The present application provides a control method and a control device that can identify whether an electric valve hits the end.

[0005] The present application discloses the following technical solutions:

[0006] In a first aspect, the present application provides a control method applied to controlling an electric valve. The method includes:

[0007] Adjusting the driving signal of the electric valve based on the actual rotation speed of the electric valve;

[0008] Obtaining a signal change rate based on the driving signal;

[0009] Comparing the signal change rate with a hitting end change rate threshold to obtain a first comparison result;

[0010] Identifying whether the electric valve hits the end based on the first comparison result.

[0011] In a second aspect, the present application provides a control device applied to controlling an electric valve, including:

[0012] An adjustment module for adjusting the driving signal of the electric valve based on the actual rotation speed of the electric valve;

[0013] An acquisition module, configured to obtain a signal change rate based on the driving signal;

[0014] A comparison module, configured to compare the signal change rate with a collision end change rate threshold to obtain a first comparison result;

[0015] An identification module, configured to identify whether the electric valve has collided based on the first comparison result.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] In a control method and a control device provided by the present application, the driving signal of the electric valve is adjusted based on the actual rotation speed of the electric valve. The change in the actual rotation speed of the electric valve will cause a change in the driving signal. The signal change rate is obtained based on the driving signal. The signal change rate indicates the degree of change of the driving signal, and the collision end change rate threshold indicates the critical value of the change rate when the electric valve rotates to the collision end. Whether the electric valve has collided can be identified based on the comparison result between the signal change rate and the collision end change rate threshold. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 A schematic structural diagram of an electric valve provided by the current technology;

[0020] Figure 2 A waveform diagram of a Hall signal during the calibration process provided by the current technology;

[0021] Figure 3 A flowchart of a control method provided by an embodiment of the present application;

[0022] Figure 4 A waveform schematic diagram of the current value changing with time provided by an embodiment of the present application;

[0023] Figure 5 A waveform schematic diagram of the signal change rate changing with time provided by an embodiment of the present application;

[0024] Figure 6 A waveform schematic diagram of the current value, the filtered value In, and the filtered value Jn changing with time provided by an embodiment of the present application;

[0025] Figure 7 A schematic structural diagram of a control device provided by an embodiment of the present application. Detailed implementation manners

[0026] Refer to Figure 1 , which is a schematic structural diagram of an electric valve provided by the current technology. As Figure 1 shown, in the current technology, the electric valve may include: a stop guide rail 1, a mandrel 2, a stop assembly 3, a valve seat 4, a valve needle assembly 5, a rotor assembly 6, an upper fixing part 7, a lower fixing part 8, a fully open mechanical limit point 9, a fully closed mechanical limit point 10, a spiral guiding part 11, an upper mounting part 12, and a lower mounting part 13.

[0027] That is to say, the mechanical part of the electric valve includes a stator, a rotor, a mechanical limit structure, a valve core, and a valve body, etc. Among them, the rotor is rotatably connected to the stator, the mechanical limit structure is limit-connected to the rotor and the stator, and the mechanical limit structure is used to limit the rotation stroke of the rotor relative to the stator. When the rotor rotates relative to the stator, the rotor can hit the mechanical limit structure. The valve body has a valve port, the valve body is fixedly connected to the stator, and the rotor is limit-connected to the valve core. When the rotor rotates relative to the stator, it drives the valve core to open or close the valve port, thereby achieving the effect of adjusting the opening of the electric valve. The circuit part of the electric valve includes a controller, a Hall element, and a stator, and the Hall element and the stator are respectively connected to the controller. Before adjusting the opening of the electric valve, it is necessary to recalibrate the initial position of the electric valve, and the initial position includes at least one of the fully open position and the fully closed position.

[0028] It should be noted that during the calibration process of the initial position, the controller sends a drive signal to the stator, the stator generates a magnetic field based on the drive signal, and under the action of this magnetic field, the rotor first rotates unidirectionally relative to the rotor, then hits the mechanical limit structure (also called the impact end), and finally stops hitting the mechanical limit structure. According to the rotation characteristics of the rotor, the calibration process can be sequentially divided into a rotation stage, an impact end stage, and a stop stage.

[0029] Refer to Figure 2 , which is a waveform diagram of the Hall signal during the calibration process provided by the current technology. As Figure 2 shown, in the rotation stage, the rotor rotates basically at a constant speed, the Hall element generates a jump signal, and the valve core opens at the valve port; in the impact end stage, the rotor hits the mechanical limit structure and then jitters, accompanied by abnormal noises, and the Hall element also generates a jump signal, and the valve core closes the valve port; in the stop stage, the rotor is basically stopped, the Hall element generates a constant signal, and the valve core closes the valve port. The controller identifies whether the electric valve has stopped hitting according to whether the signal of the Hall element is constant. If the signal of the Hall element is constant, it calibrates the fully open position or the fully closed position of the electric valve. That is to say, until the Hall signal remains constant, the controller will consider that the valve core fully opens or closes the valve port, and then calibrate the current position of the electric valve as the fully open position or the fully closed position.

[0030] However, during the end-striking stage, the valve core has reached the valve port, and the current control technology can only identify whether the electric valve has stopped due to striking, but cannot identify whether the electric valve has reached the end-striking position.

[0031] Furthermore, considering that the current control technology can only identify whether the electric valve has stopped due to striking, but cannot identify whether the electric valve has reached the end-striking position, it further causes the problem of too long calibration time of the electric valve.

[0032] Furthermore, considering that the current control technology can only identify whether the electric valve has stopped due to striking, but cannot identify whether the electric valve has reached the end-striking position, it further causes the problem of too long abnormal sound time of the electric valve.

[0033] In view of this, the present application discloses a control method and a control device, including: adjusting the driving signal of the electric valve based on the actual rotation speed of the electric valve; obtaining a signal change rate based on the driving signal; comparing the signal change rate with a threshold value of the end-striking change rate to obtain a first comparison result; and identifying whether the electric valve has reached the end-striking position based on the first comparison result. The change in the actual rotation speed of the electric valve will cause a change in the driving signal. The signal change rate indicates the degree of change of the driving signal, and the threshold value of the end-striking change rate indicates the critical value of the change rate when the electric valve rotates to the end-striking position. Whether the electric valve has reached the end-striking position can be identified through the comparison result of the signal change rate and the threshold value of the end-striking change rate, thereby reducing the calibration time and abnormal sound time of the electric valve.

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0035] See Figure 3 , which is a flowchart of a control method provided by an embodiment of the present application. This control method is applied to control an electric valve, and the method includes:

[0036] S101: Adjust the driving signal of the electric valve based on the actual rotation speed of the electric valve.

[0037] See Figure 4 , which is a waveform diagram showing the change of the current value over time provided by an embodiment of the present application. This current value is a form of manifestation of the driving signal of the electric valve.

[0038] In some specific implementation manners, the actual rotation speed of the electric valve is inversely proportional to the driving signal of the electric valve. That is to say, if the actual rotation speed of the electric valve decreases, the driving signal of the electric valve increases. When the electric valve is in the rotation stage, the actual rotation speed of the electric valve is basically unchanged, and the driving signal of the electric valve is also basically unchanged. When the electric valve enters the end-striking stage from the rotation stage, the actual rotation speed of the electric valve decreases, and the driving signal increases. By studying the driving signal, it is helpful to distinguish whether the electric valve is in the rotation stage or the end-striking stage.

[0039] In some specific implementation manners, the driving signal of the electric valve is adjusted based on the actual rotation speed of the electric valve, including: adjusting the driving signal of the electric valve based on the speed closed-loop control method.

[0040] Further, adjusting the driving signal of the electric valve based on the speed closed-loop control method includes:

[0041] First, periodically obtain the actual rotation speed of the electric valve;

[0042] Among them, the driving signal includes {A1, A2,... A n}, A1 is the driving signal at the first time, A2 is the driving signal at the second time, and A n is the driving signal at the nth time.

[0043] Subsequently, compare the actual rotation speed with the target rotation speed to obtain a second comparison result. Among them, the target rotation speed is a preset rotation speed value;

[0044] Finally, if the second comparison result indicates that the deviation between the actual rotation speed and the target rotation speed exceeds the rotation speed deviation range, then reduce the driving signal of the electric valve based on the PID control method;

[0045] If the second comparison result indicates that the deviation between the actual rotation speed and the target rotation speed is lower than the rotation speed deviation range, then increase the driving signal of the electric valve based on the PID control method;

[0046] If the second comparison result indicates that the deviation between the actual rotation speed and the target rotation speed belongs to the rotation speed deviation range, then do not increase the driving signal of the electric valve based on the PID control method, and keep the driving signal of the electric valve unchanged. The specific steps of the PID control method belong to conventional technologies and are not specifically described here;

[0047] Among them, in adjusting the driving signal of the electric valve based on the PID control method, the driving signal of the electric valve can be generated periodically. Through the above method, the effect that the driving signal increases as the actual rotation speed decreases is achieved.

[0048] In some specific implementation manners, the sampling period of the actual rotational speed is 1 ms (millisecond), and the generation period of the driving signal of the electric valve is also 1 ms (millisecond). Thus, the actual rotational speed of the electric valve is obtained every millisecond, and the driving signal of the electric valve is generated every millisecond.

[0049] S102: Obtain a signal change rate based on the driving signal.

[0050] See Figure 5 , which is a waveform schematic diagram of the signal change rate varying with time provided by the embodiment of the present application. The signal change rate indicates the change degree of the driving signal and can also indicate the change degree of the actual speed. Considering that there are various interferences during the rotation of the electric valve, by studying the signal change rate, the influence of the interference on the recognition accuracy can be effectively reduced. For example, the interference includes the situation where the electric valve is blocked. The situation where the electric valve is blocked means that due to reasons such as excessive load of the electric valve, mechanical failure of the driven machinery, and bearing damage and rubbing, the rotational speed will decrease, and thus the driving signal will increase.

[0051] In some specific implementation manners, the method further includes:

[0052] First, obtain the current angle of the electric valve. The current angle of the electric valve indicates the angle of the rotor at the current moment;

[0053] Subsequently, compare the current angle of the electric valve with the impact end angle range to obtain a third comparison result;

[0054] Finally, if the third comparison result indicates that the current angle belongs to the impact end angle range, obtain the signal change rate based on the driving signal;

[0055] If the third comparison result indicates that the current angle does not belong to the impact end angle range, do not obtain the signal change rate based on the driving signal.

[0056] In the above operations, the impact end angle range is a preset angle range of the electric valve. When the current angle of the electric valve belongs to this impact end angle range, the electric valve is very likely to have an impact. When the current angle step of the electric valve is within the impact end angle range, the electric valve cannot have an impact. When the current angle of the electric valve does not belong to this impact end angle range, the electric valve cannot have an impact phenomenon. At this time, the signal change rate is not obtained, that is, the calibration of the electric valve is not performed, avoiding empty data processing and improving the efficiency of data processing.

[0057] In some specific implementation manners, obtaining the signal change rate based on the driving signal includes:

[0058] First, obtain a signal set {A n-i …A n} and a signal set {A n-j…A n}. Among them, A n-i is the driving signal at the (n - i)-th time, A n-j is the driving signal at the (n - j)-th time, An is the driving signal at the n-th time, where n > i > j, and n, i, and j are all positive integers.

[0059] Subsequently, filter the signal set {A n-i …A n} to obtain the filtered value In, and filter the signal set {A n-j …A n} to obtain the filtered value Jn. It can be understood that since i > j, the filtering efficiency of the signal set {A n-i …A n} is different from that of the signal set {A n-j …A n}, and the filtering efficiency of the signal set {A n-i …A n} is lower than that of the signal set {A n-j …A n}.

[0060] Specifically, the signal set {A n-i …A n} can be filtered according to the following filtering formula (1) to obtain the filtered value In:

[0061]

[0062] where In is the filtered value, A n-i is the driving signal at the (n - i)-th time, An is the driving signal at the n-th time, and i is a positive integer.

[0063] The signal set {An - j…An} can be filtered according to the following filtering formula (2) to obtain the filtered value Jn:

[0064]

[0065] where In is the filtered value, A n-j is the driving signal at the (n - j)-th time, An is the driving signal at the n-th time, and i is a positive integer.

[0066] Finally, the signal change rate can be obtained based on the filtered value In and the filtered value Jn. When the number of filters for filtering the signal set {A n-i …A n} is greater than the number of filters for filtering the signal set {A n-j …A n}, that is, i > j, the ratio of the filtered value Jn to the filtered value In can be directly obtained as the signal change rate.

[0067] See Figure 6 , which is a schematic waveform diagram showing the variation of the current value, the filtered value In, and the filtered value Jn with time provided by the embodiment of the present application. As can be seen from Figure 6 , the signal sets {A n-i …A n} and {A n-j …A n} are both sets of current values. Curve A is the current curve from the start to the stop of the electric valve, and the original current value is 250 mA (milliamperes).

[0068] After obtaining the first set of original current values {A n-i …A n} and the second set of original current values {A n-j …A n}, the first set of original current values {A n-i …A n} and the second set of original current values {A n-j …A n} are respectively subjected to a slower first filtering process and a faster second filtering process to obtain a first filtered current value and a second filtered current value. It should be noted that the difference between the first filtering process and the second filtering process lies in the number of acquisition times, which directly affects the filtering efficiency.

[0069] As Figure 6 shown, curve B is the current curve of the faster second filtering process based on the second set of original current values {A n-j …A n}, and the ordinate corresponding to point D is the second filtered current value. Curve C is the current curve of the slower first filtering process based on the first set of original current values {A n-i …A n}, and the ordinate corresponding to point E is the first filtered current value. The ratio obtained by dividing the second filtered current value by the first filtered current value is the signal change rate.

[0070] In some specific implementation manners, the signal An can also be obtained first based on the drive signal. Subsequently, the signal An and the filtered value In-1 are filtered to obtain the filtered value In, and the signal An and the filtered value Jn-1 are filtered to obtain the filtered value Jn;

[0071] Specifically, the signal An and the filtered value In-1 can be filtered according to the following filtering formula (3) to obtain the filtered value In:

[0072]

[0073] The signal An and the filtered value Jn-1 can be filtered according to the following filtering formula (4) to obtain the filtered value Jn:

[0074]

[0075] Finally, the signal change rate is obtained based on the filtered value In and the filtered value Jn. When i > j, the ratio of the filtered value Jn and the filtered value In can be directly obtained as the signal change rate.

[0076] It should be noted that there are other filtering methods, and the present application does not limit specific filtering methods.

[0077] S103: Compare the signal change rate with the end-strike change rate threshold to obtain a first comparison result.

[0078] Among them, the end-strike change rate threshold is related to the current rising curve when the electric water valve is blocked. And since the current required by the electric valve is proportional to the torque, and in the blocked state, the torque required to be output will be extremely large because the rotor of the electric water valve cannot rotate, so the current required by the electric valve at the time of blockage will also increase. In some examples, the above end-strike change rate threshold can be 1.3. The present application does not limit the specific end-strike change rate threshold.

[0079] Furthermore, by reasonably setting the end-strike change rate threshold, it is possible to quickly identify that the electric valve has encountered an end-strike when the electric valve enters the end-strike stage, improving the sensitivity of identification and further reducing the calibration time and abnormal sound time of the electric valve.

[0080] S104: Identify whether the electric valve has encountered an end-strike based on the first comparison result.

[0081] In some specific implementation manners, identifying whether the electric valve has encountered an end-strike based on the first comparison result includes:

[0082] If the first comparison result indicates that the signal change rate exceeds the end-strike change rate threshold, identify that the electric valve has encountered an end-strike and calibrate the electric valve;

[0083] If the first comparison result indicates that the signal change rate does not exceed the end-strike change rate threshold, identify that the electric valve has not encountered an end-strike and do not calibrate the electric valve;

[0084] Furthermore, calibrating the electric valve includes:

[0085] Calibrate the current position of the electric valve as the initial position of the electric valve, and the initial position is the fully closed position or the fully open position;

[0086] Wherein, when the initial position of the electric valve is the fully closed position, the current position of the electric valve is taken as the zero point, and the zero point is taken as the fully closed position. That is to say, the number of steps stored in the controller is set to zero. When calibrating the fully open position of the electric valve after calibrating the fully closed position, the angle recorded from the fully closed position to the current position of the electric valve is taken as the fully open position. That is to say, the number of steps currently recorded by the controller is taken as the number of steps when the electric valve is in the fully open position.

[0087] In summary, the present application discloses a control method. In this method, the change in the actual rotation speed of the electric valve will cause a change in the drive signal of the electric valve. Based on the drive signal, the signal change rate is obtained. The signal change rate indicates the degree of change of the drive signal. Based on the signal change rate, it is identified whether the electric valve is jammed, and then it is determined whether to calibrate the electric valve. Considering that when the electric valve enters the end collision stage from the rotation stage, the rotation speed of the rotor changes significantly, which in turn causes a significant change in the signal change rate, helping to identify whether the electric valve has collided at the end, thereby shortening the calibration time and abnormal sound time of the electric valve.

[0088] See Figure 7 , which is a schematic diagram of a control device provided by an embodiment of the present application. The control device 300 includes: an adjustment module 301, an acquisition module 302, a comparison module 303, and an identification module 304.

[0089] Specifically, the adjustment module 301 is used to adjust the drive signal of the electric valve based on the actual rotation speed of the electric valve; the acquisition module 302 is used to obtain the signal change rate based on the drive signal; the comparison module 303 is used to compare the signal change rate with the end collision change rate threshold to obtain a first comparison result; the identification module 304 is used to identify whether the electric valve has collided at the end based on the first comparison result.

[0090] In some specific implementation manners, the acquisition module 302 includes: a first signal set acquisition module, a first filter value acquisition module, and a first change rate acquisition module; the first signal set acquisition module is used to obtain signal sets {A n-i …A n} and signal sets {A n-j …A n}, where A n-i is the drive signal at the (n - i)-th time, A n-j is the drive signal at the (n - j)-th time, An is the drive signal at the n-th time, and i > j; the first filter value acquisition module is used to filter the signal set {A n-i …A n} to obtain a filter value In, and filter the signal set {A n-j …A n} Filter to obtain the filtered value Jn; the first change rate acquisition module is used to obtain the signal change rate based on the filtered value In and the filtered value Jn.

[0091] In some specific implementation manners, the first filtered value acquisition module includes: a first acquisition sub-module and a second acquisition sub-module; the first acquisition sub-module is used to filter the signal set {A n-i …A n} according to the following filtering formula (5) to obtain the filtered value In:

[0092]

[0093] The second acquisition sub-module is used to filter the signal set {A n-j …A n} according to the following filtering formula (6) to obtain the filtered value Jn:

[0094]

[0095] In some specific implementation manners, the acquisition module 302 specifically includes: a second signal acquisition module, a second filtered value acquisition module, and a second change rate acquisition module; the second signal acquisition module is used to obtain the signal An based on the drive signal; the second filtered value acquisition module is used to filter the signal An and the filtered value In-1 to obtain the filtered value In, and filter the signal An and the filtered value Jn-1 to obtain the filtered value Jn; the second change rate acquisition module is used to obtain the signal change rate based on the filtered value In and the filtered value Jn.

[0096] In some specific implementation manners, the second filtered value acquisition module includes: a third acquisition sub-module and a fourth acquisition sub-module; the third acquisition sub-module is used to filter the signal An and the filtered value In-1 according to the following filtering formula (7) to obtain the filtered value In:

[0097]

[0098] The fourth acquisition sub-module is used to filter the signal An and the filtered value Jn-1 according to the following filtering formula (8) to obtain the filtered value Jn:

[0099]

[0100] In some specific implementation manners, the identification module 304 includes: a first identification sub-module and a second identification sub-module; the first identification sub-module is used to identify that the electric valve has a collision end if the first comparison result indicates that the signal change rate exceeds the collision end change rate threshold; the second identification sub-module is used to identify that the electric valve does not have a collision end if the first comparison result indicates that the signal change rate does not exceed the collision end change rate threshold.

[0101] In some specific implementation manners, the adjustment module 301 includes: a collection module, a second comparison module, and an adjustment sub-module; the collection module is configured to obtain the actual rotation speed of the electric valve; the second comparison module is configured to compare the actual rotation speed with the target rotation speed to obtain a second comparison result; the adjustment sub-module is configured to increase the drive signal of the electric valve if the second comparison result indicates that the deviation between the actual rotation speed and the target rotation speed is lower than the rotation speed deviation range.

[0102] In some specific implementation manners, the acquisition module 302 includes: an angle acquisition module, a third comparison module, and a third change rate acquisition module; the angle acquisition module is configured to obtain the current angle of the electric valve; the third comparison module is configured to compare the current angle with the collision end angle range to obtain a third comparison result; the third change rate acquisition module is configured to obtain a signal change rate based on the drive signal if the third comparison result indicates that the current angle exceeds the collision end angle range.

[0103] In summary, the present application discloses a control device. When the rotor enters the collision end stage, the rotation speed of the rotor changes, and the drive signal also changes, that is, the signal change rate changes. Based on the signal change rate, the control device can identify that the electric valve is in the collision end stage and perform calibration, thereby shortening the calibration time of the electric valve.

[0104] In the embodiments of the present application, the "first", "second" (if any) in the names such as "first" and "second" are only used as name identifiers and do not represent the first and second in order.

[0105] Through the description of the above embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product. The computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of the present application.

[0106] It should be noted that the various embodiments in this specification are described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device and the medium, since they are basically similar to the system and method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments. The device and medium embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components referred to as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0107] As described above, this is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method, characterized in that, Applied to control an electric valve, the method includes: Adjusting the drive signal of the electric valve based on the actual rotation speed of the electric valve; Obtaining a signal change rate based on the drive signal; Comparing the signal change rate with a bump end change rate threshold to obtain a first comparison result; Identifying whether the electric valve has a bump end based on the first comparison result.

2. The method according to claim 1, wherein The obtaining the signal change rate based on the drive signal includes: Obtain signal sets {A n-i …A n} and {A n-j …A n} based on the drive signal, where A n-i is the drive signal at the (n - i)-th time, A n-j is the drive signal at the (n - j)-th time, An is the drive signal at the n-th time, and i > j; Filter the signal set {A n-i … A n} to obtain the filtered value In, and filter the signal set {A n-j … A n} to obtain the filtered value Jn; Obtaining the signal change rate based on the filtered value In and the filtered value Jn.

3. The method according to claim 2, wherein The filtering of the signal set {A n-i … A n} to obtain a filtered value In, and the filtering of the signal set {A n-j … A n} to obtain a filtered value Jn includes: Filter the signal set {A n-i … A n} according to the following filtering formula to obtain the filtered value In: Filter the signal set {A n-j …A n} according to the following filtering formula to obtain the filtering value Jn:

4. The method according to any one of claims 1 to 3, characterized in that, The obtaining the signal change rate based on the drive signal includes: Obtaining a signal An based on the drive signal; Filtering the signal An and the filtered value In-1 to obtain the filtered value In, and filtering the signal An and the filtered value Jn-1 to obtain the filtered value Jn; Obtaining the signal change rate based on the filtered value In and the filtered value Jn.

5. The method according to claim 4, wherein The filtering the signal An and the filtered value In-1 to obtain the filtered value In, and filtering the signal An and the filtered value Jn-1 to obtain the filtered value Jn includes: Filtering the signal An and the filtered value In-1 according to the following filtering formula to obtain the filtered value In: Filtering the signal An and the filtered value Jn-1 according to the following filtering formula to obtain the filtered value Jn:

6. The method according to any one of claims 1 to 5, characterized in that, The identifying whether the electric valve has a bump end based on the first comparison result includes: If the first comparison result indicates that the signal change rate exceeds the bump end change rate threshold, identifying that the electric valve has a bump end; If the first comparison result indicates that the signal change rate does not exceed the bump end change rate threshold, identifying that the electric valve does not have a bump end.

7. The method according to any one of claims 1 to 6, characterized in that, The adjusting the drive signal of the electric valve based on the actual rotation speed of the electric valve includes: Obtaining the actual rotation speed of the electric valve; Comparing the actual rotation speed with a target rotation speed to obtain a second comparison result; If the second comparison result indicates that the deviation between the actual rotation speed and the target rotation speed is lower than a rotation speed deviation range, increasing the drive signal of the electric valve.

8. The method according to any one of claims 1 to 7, characterized in that, The obtaining the signal change rate based on the drive signal includes: Obtaining the current angle of the electric valve; Comparing the current angle with a bump end angle range to obtain a third comparison result; If the third comparison result indicates that the current angle does not belong to the bump end angle range, not obtaining the signal change rate based on the drive signal.

9. A control device, characterized in that, Applied to control an electric valve, the device includes: An adjustment module for adjusting the drive signal of the electric valve based on the actual rotation speed of the electric valve; An acquisition module for obtaining a signal change rate based on the drive signal; A comparison module for comparing the signal change rate with a bump end change rate threshold to obtain a first comparison result; An identification module for identifying whether the electric valve has a bump end based on the first comparison result.

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