Valve element control method and multi-way valve

Abstract

The invention discloses a valve element control method and a multi-way valve, and the method comprises the steps that the actual pulse number in the process that a valve element rotates from a first limiting position to a second limiting position is obtained; and according to the actual pulse number and the theoretical pulse number corresponding to the actual pulse number, the valve element is controlled to rotate to the starting point position for starting operation. In this way, when the theoretical limit position (the limit position under the condition that errors do not exist) of the valve element deviates due to the gear clearance or the deformation clearance, the valve element is controlled to rotate to the starting point position for starting operation based on the actual pulse number and the theoretical pulse number corresponding to the rotating process; therefore, the limit position after deviation is corrected, the influence of a gear clearance or a deformation clearance is overcome when the valve element operates, and liquid leakage is avoided.

Description

Technical Field

[0001] This application relates to the field of control technologies, and particularly to a spool control method and a multi-way valve. Background Art

[0002] In the field of new energy vehicles, multi-way valves on new energy vehicles are usually used to control the liquid flow between battery packs, motors, and other systems to achieve the control and operation of different functions. Among them, the multi-way valve realizes the switching of the liquid flow direction by controlling the rotation of the spool, and the rotation of the spool is achieved through gear transmission.

[0003] However, due to limitations in manufacturing and installation accuracy, as well as wear after long-term use and other factors, there will be a certain gap between the gears, for example, gear clearance or deformation clearance. The existence of this gap affects the rotation accuracy of the spool, and further leads to liquid leakage. Summary of the Invention

[0004] This application discloses a spool control method and a multi-way valve, which are used to solve the problem of the rotation accuracy of the spool caused by gear clearance or deformation clearance, and avoid liquid leakage.

[0005] In a first aspect, an embodiment of this application provides a spool control method, which is applied to a multi-way valve. The multi-way valve includes a valve body, a spool disposed in the valve body, and an actuator for controlling the rotation of the spool. The method includes:

[0006] Obtain the actual number of pulses during the process of the spool rotating from a first extreme position to a second extreme position; the first extreme position and the second extreme position are two extreme positions that the spool can rotate to in opposite directions, and the actual number of pulses is the number of pulse signals triggered by the actuator during operation;

[0007] According to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses, control the spool to rotate to the starting position of starting operation; the theoretical number of pulses represents the number of pulse signals corresponding to the rotation process without error.

[0008] In a possible embodiment, obtaining the actual number of pulses during the process of the spool rotating from a first extreme position to a second extreme position includes:

[0009] Control the spool to rotate to the first extreme position;

[0010] When the spool rotates to the first extreme position, record the first stop duration at the first extreme position;

[0011] When the first stop duration reaches a first preset duration, starting from the first extreme position, control the spool to rotate in the opposite direction to the second extreme position, and record the pulse signals corresponding to the rotation process to obtain the actual number of pulses.

[0012] In a possible embodiment, controlling the spool to rotate to the starting position of startup operation according to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses includes:

[0013] Obtaining the offset number of pulses of the starting position based on half of the pulse difference between the actual number of pulses and the theoretical number of pulses;

[0014] Controlling the spool to rotate in the reverse direction from the second limit position according to the offset number of pulses of the starting position to reach the starting position.

[0015] In a possible embodiment, controlling the spool to rotate in the reverse direction from the first limit position to the second limit position includes:

[0016] Obtaining the number of rotation pulses;

[0017] Controlling the spool to rotate in the reverse direction by the number of rotation pulses from the first limit position to reach the target position;

[0018] When the spool rotates to the target position, recording the second stop duration at the target position;

[0019] When the second stop duration reaches the second preset duration, controlling the spool to rotate from the target position to the second limit position.

[0020] In a possible embodiment, the method further includes:

[0021] Adjusting the number of rotation pulses according to the offset number of pulses.

[0022] In a possible embodiment, recording the pulse signal corresponding to the rotation process to obtain the actual number of pulses includes:

[0023] Obtaining and recording the Hall pulse signal corresponding to the rotation process; wherein, the Hall pulse signal is generated by a Hall sensor, and the Hall sensor generates two Hall pulse signals for each rotation of the motor;

[0024] Taking the total number of the recorded Hall pulse signals as the actual number of pulses.

[0025] In a possible embodiment, the method further includes:

[0026] Obtaining the target rotation direction of the spool;

[0027] When the target rotation direction is opposite to the current rotation direction of the spool, determining the target rotation direction as reverse rotation, and then compensating the pulse signal for the rotation process of the target rotation direction.

[0028] In a possible embodiment, the method further includes:

[0029] Obtaining the target number of pulses for driving the spool to rotate;

[0030] Obtain the driving pulse number for driving the valve core to rotate based on the difference between the target pulse number and the current pulse number for driving the valve core to rotate;

[0031] Control the rotation of the valve core according to the driving pulse number.

[0032] In a second aspect, an embodiment of the present application provides another valve core control method, which is applied to a multi-way valve. The multi-way valve includes a valve body, a valve core disposed in the valve body, and an actuator for controlling the rotation of the valve core. The method includes:

[0033] Obtain the target rotation direction of the valve core;

[0034] When the target rotation direction is opposite to the current rotation direction of the valve core, determine that the target rotation direction is reverse rotation, and perform pulse signal compensation on the rotation process of the target rotation direction.

[0035] In a possible embodiment, the method further includes:

[0036] Obtain the target pulse number for driving the valve core to rotate;

[0037] Obtain the driving pulse number for driving the valve core to rotate based on the difference between the target pulse number and the current pulse number for driving the valve core to rotate;

[0038] Control the rotation of the valve core according to the driving pulse number.

[0039] In a third aspect, an embodiment of the present application provides a multi-way valve, which includes a valve body, a valve core disposed in the valve body, and an electronic device for controlling the rotation of the valve core. The electronic device includes a processor and a memory. Among them, the memory stores program codes. When the program codes are executed by the processor, the processor executes the steps of any of the above valve core control methods.

[0040] The beneficial effects of the present application are as follows:

[0041] The embodiment of the present application provides a spool control method and a multi-way valve. By controlling the spool to rotate to the first extreme position and the second extreme position, and recording the pulse signals corresponding to the rotation process to obtain the actual pulse number; wherein, the first extreme position and the second extreme position are two extreme positions that the spool can rotate to in opposite directions, and the pulse signal is the signal triggered by the actuator during operation; further, according to the actual pulse number and the theoretical pulse number corresponding to the actual pulse number, control the spool to rotate to the starting position of starting operation. In this way, when the theoretical extreme position of the spool (the extreme position without error) is shifted due to gear clearance or deformation clearance, based on the shifted extreme positions (the first extreme position and the second extreme position), the actual pulse number is obtained, and further according to the actual pulse number and the corresponding theoretical pulse number (the number of pulse signals corresponding to the rotation process without error), control the spool to rotate to the starting position of starting operation, so as to correct the shifted extreme position, so that the spool operation overcomes the influence of gear clearance or deformation clearance and avoids liquid leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1A FIG. is a system architecture diagram provided by an embodiment of the present application.

[0043] Figure 1B FIG. is an example diagram of a multi-way valve provided by an embodiment of the present application.

[0044] Figure 1C FIG. is a sectional view of a multi-way valve provided by an embodiment of the present application.

[0045] Figure 2 FIG. is an implementation flowchart of a spool control method provided by an embodiment of the present application.

[0046] Figure 3A FIG. is a schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0047] Figure 3B FIG. is another schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0048] Figure 4 FIG. is a schematic diagram of an extreme position provided by an embodiment of the present application.

[0049] Figure 5A FIG. is another schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0050] Figure 5B FIG. is another schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0051] Figure 5CAnother schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0052] Figure 5D Another schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0053] Figure 5E Another schematic diagram of a pulse signal and a motor operating current provided by an embodiment of the present application.

[0054] Figure 6 An implementation flowchart of a spool control method provided by an embodiment of the present application.

[0055] Figure 7 A schematic structural diagram of a multi-way valve provided by an embodiment of the present application. Detailed implementation manners

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific circuits in the circuit embodiments can also be applied to the device embodiments. It should be noted that in the description of the present application, "a plurality of" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The connection between A and B can represent: the direct connection between A and B and the connection between A and B through C. In addition, in the description of the present application, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0057] It should be noted that specific details are set forth in the following description to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementation manners disclosed below. The subsequent description in the specification is the preferred implementation manner for implementing the present application, but the description is for the purpose of explaining the general principles of the present application and is not intended to limit the scope of the present application. The protection scope of the present application shall be defined by the appended claims.

[0058] Overview

[0059] The design concept of the embodiments of the present application is briefly introduced below:

[0060] In the field of new energy vehicles, multi-way valves on new energy vehicles are usually used to control the liquid flow between battery packs, motors, and other systems to achieve the control and operation of different functions. Among them, the multi-way valve realizes the switching of the liquid flow direction by controlling the rotation of the valve core, and the rotation of the valve core is achieved through gear transmission.

[0061] However, due to factors such as manufacturing and installation precision limitations, and wear after long-term use, there will be a certain gap between the gears, for example, gear clearance or deformation clearance. The existence of this gap affects the rotation precision of the valve core, and further leads to liquid leakage.

[0062] In view of this, the embodiments of the present application provide a valve core control method and a multi-way valve. By controlling the valve core to rotate to the first limit position and the second limit position, and recording the pulse signals corresponding to the rotation process to obtain the actual pulse number; among them, the first limit position and the second limit position are two limit positions that the valve core can rotate to in opposite directions, and the pulse signal is the signal triggered by the actuator during operation; further, according to the actual pulse number and the theoretical pulse number corresponding to the actual pulse number, control the valve core to rotate to the starting position of starting operation. In this way, when the theoretical limit position of the valve core (the limit position without error) is offset due to gear clearance or deformation clearance, based on the offset limit positions (the first limit position and the second limit position), the actual pulse number is obtained, and further according to the actual pulse number and the corresponding theoretical pulse number (the number of pulse signals corresponding to the rotation process without error), control the valve core to rotate to the starting position of starting operation, so as to correct the offset limit position, so that the valve core operation overcomes the influence of gear clearance or deformation clearance and avoids liquid leakage.

[0063] The following describes the preferred embodiments of the present application with reference to the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0064] System Architecture

[0065] The following describes the preferred embodiments of the present application with reference to the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0066] Such as Figure 1AAs shown in the figure, it is a system architecture diagram provided for the implementation of this application, including a valve core 101, an actuator 102 for controlling the rotation of the valve core 101, and a Hall sensor 103. Inside the actuator 102, there are a motor 102A, a controller 102B, and a storage medium 102C; the motor 102A is respectively connected to the valve core 101, the controller 102B, and the Hall sensor 103; the Hall sensor 103 is also connected to the controller 102B; among them, the actuator 102 controls the rotation of the motor 102A through the controller 102B to drive the valve core 101 to rotate; reference 1B and Figure 1C , where Figure 1C is Figure 1B a cross-sectional view of. Due to the two symmetric openings provided on the Hall sensor 103, and magnets are provided inside the openings, and the positions of the magnets are facing the Hall sensor 103, then when the motor 102A rotates one circle, the Hall sensor 103 generates 2 Hall pulse signals and transmits the 2 pulse signals to the controller 102B;

[0067] The actuator 102 controls the rotation of the motor 102A through the controller 102B to rotate the valve core 101 from the first limit position to the second limit position, and records the Hall pulse signals generated by the Hall sensor 103 during the rotation process through the storage medium 102C to obtain the actual number of pulses. Among them, the first limit position and the second limit position are two limit positions that the valve core can rotate to in opposite directions; further, the actuator 102 controls the rotation of the motor 102A through the controller 102B according to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses, so as to rotate the valve core 101 to the starting position of starting operation, realizing the correction of the offset limit positions (the first limit position and the second limit position), so that the valve core 101 overcomes the influence of gear clearance or deformation clearance during operation, and avoids liquid leakage.

[0068] Exemplary Method

[0069] Next, in combination with the above system architecture, the valve core control method provided by the exemplary embodiment of this application will be described with reference to the accompanying drawings. It should be noted that the above system architecture is only shown for the convenience of understanding the spirit and principle of this application, and the embodiments of this application are not limited in this regard.

[0070] Example 1:

[0071] As Figure 2 shown, it is an implementation flowchart of a valve core control method provided by an embodiment of this application. The specific implementation process of this method includes the following steps:

[0072] S201, obtain the actual number of pulses during the process of the valve core rotating from the first limit position to the second limit position.

[0073] In the embodiments of the present application, the first limit position and the second limit position are two limit positions that the valve core can rotate to in opposite directions; the actual number of pulses is the number of pulse signals triggered by the actuator during operation. As Figure 3A shown, it is a schematic diagram of the pulse signal for controlling the valve core to rotate to a certain limit position and the operating current of the motor. Among them, when the valve core reaches the limit position, no new pulse signal is generated, and a stall occurs. At this time, the operating current of the motor also increases significantly.

[0074] The method for determining whether the valve core reaches the first limit position or the second limit position can be achieved by detecting the motor current that drives the valve core to rotate. The specific determination method can be: detecting the operating current of the motor; when the operating current is greater than the preset current value, recording the duration for which the operating current is greater than the preset current value; when the duration is greater than the time threshold set corresponding to the preset current value, confirming that the valve core has rotated to the first limit position or the second limit position, and thus a stall phenomenon occurs. Generally speaking, the larger the preset current value, the smaller the time threshold set corresponding to the preset current value.

[0075] For example, when the preset current value is 1.3 A, the time threshold set corresponding to the preset current value can be 0.2 s. If during the operation of the motor, it is detected that the operating current of the motor is greater than 1.3 A and the duration is greater than 0.2 s, it is considered that the motor is stalled, that is, the valve core has rotated to the first limit position or the second limit position. Similarly, referring to Figure 3B , when the preset current value is 1.7 A, the time threshold set corresponding to the preset current value is 0.1 s. At this time, if during the operation of the motor, it is detected that the operating current of the motor is greater than 1.7 A and the duration is greater than 0.1 s, it is considered that the motor is stalled, that is, the valve core has rotated to the first limit position or the second limit position.

[0076] Under normal circumstances, if there is no error, the first limit position and the second limit position are respectively the theoretical limit positions. For example, referring to Figure 4 , the first limit position corresponds to an angle of 338.5 degrees, and the second limit position corresponds to an angle of 0 degrees. However, in actual situations, due to limitations in manufacturing and installation accuracy, as well as wear after long-term use and other factors, there will be a certain gap between the transmission gears, such as a gear clearance or a deformation clearance. The existence of this gap causes the first limit position and the second limit position to deviate from the theoretical limit positions. For example, the first limit position corresponds to an angle of 339 degrees, and the second limit position corresponds to an angle of -0.5 degrees.

[0077] In this case, if the positive direction is from the second limit position to the first limit position and the reverse direction is from the first limit position to the second limit position, when the actuator controls the spool valve to rotate 30 degrees from the second limit position as the starting point along the positive direction, due to the offset of the second limit position, the actually reached angle is 29.5 degrees, which affects the rotation accuracy of the spool valve.

[0078] To solve the above technical problems, in the embodiments of the present application, the actuator obtains the actual number of pulses during the process of the spool valve rotating from the first limit position to the second limit position, including:

[0079] The actuator controls the spool valve to rotate to the first limit position; when the spool valve rotates to the first limit position, record the first stop duration at the first limit position. During the stop process, the actuator needs to control the motor to stop rotating, and the gear will not be affected by the driving force, which can avoid gear jamming; further, determine whether the first stop duration is greater than the first preset duration, where the first preset duration can be set to 0.3 s, and of course it can also be set to 0 s, or 0.1 s, etc., and no specific limitation is made here.

[0080] Further, when the first stop duration reaches the first preset duration, starting from the first limit position, control the spool valve to rotate in the reverse direction to the second limit position. For example, refer to Figure 5A , after the first stop duration reaches 0.3 s, control the spool valve to rotate in the reverse direction to the second limit position. Specifically, after obtaining the number of rotation pulses, starting from the first limit position, control the spool valve to rotate in the reverse direction (towards the second limit position) according to the number of rotation pulses to reach the target position. Among them, the number of rotation pulses is 9. Of course, it can also be 8, 10 or other values, and no specific limitation is made here. Refer to Figure 5B , when rotating from the first limit position to the target position, theoretically 9 pulse signals are rotated, but actually 12 pulse signals are rotated. The reason is that there is inertia in the motor rotation, so 3 Hall pulses are rotated more, that is, the motor shaft rotates one and a half circles more. When the spool valve rotates to the target position, record the second stop duration at the target position. Among them, during the stop process, the actuator needs to control the motor to stop rotating, and the gear will not be affected by the driving force, which can avoid gear jamming.

[0081] Further, determine whether the second stop duration is greater than the second preset duration, where the second preset duration is set to 3 s, and of course it can also be set to 2 s or 1 s, and no specific limitation is made here. When the second stop duration reaches the second preset duration, control the spool valve to rotate from the target position to the second limit position. For example, refer to Figure 5C , after the motor reaches the target position and stops running for 3 s, start to rotate to the second limit position. During the rotation to the second limit position, the generated pulse signals and the motor operating current can be referred toFigure 5D 。

[0082] Among them, during the process of rotating the valve core from the first extreme position to the second extreme position, it first rotates to the target position and then rotates from the target position to the second extreme position. This is done in two steps to prevent the valve core from getting stuck at the first extreme position. Specifically, when the valve core runs to the first extreme position, due to the effect of inertia, the valve core may get stuck at the first extreme position. At this time, if it directly runs from the first extreme position to the second extreme position, then when the valve core starts to run, the stuck phenomenon at the first extreme position will affect the rotation accuracy of the valve core.

[0083] During the process of the actuator controlling the valve core to rotate from the first extreme position to the second extreme position, it is also necessary to record the pulse signal triggered by the actuator. Optionally, the pulse signal triggered by the actuator can be a Hall pulse signal. The specific method for obtaining the actual number of pulse signals can be: obtain and record the Hall pulse signals triggered by the actuator during the rotation process from the first extreme position to the second extreme position. Among them, the Hall pulse signals are generated by a Hall sensor, and for each rotation of the motor, the Hall sensor generates two Hall pulse signals; then, take the total number of the recorded Hall pulse signals as the actual number of pulses.

[0084] When recording the pulse signal triggered by the actuator, if the valve core directly rotates from the first extreme position to the second extreme position, then take the number of pulse signals triggered by the actuator during the process of rotating from the first extreme position to the second extreme position as the actual number of pulses; if the valve core first rotates from the first extreme position to the target position and then rotates from the target position to the second extreme position, then the actual number of pulses is the sum of the number of pulses corresponding to the rotation process from the first extreme position to the target position and the number of pulses corresponding to the rotation process from the target position to the second extreme position. In short, during the process of rotating from the first extreme position to the second extreme position, regardless of the number of intermediate rotations, take the sum of the pulse signals corresponding to each rotation process as the actual number of pulses.

[0085] S202, control the valve core to rotate to the starting position of starting operation according to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses.

[0086] After obtaining the actual number of pulses triggered by the actuator during the process of the valve core rotating from the first extreme position to the second extreme position, it can be judged whether the actual number of pulses is within the normal range. Among them, the maximum value of the normal range can be 2000, and the minimum value can be 1730. Of course, it can also be other numerical ranges. The specific numerical range is related to the model of the multi-way valve and is not specifically limited here.

[0087] If the actual number of pulses is within the normal range, further, obtain the theoretical number of pulses corresponding to the actual number of pulses, where the theoretical number of pulses represents the number of pulse signals corresponding to the rotation process without error.

[0088] When obtaining the theoretical number of pulses, if when recording the pulse signals triggered by the actuator, if the valve core directly rotates from the first limit position to the second limit position, then the number of pulse signals triggered by the actuator during the process of the valve core rotating from the first limit position to the second limit position without error is used as the theoretical number of pulses; if the valve core first rotates from the first limit position to the target position and then rotates from the target position to the second limit position. Then, the theoretical number of pulses is the sum of the number of pulses corresponding to the rotation process of the valve core rotating from the first limit position to the target position and the number of pulses corresponding to the rotation process of the valve core rotating from the target position to the second limit position without error. In short, during the process of rotating from the first limit position to the second limit position, regardless of the number of intermediate rotations, the sum of the pulse signals corresponding to each rotation process without error is used as the theoretical number of pulses.

[0089] After obtaining the theoretical number of pulses, according to the actual number of pulses and the theoretical number of pulses, control the valve core to rotate to the starting position of starting operation, rather than directly taking the first limit position or the second limit position as the starting position, to avoid the influence of gear clearance or deformation clearance on the rotation accuracy of the valve core. Among them, the method of controlling the valve core to rotate to the starting position of starting operation can be:

[0090] Based on half of the pulse difference between the actual number of pulses and the theoretical number of pulses, obtain the offset pulse number of the starting position. Specifically, the pulse difference obtained by subtracting the theoretical number of pulses from the actual number of pulses is the sum of the offset pulse numbers of the first limit position and the corresponding theoretical limit position and the offset pulse numbers of the second limit position and the corresponding theoretical limit position. Then, the offset pulse number of a single limit position (the first limit position or the second limit position) is half of the pulse difference. It can be understood that the theoretical limit position is the theoretically starting position. If the valve core operation is controlled according to the theoretically starting position, then the rotation accuracy of the valve core will not be affected. However, due to the influence of gear clearance or deformation clearance, a single limit position is the actually starting position, and there is an error between this starting position and the corresponding theoretical limit position, and this error is the above-mentioned offset pulse number of the starting position.

[0091] Further, control the valve core to rotate in the reverse direction from the second limit position according to the offset pulse number of the starting position to reach the starting position. Optionally, before rotating in the reverse direction from the second limit position, it is also possible to stop for a first stop duration. For example, refer to Figure 5E , after stopping for 0.3 s, control the valve core to rotate in the reverse direction from the second limit position.

[0092] In a possible embodiment, after obtaining the number of offset pulses at the starting position, the number of rotation pulses may also be adjusted according to the number of offset pulses, including: adjusting the number of rotation pulses according to the number of offset pulses with the first weight and the number of rotation pulses with the second weight.

[0093] As an example, the sum of the first weight and the second weight is 1. If the number of offset pulses is 5, the number of rotation pulses is 10, the first weight is 80%, and the second weight is 20%, then the number of rotation pulses 10 is adjusted to 5 * 80% + 10 * 20% = 6; if the number of offset pulses is 6, the number of rotation pulses is 8, the first weight is 50%, and the second weight is 50%, then the number of rotation pulses 8 is adjusted to 6 * 50% + 8 * 50% = 7.

[0094] In this embodiment, the specific values of the first weight and the second weight are not limited. By setting the weights, the importance of different factors can be clearly allocated. A high weight indicates that the factor has a greater impact on the result, and a low weight indicates a smaller impact. At the same time, the impact of the number of offset pulses detected by a single error on the update of the number of rotation pulses can be minimized.

[0095] In another possible embodiment, the adjustment of the number of rotation pulses includes: adjusting the number of rotation pulses to the number of offset pulses. That is, during the next execution of the above step S201 by the actuator, such as during the next power-on self-check process, starting from the first limit position, when controlling the valve core to rotate in the reverse direction to the second limit position, specifically starting from the first limit position, controlling the valve core to rotate in the reverse direction according to the number of rotation pulses to reach the target position. At this time, the number of rotation pulses is equal to the number of offset pulses. When the valve core rotates to the target position, record the second stop duration at the target position. In this method, the number of rotation pulses is updated by the number of offset pulses, so that the valve core stops after only rotating the number of offset pulses, that is, only rotating the amount corresponding to the gear clearance and deformation clearance, which can prevent gear jamming and has higher reliability.

[0096] Further, after calculating the number of offset pulses at the starting position, control the valve core to rotate in the reverse direction from the second limit position according to the number of offset pulses at the starting position to reach the starting position for starting operation.

[0097] After the valve core rotates to the starting position for starting operation, the actuator will control the valve core to start operating according to this starting position, thereby overcoming the influence brought by the number of offset pulses at the starting position.

[0098] After the valve core is first rotated to the starting position for starting operation, the actuator will control the valve core to start running. During the running process of the valve core, there may be multiple running modes. For example, Mode 1: running 0 pulse signals; Mode 2: running 231 pulse signals; Mode 3: running 347 pulse signals; Mode 4: running 694 pulse signals; Mode 5: running 925 pulse signals; Mode 6: running 1041 pulse signals.

[0099] Among them, when the actuator receives the target mode signal sent by the host, it runs to the target mode. If the current mode is equal to the target mode, it does not act and sends the current mode information to the host within the specified time. The specified time can be 20ms, 19ms or other specified times, which are not specifically limited here. If the motor is in operation, it feedbacks that the current mode is "unknown mode" and feedbacks the current running signal. During the actual operation of the actuator, if the control valve core runs from the first mode to the second mode, due to the existence of the motor rotation inertia when the actuator executes the first mode, the number of pulses run during the motor rotation is more than the number of pulses corresponding to the first mode, thus affecting the rotation accuracy of the valve core.

[0100] For example, when the first mode is Mode 2 above and the second mode is Mode 3 above, theoretically speaking, after the actuator executes Mode 2 (231 pulse signals), it will control the motor to stop running, and then control the motor to run 116 pulse signals to achieve Mode 3 (347 pulse signals). However, during the actual operation process, after the actuator executes Mode 2, due to the existence of the motor rotation inertia, the motor actually rotates 233 pulses, resulting in a running error. Then when executing Mode 3, if it continues to run 116 pulse signals, when the actuator finishes executing Mode 3, the motor actually runs 349 pulse signals and then controls the motor to stop running, affecting the rotation accuracy of the valve core.

[0101] In a possible embodiment, in order to avoid the influence of the motor rotation inertia on the rotation accuracy of the valve core, after the actuator obtains the target number of pulses for driving the valve core to rotate, based on the difference between the target number of pulses and the current number of pulses for driving the valve core to rotate, it obtains the driving number of pulses for driving the valve core to rotate, and controls the valve core to rotate according to the driving number of pulses, thereby realizing the correction of the error caused by the motor rotation inertia.

[0102] For example, after the actuator runs from mode 1 (0 pulse signals) to mode 2 (231 pulse signals), the actuator controls the motor to run. During the operation of the motor, the number of pulses generated by the Hall sensor is continuously accumulated. When the accumulated number of pulses reaches 231, the software sends a braking signal to control the motor to stop running. However, due to the inertia of the motor rotation, it may cause the motor to rotate a few more pulses. For example, it rotates 2 more pulse signals. At this time, the software records the currently actually running number of pulses as 233 (the current number of pulses). Then, when the host computer requests the actuator to run to mode 3 (347 pulse signals) next time, theoretically, the target number of pulses that the motor needs to run is 347 - 231 = 116. At this time, in fact, the number of pulses that the motor needs to run is 347 - 233 = 114 (the driving pulse number). That is, the motor only needs to run 114 pulse signals to eliminate the inertia error of 2 pulse signals generated during the operation of mode 2.

[0103] In a possible application scenario, when the actuator controls the valve core to run, it may control the valve core to reverse. At this time, due to the existence of gear clearance or deformation clearance, the rotation accuracy of the valve core will be affected. Based on this, in the embodiments of the present application, when the actuator controls the valve core to run, it is first necessary to determine the target rotation direction of the valve core; when the target rotation direction is opposite to the current rotation direction of the valve core, it is determined that the target rotation direction is reverse, and then pulse signal compensation is performed on the rotation process of the target rotation direction of the valve core. For example: when the current direction is forward rotation, if it is necessary to run from the current mode 1 to the target mode 2 (the target rotation direction), the direction is forward rotation, and the current rotation direction is the same as the target rotation direction, so no pulse signal compensation is required; when the current direction is forward rotation, if it is necessary to run from the current mode 6 to the target mode 5 (the target rotation direction), the direction is reverse rotation. At this time, the target rotation direction is opposite to the current rotation direction, so pulse signal compensation is required.

[0104] When performing pulse signal compensation, the actuator will obtain the pulse signal compensation amount; among them, the pulse signal compensation amount is obtained by testing. The valve core is driven to reverse, and the number of pulse signals triggered when the valve core starts to rotate is recorded, and this number of pulse signals is used as the compensation pulse number.

[0105] Then, according to the number of compensation pulses, pulse signal compensation is performed on the rotation process corresponding to the target rotation direction of the valve spool. Specifically, first, the magnitude between the first number of pulses corresponding to the target rotation direction and the second number of pulses corresponding to the current rotation direction is determined; if the first number of pulses is less than the second number of pulses, after adding the compensation pulses to the second number of pulses and then subtracting the first number of pulses, the third number of pulses corresponding to the rotation process in the target rotation direction is obtained; if the first number of pulses is greater than the second number of pulses, then after adding the compensation pulses to the first number of pulses and then subtracting the second number of pulses, the third number of pulses corresponding to the rotation process in the target rotation direction is obtained. Further, according to the third number of pulses, the valve spool is controlled to run in the target rotation direction.

[0106] To elaborate the above technical solution in more detail, the following is an illustration with specific examples.

[0107] After the multi-way valve is powered on, self-checking is performed in the manner described in the above step S201 and step S202, the valve spool is rotated to the starting position for starting operation, and the valve spool is controlled to operate according to this starting position.

[0108] During the operation of the valve spool, assume that the current mode 1 is forward rotation. When running from the current mode 1 to the target mode 2, the running direction is the same as that of mode 1, then it is determined that the running direction of the target mode 2 is forward rotation. At this time, the running direction of the target mode 2 is the same as that of the current mode 1, and no pulse signal compensation is required. It is easy to understand that at this time, running from mode 1 to mode 2, from mode 1 to mode 3, from mode 1 to mode 4, from mode 1 to mode 5, and from mode 1 to mode 6 are all forward rotations, and no pulse signal compensation is required.

[0109] Then, when the valve spool runs from mode 5 to the current mode 6, if the actuator controls the valve spool to run from the current mode 6 to the target mode 5, the running direction is reverse. At this time, pulse signal compensation is required. It is easy to understand that at this time, running from mode 6 to mode 5, from mode 6 to mode 4, from mode 6 to mode 3, from mode 6 to mode 2, and from mode 6 to mode 1 are all reverse rotations, and pulse signal compensation is required.

[0110] If the second number of pulses corresponding to the current rotation direction is 1041, the compensation pulses are 5, and the first number of pulses corresponding to the target rotation direction is 925, then the third number of pulses corresponding to the rotation process in the target rotation direction is 1041 + 5 - 925 = 121.

[0111] After the execution of modes X to 1 is completed and the current direction is reverse, in this example, X takes an integer value from 6 to 2. Then the current mode 1 runs to the target mode 2, and the direction is forward. At this time, the target rotation direction is different from the current rotation direction, and pulse signal compensation is required. It is easy to understand that at this time, running from mode 1 to mode 2, from mode 1 to mode 3, from mode 1 to mode 4, from mode 1 to mode 5, and from mode 1 to 6 are all reverse, and pulse signal compensation is required. If the second pulse number is 0, the compensation pulse number is -5, and the first pulse number is 231, then the third pulse number corresponding to the rotation process of the target rotation direction is 0 - 5 - 231 = -236.

[0112] After the execution of modes K to K + n is completed and the current rotation direction is forward, in this embodiment, K + n is an integer less than or equal to 6. Then run from the current mode 2 to the target mode 1, and the direction is reverse. At this time, the target rotation direction is different from the current rotation direction, and pulse signal compensation is required. It is easy to understand that at this time, running from mode K + n to K, then from mode K to mode K + n, and from mode K - n to mode K, then from mode K to mode K - n all require pulse signal compensation. If the second pulse number is 231, the compensation pulse number is +5, and the first pulse number is 0, then the third pulse number corresponding to the rotation process of the target rotation direction is 231 + 5 - 0 = 236.

[0113] After the execution of mode K to mode K - n is completed and the current direction is reverse. Then run from the current mode 2 to the target mode 3, and the direction is forward. The target rotation direction is different from the current rotation direction, and pulse signal compensation is adopted. It is easy to understand that at this time, running from mode K + n to K, then from mode K to mode K + n, and from mode K - n to mode K, then from mode K to mode K - n all require pulse signal compensation. If the second pulse number is 231, the compensation pulse number is -5, and the first pulse is 0, then the first pulse number corresponding to the rotation process of the target rotation direction is 347 - (231 - 5) = 121.

[0114] Embodiment 2:

[0115] Another spool control method is provided in an embodiment of the present application, which is applied to a multi-way valve. The multi-way valve includes a valve body, a spool disposed in the valve body, and an actuator for controlling the rotation of the spool. Refer to Figure 6 and the execution process of this method includes the following steps:

[0116] S601, obtain the target rotation direction of the spool;

[0117] S602, when the target rotation direction is opposite to the current rotation direction of the spool, determine that the target rotation direction is reverse, and then perform pulse signal compensation on the rotation process of the target rotation direction.

[0118] In a possible embodiment, the method further includes:

[0119] Obtaining a target number of pulses for driving the valve core to rotate;

[0120] Based on the difference between the target number of pulses and the current number of pulses for driving the valve core to rotate, obtaining a driving number of pulses for driving the valve core to rotate;

[0121] Controlling the rotation of the valve core according to the driving number of pulses.

[0122] For specific implementation manners and technical effects, reference may be made to Embodiment 1, which will not be elaborated herein.

[0123] Exemplary Multi-way Valve

[0124] As Figure 7 shown, the present application provides a multi-way valve, including a valve core 701 and an electronic device 702 for controlling the rotation of the valve core 701. The electronic device 702 includes a processor 702A and a memory 702B. Among them, the processor 702A drives the rotation of the motor 703 to drive the rotation of the valve core 701; when the motor 703 rotates one circle, the Hall sensor 704 generates 2 Hall pulse signals and transmits the 2 pulse signals to 702B; the memory 702B stores program codes. When the program codes are executed by the processor 702A, the processor 702A executes the steps of the method as shown in FIG. 1 or Figure 4 the steps of the method described above, and achieves corresponding technical effects.

[0125] Optionally, the processor 702A may include one or more processing units. The processor 702A may integrate an application processor and a modulation and demodulation processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modulation and demodulation processor mainly processes wireless communication. It can be understood that the above modulation and demodulation processor may not be integrated into the processor 702A. In some embodiments, the processor 702A and the memory 702B may be implemented on the same chip. In some embodiments, they may also be separately implemented on independent chips.

[0126] The processor 702A may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the valve core control method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0127] Memory 702B, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. Memory 702B may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic memory, disk, optical disk, etc. Memory 702B is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 702B in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0128] By programming the processor 702A, the code corresponding to the valve core control method described in the above embodiment can be fixed into the chip, so that the chip can execute the control method of FIG. 1 or FIG. Figure 4 The steps of the valve core control method of the embodiment shown are as follows: How to design and program the processor 702A is a technique known to those skilled in the art and will not be described in detail here.

[0129] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0130] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A spool control method is applied to a multi-way valve. The multi-way valve includes a valve body, a spool disposed in the valve body, and an actuator for controlling the rotation of the spool. It is characterized in that, The method includes: Obtaining the actual number of pulses during the rotation of the valve core from the first extreme position to the second extreme position; the first extreme position and the second extreme position are two extreme positions that the valve core can rotate to in opposite directions, and the actual number of pulses is the number of pulse signals triggered by the actuator during operation; Controlling the valve core to rotate to the starting position of startup operation according to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses; the theoretical number of pulses represents the number of pulse signals corresponding to the rotation process without error.

2. The method according to claim 1, characterized in that, The obtaining of the actual number of pulses during the rotation of the valve core from the first extreme position to the second extreme position includes: Controlling the valve core to rotate to the first extreme position; When the valve core rotates to the first extreme position, recording the first stop duration at the first extreme position; When the first stop duration reaches the first preset duration, starting from the first extreme position, controlling the valve core to rotate in the opposite direction to the second extreme position, and recording the pulse signals corresponding to the rotation process to obtain the actual number of pulses.

3. The method according to claim 2, wherein The controlling of the valve core to rotate to the starting position of startup operation according to the actual number of pulses and the theoretical number of pulses corresponding to the actual number of pulses includes: Based on half of the pulse difference between the actual number of pulses and the theoretical number of pulses, obtaining the offset number of pulses at the starting position; Controlling the valve core to rotate in the opposite direction from the second extreme position according to the offset number of pulses at the starting position to reach the starting position.

4. The method according to claim 3, characterized in that, The controlling of the valve core to rotate in the opposite direction from the first extreme position to the second extreme position includes: Obtaining the number of rotation pulses; Starting from the first extreme position, controlling the valve core to rotate in the opposite direction by the number of rotation pulses to reach the target position; When the valve core rotates to the target position, recording the second stop duration at the target position; When the second stop duration reaches the second preset duration, controlling the valve core to rotate from the target position to the second extreme position.

5. The method according to claim 4, wherein The method further includes: Adjusting the number of rotation pulses according to the offset number of pulses.

6. The method according to claim 1, wherein The recording of the pulse signals corresponding to the rotation process to obtain the actual number of pulses includes: Obtaining and recording the Hall pulse signals corresponding to the rotation process; wherein, the Hall pulse signals are generated by a Hall sensor, and the Hall sensor generates two Hall pulse signals for each rotation of the motor; Taking the total number of the recorded Hall pulse signals as the actual number of pulses.

7. The method according to claim 1, wherein The method further includes: Obtaining the target rotation direction of the valve core; When the target rotation direction is opposite to the current rotation direction of the valve core, determining that the target rotation direction is reverse rotation, and performing pulse signal compensation on the rotation process in the target rotation direction.

8. The method according to claim 1, characterized in that, It further includes: When obtaining the target number of pulses for driving the valve core to rotate; Based on the difference between the target number of pulses and the current number of pulses for driving the valve core to rotate, obtaining the driving number of pulses for driving the valve core to rotate; Controlling the valve core to rotate according to the driving number of pulses.

9. A spool control method is applied to a multi-way valve. The multi-way valve includes a valve body, a spool disposed in the valve body, and an actuator for controlling the rotation of the spool. It is characterized in that, The method includes: Obtain the target rotation direction of the valve core; When the target rotation direction is opposite to the current rotation direction of the valve core, determine that the target rotation direction is a reverse rotation, and perform pulse signal compensation on the rotation process of the target rotation direction.

10. The method according to claim 9, wherein The method further includes: Obtain the target number of pulses for driving the valve core to rotate; Based on the difference between the target number of pulses and the current number of pulses for driving the valve core to rotate, obtain the number of driving pulses for driving the valve core to rotate; Control the rotation of the valve core according to the number of driving pulses.

11. A multi-way valve, comprising a valve body, a valve core disposed within the valve body, and an electronic device for controlling the rotation of the valve core, characterized in that, The electronic device includes a processor and a memory. Among them, the memory stores program code. When the program code is executed by the processor, the processor executes the steps of any one of the methods recited in claims 1 to 10.

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