Shockproof high-precision hydraulic control actuator valve position feedback device

Abstract

The invention discloses a shockproof high-precision hydraulic control actuator valve position feedback device, and belongs to the field of hydraulic control actuators, the shockproof high-precision hydraulic control actuator valve position feedback device comprises a valve body and a transmission shaft, the transmission shaft is mounted on the valve body and used for controlling a valve core door on the valve body to rotate, and a driving assembly is mounted outside the valve body and used for driving the valve core door to rotate. The driving assembly is used for driving the transmission shaft to rotate. When the valve vibrates due to factors such as medium flow through the extrusion mechanism, the rotating disc can be rapidly stabilized, deflection of the output shaft of the encoder is avoided, and stability and accuracy of electric signals are guaranteed; the processing module intelligently adjusts the current according to the relationship between the pressure change and the electromagnet current and stores the mapping relationship between the vibration data and the current value to flexibly adapt to different working conditions; in addition, the device also has predictive vibration counteracting capability, and outputs a predictive current value in advance to counteract vibration, so that the detection precision and stability of the encoder are further improved.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic control actuators, and more specifically to a shockproof and high-precision hydraulic control actuator valve position feedback device. Background Art

[0002] In the process of industrial automation production, hydraulic actuators are key control devices. Their main function is to realize automatic opening and closing control of valves. By receiving instructions from the control system, they accurately drive the valves to open or close to meet the requirements for regulating parameters such as medium flow and pressure in industrial processes. An encoder device is usually integrated and installed inside the hydraulic actuator. The encoder is precisely connected to the drive shaft in the valve actuator that is responsible for controlling the opening and closing of the valve through a rigid coupling or other mechanical connection method. This connection method ensures that the encoder can accurately sense the movement state of the valve drive shaft.

[0003] When the hydraulic actuator receives the control signal and drives the valve to open and close, the rotation of the valve will synchronously drive the encoder's output shaft to rotate. As a sensor that converts mechanical rotational motion into electrical signal output, the encoder will generate corresponding pulse electrical signals or digital electrical signals according to specific encoding principles (such as incremental encoding, absolute encoding, etc.) during the rotation of its output shaft. These electrical signals contain information about the opening and closing status of the valve. The control system can accurately calculate the opening and closing angle or displacement of the valve by real-time acquisition, processing and analysis of these electrical signals, thereby achieving accurate monitoring and control of the valve opening and closing range.

[0004] In actual industrial application scenarios, when medium flows inside the valve, the valve often produces a certain degree of vibration due to the combined influence of various factors such as pressure fluctuations of the medium, changes in flow rate, and the valve's own structural characteristics (such as valve shape, material, sealing method, etc.). This vibration will be transmitted to the output shaft of the encoder through the mechanical connection structure, causing the encoder output shaft to deflect or shake unexpectedly.

[0005] This abnormal deflection of the encoder output shaft will seriously interfere with the stability and accuracy of its normal output electrical signal. Specifically, the abnormal deflection will cause the pulse electrical signal or digital electrical signal generated by the encoder to be distorted, lost or phase-deviant, which will cause a deviation between the electrical signal received by the control system and the actual opening and closing state of the valve. Ultimately, this deviation will lead to inaccurate calculation results of the valve opening and closing degree, making it impossible for the control system to make precise adjustments based on the accurate valve opening and closing state, seriously affecting the performance and reliability of the entire automated control system, and may even cause safety accidents or product quality problems in the industrial production process. Summary of the invention

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a shock-proof high-precision hydraulic actuator valve position feedback device, which can ensure that when the valve vibrates due to factors such as medium flow, the rotating disk can be quickly and stably rotated by the extrusion mechanism, avoiding the deflection of the encoder output shaft, and ensuring the stability and accuracy of the electrical signal; the processing module intelligently adjusts the current according to the relationship between the pressure change and the electromagnet current, and stores the mapping relationship between the vibration data and the current value, flexibly adapting to different working conditions; in addition, this device also has the ability of predictive vibration cancellation, outputting a predictive current value in advance to cancel the vibration, further improving the accuracy and stability of the encoder detection.

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] A shock-proof high-precision hydraulic actuator valve position feedback device, including a valve body and a transmission shaft, the transmission shaft is installed on the valve body, and the transmission shaft is used to control the rotation of the valve core on the valve body. A driving component is installed outside the valve body, and the driving component is used to drive the transmission shaft to rotate;

[0009] A rotating disk, fixedly installed at one end of the transmission shaft away from the valve body;

[0010] A limiting column, fixedly installed on the side of the rotating disk away from the transmission shaft;

[0011] A connecting rod, sleeved on the limiting column;

[0012] An encoder, whose output shaft is fixedly connected to the lower end of the connecting rod;

[0013] An extrusion mechanism, multiple groups of which are respectively arranged in the X-axis direction and Y-axis direction of the rotating disk. The extrusion mechanism includes an extrusion block, which is slidably arranged at the edge position of the rotating disk. In the initial state, each extrusion block is controlled to apply the same reference extrusion force to the rotating disk. One end of the extrusion block away from the rotating disk is fixedly connected with a pressure sensor, and one end of the pressure sensor away from the extrusion block is fixedly connected with a permanent magnet. An electromagnet is arranged on the side of the permanent magnet away from the pressure sensor, and the electromagnet is in contact with the permanent magnet;

[0014] A vibration sensor, which is installed at the center position of the surface of the rotating disk, and the vibration sensor is used to obtain the vibration data of the rotating disk;

[0015] A processing module, which is used to calculate a current coefficient for adjusting the electromagnet current according to the proportional relationship between the pressure change detected by the pressure sensor and the corresponding change in the driving current of the electromagnet; store the mapping relationship between vibration data and the corresponding current values; match the corresponding current values in the historical records according to the data obtained in real time by the vibration sensor, and preferentially call the pre-stored current values. If there is no match, generate the corresponding current values based on the current coefficient; combine the detected vibration period characteristics, and output the current value of the next moment in advance and send it to the corresponding electromagnet.

[0016] Further, determining the proportional relationship between the detected pressure change and the change in the current inside the corresponding electromagnet includes:

[0017] In the debugging stage, select at least one extrusion block and control it to apply a debugging extrusion force so that the corresponding pressure sensor detects the feedback force;

[0018] Calculate the counteracting force that the extrusion block needs to provide;

[0019] Determine the current coefficient according to the current value input by the electromagnet to provide the counteracting force;

[0020] Repeat the above operations, obtain multiple current coefficients by changing the debugging extrusion force, and establish the mapping relationship between different extrusion forces and the corresponding current coefficients;

[0021] In actual operation, according to the feedback force detected in real time and the mapping relationship, automatically call the matching current coefficient to adjust the control current of the electromagnet.

[0022] Further, storing the mapping relationship between vibration data and the corresponding current values includes:

[0023] Obtain the real-time detection value of the pressure sensor under the vibration condition of the rotating disk, perform a difference operation on the real-time detection value and the reference extrusion force to obtain the counteracting force for canceling the vibration;

[0024] According to the value of the counteracting force, retrieve the corresponding current adjustment coefficient from the pre-stored mapping relationship between the extrusion force and the corresponding current coefficient;

[0025] Multiply the counteracting force by the retrieved current adjustment coefficient to calculate the control current value required to drive the electromagnet;

[0026] Input the calculated control current value into the corresponding electromagnet to drive the electromagnet to generate the corresponding magnetism;

[0027] Real-time monitor the detection values of each pressure sensor. When the detection values of all pressure sensors return to the reference values corresponding to the initial working state, record the vibration characteristic data and the working current value of the electromagnet under the current working condition, and store them in the database.

[0028] Further, according to the vibration data obtained in real time, match the corresponding current value in the historical record, and preferentially call the pre-stored current value. If there is no match, generate the corresponding current value based on the current coefficient. If there is no match, generate the corresponding current value based on the current coefficient, including:

[0029] According to the vibration characteristic data vector obtained in real time And each vector in the historical vibration characteristic database Perform a similarity calculation, and use the weighted Euclidean distance formula to calculate the distance between the two , if there exists a historical vibration data feature vector , and , the real-time vibration data is exactly the same as the historical data, then directly retrieve the current value corresponding to the historical vibration data as the current value required to adjust the electromagnet 11 this time.

[0030] Further, the weighted Euclidean distance formula is:

[0031] , where Is the dimension of the feature vector, And Respectively represent the i-th component of the real-time vibration data feature vector and the historical vibration data feature vector, Is the weight of the i-th feature parameter, and satisfies .

[0032] Further, preset a similarity threshold , if appears, the real-time vibration data and the historical data are within the similarity threshold range, use the k-nearest neighbor algorithm to select the k historical vibration data feature vectors closest to the real-time vibration data feature vector, and the corresponding current values , and calculate the current value that should be input to the electromagnet 11 through weighted averaging , the calculation formula is , where Is the weight of the j-th nearest neighbor historical vibration data, and , indicating that the closer the historical data is, the greater the weight;

[0033] If the similarity between the real-time vibration data and the historical vibration data feature vector is greater than the similarity threshold δ, then calculate the current value according to the extrusion force detected by the pressure sensor and the pre-determined current coefficient.

[0034] Further, in combination with the detected vibration period characteristics, predict the current value at the next moment in advance and send it to the corresponding electromagnet, including:

[0035] Obtain the vibration period through a vibration sensor, obtain the time point of the upcoming vibration and the corresponding vibration data at the next moment based on the vibration period, match the current value corresponding to the same vibration data in the numerical library based on the obtained vibration data, and input the current value into the corresponding electromagnet.

[0036] Further, in combination with the detected vibration period characteristics, predict the current value at the next moment in advance and send it to the corresponding electromagnet. It also includes:

[0037] If the vibration data obtained based on the vibration period cannot match the same vibration data in the data, and the obtained vibration data, through calculation, is within the similarity threshold, then based on the calculation formula to obtain the input current of the electromagnet;

[0038] If the obtained vibration data, through calculation, is not within the similarity threshold, obtain the input current of the electromagnet based on the current adjustment coefficient.

[0039] Further, an activity slot is opened at the position where the connecting rod sleeves the limit post, and there is a space for the limit post to move between the upper and lower ends of the activity slot and the limit post.

[0040] Further, the drive assembly includes:

[0041] A worm gear ring is fixedly installed on the outer circle of the transmission shaft;

[0042] A worm is meshed and connected to the upper end of the worm gear ring;

[0043] A motor, whose output shaft is fixedly connected to one end of the worm.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0045] In this solution, through the extrusion mechanism, it is ensured that when the valve vibrates due to factors such as medium flow, the rotating disk can be quickly and stably rotated, avoiding the deflection of the output shaft of the encoder and ensuring the stability and accuracy of the electrical signal; the processing module intelligently adjusts the current according to the relationship between the pressure change and the electromagnet current, and stores the mapping relationship between the vibration data and the current value, flexibly adapting to different working conditions; in addition, this device also has the ability of predictive vibration cancellation, outputting the predicted current value in advance to cancel the vibration, further improving the accuracy and stability of the encoder detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention 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 following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0047] Figure 1 Overall structural appearance view of the present invention

[0048] Figure 2 Structural display diagram of the internal components of the actuator housing of the present invention;

[0049] Figure 3 Structural schematic diagram at the encoder of the present invention;

[0050] Figure 4 Cross-sectional view of the rotating disk of the present invention;

[0051] Figure 5 Exploded view of the electromagnet and the permanent magnet block of the present invention;

[0052] Figure 6 Structural schematic diagram at the slider of the present invention;

[0053] Figure 7 Cross-sectional view of the actuator housing of the present invention at the rotating disk;

[0054] Figure 8 For the present invention Figure 7 Enlarged view at position A in;

[0055] Figure 9 Flow chart for controlling the current of the electromagnet of the present invention.

[0056] Explanation of the reference numerals in the figures:

[0057] 1. Valve body; 2. Transmission shaft; 3. Rotating disk; 4. Limit post; 5. Connecting rod; 6. Activity groove; 7. Encoder; 8. Extrusion block; 9. Pressure sensor; 10. Permanent magnet block; 11. Electromagnet; 12. Vibration sensor; 13. Worm gear ring; 14. Worm; 15. Motor; 16. Slider; 17. Slide groove; 18. Actuator housing. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] Please refer to Figures 1 to 9, a shock-proof high-precision hydraulic control actuator valve position feedback device, including a valve body 1 and a transmission shaft 2. The transmission shaft 2 is installed on the valve body 1, and the transmission shaft 2 is used to control the rotation of the valve core on the valve body 1. A driving component is installed outside the valve body 1, and the driving component is used to drive the transmission shaft 2 to rotate. The driving component includes a worm gear ring 13, and the worm gear ring 13 is fixedly installed on the outer circle of the transmission shaft 2; a worm 14, and the worm 14 is meshed and connected to the upper end of the worm gear ring 13; a motor 15, and the output shaft of the motor 15 is fixedly connected to one end of the worm 14; a rotating disk 3, and the rotating disk 3 is fixedly installed at one end of the transmission shaft 2 away from the valve body 1; a limiting column 4, and the limiting column 4 is fixedly installed on the side of the rotating disk 3 away from the transmission shaft 2; a connecting rod 5, and the connecting rod 5 is sleeved on the limiting column 4; an encoder 7, and the output shaft of the encoder 7 is fixedly connected to the lower end of the connecting rod 5;

[0060] An extrusion mechanism, and there are multiple groups of extrusion mechanisms, which are respectively arranged in the X-axis direction and the Y-axis direction of the rotating disk 3. The extrusion mechanism includes an extrusion block 8, and the extrusion block 8 is slidably arranged at the edge position of the rotating disk 3. In the initial state, each extrusion block 8 is controlled to apply the same reference extrusion force to the rotating disk 3. One end of the extrusion block 8 away from the rotating disk 3 is fixedly connected with a pressure sensor 9, and one end of the pressure sensor 9 away from the extrusion block 8 is fixedly connected with a permanent magnet block 10. An electromagnet 11 is arranged on the side of the permanent magnet block 10 away from the pressure sensor 9, and the electromagnet 11 is in contact with the permanent magnet block 10;

[0061] A vibration sensor 12, and the vibration sensor 12 is installed at the center position of the surface of the rotating disk 3. The vibration sensor 12 is used to obtain the vibration data of the rotating disk 3;

[0062] A processing module, which is used to calculate the current coefficient for adjusting the current of the electromagnet 11 according to the proportional relationship between the pressure change amount detected by the pressure sensor 9 and the corresponding driving current change amount of the electromagnet 11; store the mapping relationship between the vibration data and the corresponding current value; match the corresponding current value of the historical record according to the data obtained in real time by the vibration sensor 12, and preferentially call the pre-stored current value. If there is no match, generate the corresponding current value based on the current coefficient; combine the detected vibration period characteristics and output the current value of the next moment in advance to the corresponding electromagnet 11.

[0063] In actual work, the forward and reverse rotation of the worm 14 is controlled by the motor 15. The forward and reverse rotation of the worm 14 controls the rotation of the worm gear ring 13. The rotation of the worm gear ring 13 controls the rotation of the transmission shaft 2. The forward and reverse rotation of the transmission shaft 2 can control the rotation of the valve core door. The opening and closing of the valve are controlled by the valve core door. When the transmission shaft 2 rotates, it will control the rotation of the limit post 4 through the rotating disc 3. When the limit post 4 rotates, it will drive the connecting rod 5 to rotate. The rotation of the connecting rod 5 will drive the output shaft of the encoder 7 to rotate. Through the encoder 7, it can be known to what extent the valve is engaged. In reality, the driving component and the extrusion component are both installed inside the actuator housing 18. For example, one side of the extrusion block 8 is fixedly installed with a slider 16. A chute 17 is opened on the actuator housing 18. The slider 16 can slide in the chute 17. The electromagnet 11 is fixedly installed inside the actuator housing 18.

[0064] When the valve vibrates, if the rotating disc 3 is displaced, such as Figure 2 the rotating disc 3 moves left and right, the limit post 4 will also move with the rotating disc 3. When the limit post 4 moves, it will drive the connecting rod 5 to rotate. At this time, the detection result of the encoder 7 will change, resulting in inaccurate detection. The extrusion component of the present invention is used to stabilize the rotating disc 3. For example, when the rotating disc 3 moves horizontally to the left and applies a leftward force to the left extrusion block 8. At this time, only need to control the electromagnet 11 to be energized to generate magnetism. The adjacent surfaces of the electromagnet 11 and the permanent magnet 10 have the same magnetic poles. The electromagnet 11 pushes the permanent magnet 10 to move to the right through magnetic repulsion. The permanent magnet 10 pushes the pressure sensor 9 and the extrusion block 8 to move to the right. As long as the thrust applied by the electromagnet 11 to the permanent magnet 10 is the same as the force generated by the vibration, the vibration force can be offset, thereby stabilizing the rotating disc 3 and avoiding the problem of inaccurate detection results of the encoder 7 caused by vibration.

[0065] The following is an introduction to how to control the electromagnet 11:

[0066] In the debugging stage, select at least one extrusion block 8 and control it to apply a debugging extrusion force. For example, apply a leftward force to the right end of the rotating disc 3, so that the corresponding pressure sensor 9 detects a feedback force. That is to say, the pressure value detected by the pressure sensors 9 in the left group becomes larger, and the pressure value detected by the pressure sensors 9 in the right group becomes smaller;

[0067] Calculate the counteracting force that the extrusion block 8 needs to provide, that is, calculate how much force a set of extrusion blocks 8 at the left end exerts on the rotating disk 3 to make the value detected by the pressure sensor 9 at the right end return to the initial state. Then this counteracting force needs to be in the opposite direction and of the same magnitude as the applied debugging extrusion force; By passing an electric current through a set of electromagnets 11 at the left end to generate magnetism, and pushing the permanent magnet block 10 through magnetic repulsion, the permanent magnet block 10 squeezes the pressure sensor 9 and the extrusion block 8 to the right, and finally squeezes the rotating disk 3. Gradually increase the current of the electromagnet 11 to increase the magnetism. Wait until the pressure sensor 9 in the right - hand group returns to the reference extrusion force, that is, at this time, the counteraction of the applied debugging extrusion force is achieved. Stop increasing the current of the electromagnet 11, obtain the current value input by the electromagnet 11 to provide the counteracting force, and divide the current value by the applied debugging extrusion force to obtain the current coefficient;

[0068] Repeat the above operations. By changing the debugging extrusion force, obtain multiple current coefficients, and establish the mapping relationship between different extrusion forces and the corresponding current coefficients; During actual operation, according to the real - time detected feedback force and the mapping relationship, automatically call the matching current coefficient to adjust the control current of the electromagnet 11.

[0069] In some embodiments of the present invention, under the vibration condition of the rotating disk 3, obtain the real - time detected value of the pressure sensor 9, perform a difference operation on the real - time detected value and the reference extrusion force to obtain the counteracting force for canceling the vibration;

[0070] According to the value of the counteracting force, retrieve the corresponding current adjustment coefficient from the pre - stored mapping relationship between the extrusion force and the corresponding current coefficient;

[0071] Multiply the counteracting force by the retrieved current adjustment coefficient to calculate the control current value required to drive the electromagnet 11;

[0072] Input the calculated control current value into the corresponding electromagnet 11 to drive the electromagnet 11 to generate the corresponding magnetism;

[0073] Real - time monitor the detected values of each pressure sensor 9. When the detected values of the corresponding pressure sensors 9 all return to the reference values corresponding to the initial working state, record the vibration characteristic data and the working current value of the electromagnet 11 under the current working condition, and store them in the database.

[0074] By adopting the above - mentioned technical solution, during actual work, due to vibration, the rotating disk 3 undergoes displacement, resulting in a change in the data detected by the pressure sensor 9. For example, when the rotating disk 3 is displaced obliquely to the left, the detected values of the pressure sensors 9 at the left end and the upper end will increase, while the detected values of the pressure sensors 9 at the right end and the lower end will decrease. At this time, subtract the reference extrusion force from the detected value of the pressure sensor 9 in the left - hand group, and subtract the reference extrusion force from the detected value of the pressure sensor 9 in the upper - hand group, then the counteracting force that needs to be applied can be obtained , based on , first find the corresponding current coefficient , then , the magnitude of the current to be passed into the electromagnet 11 is obtained. The electromagnets 11 in the upper group apply a downward force to the upper extrusion block 8 through the permanent magnet block 10, and the electromagnets 11 in the left group apply a rightward force to the left extrusion block 8 through the permanent magnet block 10, so as to stabilize the rotating disk 3 and avoid inaccurate detection results of the encoder 7. After the electromagnet 11 passes, when the detected values of the pressure sensors 9 in the lower group and the right group return to the reference value, it means that the vibration force is perfectly offset. At this time, the vibration sensor 12 records the vibration data at this moment, such as the amplitude, frequency and phase of the vibration, etc. At the same time, the corresponding current value applied to the corresponding electromagnet 11 is also recorded, and the recorded data is stored in the database.

[0075] In some embodiments of the present invention, according to the vibration characteristic data vector obtained in real time and each vector in the historical vibration characteristic database perform a similarity calculation, and use the weighted Euclidean distance formula to calculate the distance between the two , if there is a historical vibration data characteristic vector , and , the real-time vibration data is exactly the same as the historical data, then directly retrieve the current value corresponding to the historical vibration data as the current value required for adjusting the electromagnet 11 this time.

[0076] In some embodiments of the present invention, the weighted Euclidean distance formula is:

[0077] , where is the dimension of the feature vector, that is, the number of feature parameters, and respectively represent the i-th component of the real-time vibration data characteristic vector and the historical vibration data characteristic vector, is the weight of the i-th feature parameter, and satisfies , can be set according to the importance of each feature parameter to the vibration of the equipment.

[0078] By adopting the above technical solution, when vibration occurs again, according to the vibration characteristic data vector obtained in real time by the vibration sensor 12 and each vector in the historical vibration characteristic database perform a similarity calculation. If , it indicates that the real-time vibration data is exactly the same as the historical data. Then, directly retrieve the current value corresponding to this historical vibration data, that is, directly retrieve the current value that can perfectly eliminate the vibration force, as the current value required for adjusting the electromagnet 11 this time.

[0079] In some embodiments of the present invention, a similarity threshold is preset. , if the real-time vibration data and the historical data are within the similarity threshold range, the k-nearest neighbor algorithm is used to select the k historical vibration data feature vectors with the closest distance to the real-time vibration data feature vector, and the corresponding current values. The current value to be input to the electromagnet 11 is calculated by the weighted average method. The calculation formula is , where is the weight of the j-th neighboring historical vibration data, and it means that the closer the historical data is, the greater the weight.

[0080] If the similarity between the real-time vibration data and the historical vibration data feature vectors is greater than the similarity threshold δ, the current value is calculated based on the extrusion force detected by the pressure sensor 9 and the pre-determined current coefficient.

[0081] By adopting the above technical solution, when the data obtained by the vibration sensor 12 cannot be matched in the database, a similarity threshold can be preset. , if it indicates that there is data in the database that meets the similarity threshold. Then, the current value required for the corresponding electromagnet 11 is obtained through the calculation formula, and the obtained

[0082] is input into the electromagnet 11. After the current is input, if the value detected by the corresponding pressure sensor 9 returns to the reference value, it indicates that the vibration of the rotating disk 3 is perfectly cancelled. At this time, the current value data and vibration data of the electromagnet 11 at this moment are recorded in the database. If the data obtained by the vibration sensor 12 is not within the similarity threshold, at this time, the current value that the electromagnet 11 needs to be energized can be calculated according to the previous method based on the current coefficient.

[0083] In some embodiments of the present invention, if vibration data obtained based on the vibration period cannot be matched with the same vibration data in the data, and the obtained vibration data is within the similarity threshold through calculation, then based on the calculation formula, the input current of the electromagnet 11 is obtained;

[0084] If the obtained vibration data is not within the similarity threshold through calculation, the input current of the electromagnet 11 is obtained based on the current adjustment coefficient.

[0085] In some embodiments of the present invention, the movable slot 6 is opened at the position where the connecting rod 5 sleeves the limiting column 4, and a space for the limiting column 4 to move is left between the upper and lower ends of the movable slot 6 and the limiting column 4.

[0086] By adopting the above technical solution, when the connecting rod 5 rotates to be parallel to the X-axis, if the rotating disk 3 has a displacement parallel to the X-axis, the limiting column 4 will move left and right in the movable slot 6. Because there is a space for the limiting column 4 to move on the movable slot 6, the connecting rod 5 will not deflect due to vibration; when the connecting rod 5 rotates to be parallel to the Y-axis, if the rotating disk 3 has a displacement parallel to the Y-axis, the limiting column 4 will move up and down in the movable slot 6, but the connecting rod 5 will not deflect due to vibration. Through such a design, when the connecting rod 5 rotates to be parallel to the X-axis or rotates to be parallel to the Y-axis, and the device vibrates parallel to the X-axis or Y-axis, the detection result of the encoder 7 will not be affected.

[0087] The above is only the preferred specific implementation manner of the present invention; however, the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its improved concept, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A shock-proof high-precision liquid-controlled actuator valve position feedback device, characterized in that, Comprising: A valve body (1) and a transmission shaft (2), the transmission shaft (2) is installed on the valve body (1), and the transmission shaft (2) is used to control the rotation of the valve core on the valve body (1). A driving component is installed outside the valve body (1), and the driving component is used to drive the transmission shaft (2) to rotate; A rotating disk (3), fixedly installed at one end of the transmission shaft (2) away from the valve body (1); A limiting column (4), fixedly installed on the side of the rotating disk (3) away from the transmission shaft (2); A connecting rod (5), sleeved on the limiting column (4); An encoder (7), whose output shaft is fixedly connected to the lower end of the connecting rod (5); An extrusion mechanism, which is provided in multiple groups and is respectively arranged in the X-axis direction and the Y-axis direction of the rotating disk (3). The extrusion mechanism includes an extrusion block (8), and a pressure sensor (9) for detecting the pressure change amount is fixedly connected to the end of the extrusion block (8) away from the rotating disk (3). A permanent magnet block (10) is fixedly connected to the end of the pressure sensor (9) away from the extrusion block (8), and an electromagnet (11) is arranged on the side of the permanent magnet block (10) away from the pressure sensor (9); A vibration sensor (12), installed at the center position of the surface of the rotating disk (3), and the vibration sensor (12) is used to obtain the vibration data of the rotating disk (3); A processing module, which is used to determine the proportional relationship between the detected pressure change amount and the current change amount in the corresponding electromagnet (11); store the mapping relationship between the vibration data and the corresponding current value; match the corresponding current value of the historical record according to the vibration data obtained in real time, preferentially call the pre-stored current value, and if there is no match, generate the corresponding current value based on the current coefficient; combine the detected vibration period characteristics, and output the current value of the next moment in advance and send it to the corresponding electromagnet (11).

2. The shock-proof high-precision liquid-controlled actuator valve position feedback device according to claim 1, characterized in that, Determining the proportional relationship between the detected pressure change amount and the current change amount in the corresponding electromagnet (11) includes: In the debugging stage, select at least one extrusion block (8) and control it to apply a debugging extrusion force so that the corresponding pressure sensor (9) detects the feedback force; Calculate the counteracting force that the extrusion block (8) needs to provide; Determine the current coefficient according to the current value input by the electromagnet (11) to provide the counteracting force; Repeat the above operations, and obtain multiple current coefficients by changing the debugging extrusion force, and establish the mapping relationship between different extrusion forces and the corresponding current coefficients; In actual operation, according to the feedback force detected in real time and the mapping relationship, automatically call the matching current coefficient to adjust the control current of the electromagnet (11).

3. A valve position feedback device for a shock-proof high-precision hydraulic actuator according to claim 2, characterized in that, Storing the mapping relationship between the vibration data and the corresponding current value includes: Obtain the real-time detection value of the pressure sensor (9) under the vibration condition of the rotating disk (3), perform a difference operation on the real-time detection value and the reference extrusion force to obtain the counteracting force for canceling the vibration; According to the value of the counteracting force, retrieve the corresponding current adjustment coefficient from the pre-stored mapping relationship between the extrusion force and the corresponding current coefficient; Multiply the counteracting force by the retrieved current adjustment coefficient to calculate and generate the control current value required to drive the electromagnet (11); Input the calculated control current value into the corresponding electromagnet (11) to drive the electromagnet (11) to generate corresponding magnetism; Real-time monitor the detection values of each pressure sensor (9). When the detection values of all pressure sensors (9) have returned to the reference values corresponding to the initial working state, record the vibration characteristic data and the working current value of the electromagnet (11) under the current working condition and store them in the database.

4. A shock-proof high-precision liquid-controlled actuator valve position feedback device according to claim 3, characterized in that, Match the corresponding current value of the historical record according to the vibration data obtained in real time, and preferentially call the pre-stored current value. If there is no match, generate the corresponding current value based on the current coefficient, including: According to the vibration characteristic data vector obtained in real time and each vector in the historical vibration characteristic database perform similarity calculation, and use the weighted Euclidean distance formula to calculate the distance between the two , if there exists a historical vibration data characteristic vector , and , the real-time vibration data is exactly the same as the historical data, then directly retrieve the current value corresponding to the historical vibration data as the current value required for adjusting the electromagnet (11) this time.

5. A shock-proof high-precision liquid-controlled actuator valve position feedback device according to claim 4, characterized in that, The weighted Euclidean distance formula is: , where is the dimension of the feature vector, and respectively represent the i-th component of the real-time vibration data feature vector and the historical vibration data feature vector, is the weight of the i-th feature parameter and satisfies .

6. A shock-proof high-precision hydraulic actuator valve position feedback device according to claim 5, characterized in that: Preset the similarity threshold , if occurs, and the real-time vibration data and the historical data are within the similarity threshold range, the k-nearest neighbor algorithm is used to select the k historical vibration data feature vectors with the closest distance to the real-time vibration data feature vector, and the corresponding current values . The current value to be input to the electromagnet (11) is calculated by weighted averaging . The calculation formula is , where is the weight of the j-th nearest neighbor historical vibration data, and , indicating that the closer the historical data is, the greater the weight If the similarity between the real-time vibration data and the characteristic vectors of the historical vibration data is greater than the similarity threshold δ, calculate the current value based on the extrusion force detected by the pressure sensor (9) and the pre-determined current coefficient.

7. The anti-seismic high-precision liquid-controlled actuator valve position feedback device according to claim 6, wherein Combined with the detected vibration period characteristics, output the predicted current value at the next moment in advance and send it to the corresponding electromagnet (11), including: Obtain the vibration period through the vibration sensor (12), obtain the time point and corresponding vibration data of the upcoming vibration at the next moment based on the vibration period, match the current value corresponding to the same vibration data in the numerical library based on the obtained vibration data, and input the current value into the corresponding electromagnet (11).

8. The anti-seismic high-precision liquid control actuator valve position feedback device according to claim 7, characterized in that Combined with the detected vibration period characteristics, output the predicted current value at the next moment in advance and send it to the corresponding electromagnet (11), further including: If vibration data obtained based on the vibration period cannot be matched with the same vibration data in the data, and the obtained vibration data is within the similarity threshold through calculation, then based on the calculation formula, obtain the input current of the electromagnet (11); If the obtained vibration data is not within the similarity threshold through calculation, obtain the input current of the electromagnet (11) based on the current adjustment coefficient.

9. A valve position feedback device for a shock-proof high-precision hydraulic actuator according to claim 8, characterized in that Including: The movable slot (6) is opened at the position where the connecting rod (5) sleeved with the limit post (4) is located, and there is a space for the limit post (4) to move between the upper and lower ends of the movable slot (6) and the limit post (4).

10. A shock-proof high-precision liquid-controlled actuator valve position feedback device according to claim 8, characterized in that, The driving assembly includes: The worm gear ring (13) is fixedly installed on the outer circle of the transmission shaft (2); The worm (14) is meshed and connected to the upper end of the worm gear ring (13); The motor (15), the output shaft of which is fixedly connected to one end of the worm (14).

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