Intelligent stable control method and system of electromagnetic valve

Abstract

The invention provides an intelligent stable control method and system for an electromagnetic valve, and the method comprises the steps: determining the dynamic interference of the electromagnetic valve corresponding to a nozzle according to the first motion data of a moving carrier where the nozzle is located, and estimating the position offset of a valve element of the electromagnetic valve; according to the position offset of the valve element, estimating the flow adjustment deviation of the electromagnetic valve to the nozzle; according to the second motion data of the moving carrier, the expected output flow of the nozzle is determined; adjusting a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow adjusting deviation; and hydraulic impact on the electromagnetic valve is predicted according to pressure dynamic characteristics of a pipeline connected with the spray head during adjustment of the electromagnetic valve, so that backflow operation on the electromagnetic valve is adjusted, reference is provided for stably and accurately controlling a flow adjustment mode of the electromagnetic valve, the backflow operation on the electromagnetic valve is adjusted in time, and the electromagnetic valve is prevented from being damaged due to the influence of the hydraulic impact.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electromagnetic valves, in particular to an intelligent stable control method and system of electromagnetic valves. BACKGROUND

[0002] In large-scale crop planting scenarios, in order to ensure the normal growth of crops, it is necessary to regularly spray liquid such as medicine on crops. In actual operation, in order to complete the large-area spraying of crops, a vehicle or other mobile carrier is used to carry and drive the spraying equipment to move, and the spraying equipment sprays medicine to the surrounding crops during movement. The movement speed of the mobile carrier will affect the spraying flow of the spray head on the crops, in addition, the mobile carrier will inevitably vibrate during movement, and the electromagnetic valve of the spray head may be offset under the influence of external vibration, so that the valve core of the electromagnetic valve cannot move according to the original designed position and amplitude, reducing the stability and accuracy of the electromagnetic valve in adjusting the output flow of the spray head. In addition, as the spray head continues to spray, the pipeline connected with the spray head will continuously accumulate pressure, and when the pressure accumulates to a certain extent, it will form a shock wave to the electromagnetic valve, affecting the continuous controllable flow adjustment of the electromagnetic valve. SUMMARY

[0003] The purpose of the present application is to provide an intelligent stable control method and system of electromagnetic valves, according to the first motion data of the mobile carrier where the spray head is located, to determine the dynamic disturbance of the corresponding electromagnetic valve of the spray head, and to estimate the position offset of the valve core of the electromagnetic valve; according to the position offset of the valve core, to estimate the flow adjustment deviation of the electromagnetic valve to the spray head; according to the second motion data of the mobile carrier, to determine the expected output flow of the spray head; according to the expected output flow and the flow adjustment deviation, to adjust the PWM signal applied to the electromagnetic valve; and according to the dynamic characteristics of the pipeline pressure connected with the spray head during adjustment of the electromagnetic valve, to predict the hydraulic impact on the electromagnetic valve, so as to adjust the backflow operation of the electromagnetic valve. By quantifying the position offset of the valve core of the electromagnetic valve caused by external vibration, the flow adjustment deviation of the electromagnetic valve is determined, which provides a reference for stable and accurate control of the flow adjustment mode of the electromagnetic valve. In addition, the hydraulic impact of the electromagnetic valve caused by the accumulated pressure of the pipeline is detected and predicted, and the backflow operation of the electromagnetic valve is adjusted in time to avoid damage to the electromagnetic valve caused by the hydraulic impact.

[0004] The present application is realized by the following technical solutions: The intelligent stable control method of the electromagnetic valve comprises: obtaining the first motion data of the mobile carrier where the spray head is located, and determining the dynamic disturbance of the corresponding electromagnetic valve of the spray head according to the first motion data; and estimating the position offset of the valve core of the electromagnetic valve according to the dynamic disturbance; According to the spool position offset, estimate the flow regulation deviation of the electromagnetic valve to the spray head; according to the second motion data of the mobile carrier, determine the expected output flow of the spray head; according to the expected output flow and the flow regulation deviation, adjust the PWM signal applied to the electromagnetic valve; According to the dynamic characteristics of the pipeline pressure connected with the spray head during the adjustment of the electromagnetic valve, predict the hydraulic impact suffered by the electromagnetic valve; according to the hydraulic impact, adjust the backflow operation of the electromagnetic valve.

[0005] Optionally, obtain the first motion data of the mobile carrier where the spray head is located, and according to the first motion data, determine the dynamic disturbance suffered by the electromagnetic valve corresponding to the spray head; according to the dynamic disturbance, estimate the spool position offset of the electromagnetic valve, including: Obtain the vibration data in the direction perpendicular to the moving direction during the self-movement of the mobile carrier where the spray head is located, and according to the vibration data and the installation orientation of the electromagnetic valve corresponding to the spray head, determine the dynamic vibration disturbance suffered by the electromagnetic valve; Perform time-varying analysis on the dynamic vibration disturbance, and determine the vibration acceleration of the electromagnetic valve; according to the vibration acceleration and the real-time position of the spool of the electromagnetic valve, estimate the spool position offset of the electromagnetic valve.

[0006] Optionally, according to the spool position offset, estimate the flow regulation deviation of the electromagnetic valve to the spray head; according to the second motion data of the mobile carrier, determine the expected output flow of the spray head; according to the expected output flow and the flow regulation deviation, adjust the PWM signal applied to the electromagnetic valve, including: According to the magnitude and direction of the spool position offset, estimate the spool opening deviation of the electromagnetic valve itself under the trigger of the reference PWM signal; according to the spool opening deviation and the input liquid flow rate of the electromagnetic valve, estimate the flow regulation deviation of the electromagnetic valve to the spray head; According to the motion speed data along the moving direction during the automatic movement of the mobile carrier, determine the expected output flow corresponding to the uniform flow spraying implemented by the spray head moving through the space region; according to the expected output flow and the flow regulation deviation, adjust the phase of the PWM signal applied to the electromagnetic valve.

[0007] Optionally, according to the dynamic characteristics of the pipeline pressure connected with the spray head during the adjustment of the electromagnetic valve, predict the hydraulic impact suffered by the electromagnetic valve; according to the hydraulic impact, adjust the backflow operation of the electromagnetic valve, including: acquire the liquid pressure dynamic data inside the pipeline connected with the spray head during the adjustment of the electromagnetic valve, determine the pipeline pressure dynamic characteristics according to the liquid pressure dynamic data inside the pipeline, wherein the pipeline pressure dynamic characteristics include the peak value of the pressure fluctuation inside the pipeline and the time point of occurrence; predict the time frequency of the hydraulic impact event suffered by the electromagnetic valve according to the pipeline pressure dynamic characteristics, wherein the hydraulic impact event refers to the event that the actual hydraulic impact value suffered by the electromagnetic valve exceeds the preset impact threshold; adjust the opening of the backflow valve connected with the electromagnetic valve according to the time frequency of the hydraulic impact event, so as to adjust the liquid backflow amount of the electromagnetic valve.

[0008] adjust the opening of the backflow valve connected with the electromagnetic valve according to the time frequency of the hydraulic impact event, including: acquire the time frequency of the hydraulic impact event; acquire the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event; acquire the actual hydraulic impact numerical standard deviation corresponding to the hydraulic impact event according to the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event; perform ratio processing on the actual hydraulic impact numerical standard deviation and the preset impact threshold to acquire a first hydraulic ratio coefficient; wherein the first hydraulic ratio coefficient is acquired by the following formula: B 01 =B x / B y ; wherein B x represents the actual hydraulic impact numerical standard deviation; B y represents the preset impact threshold; acquire the absolute difference value between the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event and the preset impact threshold according to the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event; perform ratio processing on the absolute difference value corresponding to the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event and the preset impact threshold to acquire a second hydraulic ratio coefficient; wherein the second hydraulic ratio coefficient is acquired by the following formula: B 02 =B c / B y ; wherein B c represents the absolute difference value corresponding to the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event; B y represents the preset impact threshold; The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; ; The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; 02i The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; 01 The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; 01 The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; 02 The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event; y The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the time frequency of the hydraulic impact event.

[0009] The intelligent stable control system of the electromagnetic valve comprises: The first motion detection and analysis module is configured to obtain first motion data of a mobile carrier on which the spray head is located, and determine dynamic interference on the electromagnetic valve corresponding to the spray head according to the first motion data. The valve core offset determination module is configured to estimate a valve core position offset of the electromagnetic valve according to the dynamic interference. The flow regulation deviation determination module is configured to estimate a flow regulation deviation of the electromagnetic valve on the spray head according to the valve core position offset. The second motion detection and analysis module is configured to determine an expected output flow of the spray head according to second motion data of the mobile carrier. The PWM signal adjustment module is configured to adjust a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation. The hydraulic impact prediction module is configured to predict hydraulic impact on the electromagnetic valve according to dynamic characteristics of a pipeline connected to the spray head during adjustment of the electromagnetic valve. The backflow operation adjustment module is configured to adjust backflow operation on the electromagnetic valve according to the hydraulic impact.

[0010] Optionally, the first motion detection and analysis module is configured to obtain first motion data of a mobile carrier on which the spray head is located, and determine dynamic interference on the electromagnetic valve corresponding to the spray head according to the first motion data, comprising: acquiring vibration data of the mobile carrier in a direction perpendicular to the moving direction during movement of the mobile carrier, and determining dynamic vibration interference on the electromagnetic valve according to the vibration data and installation orientation of the electromagnetic valve corresponding to the spray head; The valve core offset determination module is configured to estimate a valve core position offset of the electromagnetic valve according to the dynamic interference, including: The dynamic vibration interference is analyzed in time variation to determine vibration acceleration of the electromagnetic valve, and the valve core position offset of the electromagnetic valve is estimated according to the vibration acceleration and real-time position of the valve core of the electromagnetic valve.

[0011] Optionally, the flow adjustment deviation determination module is configured to estimate a flow adjustment deviation of the electromagnetic valve on the spray head according to the valve core position offset, including: The valve core opening deviation of the electromagnetic valve itself under triggering of a reference PWM signal is estimated according to the amplitude and direction of the valve core position offset, and the flow adjustment deviation of the electromagnetic valve on the spray head is estimated according to the valve core opening deviation and input liquid flow rate of the electromagnetic valve. The second motion detection and analysis module is configured to determine an expected output flow of the spray head according to second motion data of the mobile carrier, including: The expected output flow of the spray head for implementing uniform flow spraying on the mobile carrier moving through a space region is determined according to motion speed data of the mobile carrier in the moving direction during automatic movement of the mobile carrier. The PWM signal adjustment module is configured to adjust a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow adjustment deviation, including: The phase of the PWM signal applied to the electromagnetic valve is adjusted according to the expected output flow and the flow adjustment deviation.

[0012] Optionally, the hydraulic impact prediction module is configured to predict a hydraulic impact on the electromagnetic valve according to a pressure dynamic characteristic of a pipeline connected to the spray head during adjustment of the electromagnetic valve, including: Dynamic data of internal liquid pressure of the pipeline connected to the spray head during adjustment of the electromagnetic valve are acquired, and the pressure dynamic characteristic of the pipeline is determined according to the dynamic data of the internal liquid pressure of the pipeline, where the pressure dynamic characteristic of the pipeline includes a peak value of internal pressure fluctuation of the pipeline and a time point of occurrence of the peak value, and a time frequency of occurrence of a hydraulic impact event on the electromagnetic valve is predicted according to the pressure dynamic characteristic of the pipeline, where the hydraulic impact event refers to an event that an actual hydraulic impact value on the electromagnetic valve exceeds a preset impact threshold. The backflow operation adjustment module is configured to adjust backflow operation on the electromagnetic valve according to the hydraulic impact, including: According to the hydraulic impact event occurrence time frequency, the opening of the return valve connected to the electromagnetic valve is adjusted, so as to adjust the liquid return amount of the electromagnetic valve.

[0013] According to the hydraulic impact event occurrence time frequency, the opening of the return valve connected to the electromagnetic valve is adjusted, comprising: Obtaining the hydraulic impact event occurrence time frequency; Obtaining the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence; According to the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence, the actual hydraulic impact numerical standard deviation corresponding to the hydraulic impact event is obtained; The actual hydraulic impact numerical standard deviation is compared with the preset impact threshold value to obtain a first hydraulic ratio coefficient; Wherein, the first hydraulic ratio coefficient is obtained by the following formula: B 01 =B x / B y ; Wherein, B x represents the actual hydraulic impact numerical standard deviation; B y represents the preset impact threshold value; According to the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence, the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence and the preset impact threshold value is obtained; The absolute difference value corresponding to the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence is compared with the preset impact threshold value to obtain a second hydraulic ratio coefficient; Wherein, the second hydraulic ratio coefficient is obtained by the following formula: B 02 =B c / B y ; Wherein, B c represents the absolute difference value corresponding to the actual hydraulic impact value of the corresponding electromagnetic valve at each hydraulic impact event occurrence; B y represents the preset impact threshold value; The first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event occurrence are combined with the hydraulic impact event occurrence time frequency to obtain the target opening of the return valve; Wherein, the target opening of the return valve is obtained by the following formula: ; Wherein, K represents the target opening degree corresponding to the backflow valve; K0 represents the initial reference opening degree of the backflow valve; n represents the total number of hydraulic impact events; B 02i represents the second hydraulic ratio coefficient corresponding to the i th hydraulic impact event; B 01 represents the first hydraulic ratio coefficient; w 01 represents the impact frequency correction coefficient, the value range is 0.3-0.5; w 02 represents the pressure distribution correction coefficient, the value range is 0.2-0.4; f represents the time frequency of the hydraulic impact event; f y represents the preset maximum allowable frequency of the hydraulic impact event; Adjust the opening degree of the backflow valve according to the target opening degree.

[0014] Compared with the prior art, the present application has the following beneficial effects: The intelligent stable control method and system of the electromagnetic valve provided by the present application determine the dynamic interference received by the electromagnetic valve corresponding to the spray head according to the first motion data of the mobile carrier where the spray head is located, so as to estimate the spool position offset of the electromagnetic valve; according to the spool position offset, the flow regulation deviation of the electromagnetic valve to the spray head is estimated; according to the second motion data of the mobile carrier, the expected output flow of the spray head is determined; according to the expected output flow and the flow regulation deviation, the PWM signal applied to the electromagnetic valve is adjusted; and according to the dynamic characteristics of the pipeline pressure connected to the spray head during the adjustment of the electromagnetic valve, the hydraulic impact received by the electromagnetic valve is predicted, so as to adjust the backflow operation of the electromagnetic valve; by quantitatively calibrating the spool position offset of the electromagnetic valve caused by external vibration, the flow regulation deviation of the electromagnetic valve is determined, which provides a reference for the stable and accurate control of the flow regulation mode of the electromagnetic valve; and the hydraulic impact formed by the accumulated pressure of the pipeline received by the electromagnetic valve is also detected, and the backflow operation of the electromagnetic valve is adjusted in time to avoid damage to the electromagnetic valve caused by the hydraulic impact. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor. Among them: Figure 1 The flowchart of the intelligent stable control method of the electromagnetic valve provided by the present application.

[0016] Figure 2 The structure diagram of the intelligent stable control system of the electromagnetic valve provided by the present application. DETAILED DESCRIPTION

[0017] In order to make the above objectives, characteristics and advantages of the present application more apparent, a detailed description of the specific embodiments of the present application will be given below with reference to the drawings. It should be understood that the specific embodiments described herein are merely intended to explain the present application, but not to limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the convenience of description. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0018] The terms "comprising" and "having" and any variations thereof in the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to the process, method, product or device.

[0019] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily exclude other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with each other.

[0020] Please refer to Figure 1 As shown in the drawings, an embodiment of the present application provides an intelligent stable control method of a solenoid valve. The intelligent stable control method of the solenoid valve comprises: Obtaining first motion data of a mobile carrier on which a nozzle is located, determining dynamic interference suffered by a solenoid valve corresponding to the nozzle according to the first motion data, and estimating a spool position offset of the solenoid valve according to the dynamic interference; Estimating a flow regulation deviation of the solenoid valve to the nozzle according to the spool position offset, determining an expected output flow of the nozzle according to second motion data of the mobile carrier, and adjusting a PWM signal applied to the solenoid valve according to the expected output flow and the flow regulation deviation; Predicting a hydraulic impact suffered by the solenoid valve according to a dynamic characteristic of a pipeline pressure connected to the nozzle during adjustment of the solenoid valve, and adjusting a backflow operation of the solenoid valve according to the hydraulic impact.

[0021] The beneficial effects of the above embodiments are that the intelligent stable control method of the electromagnetic valve determines the dynamic disturbance of the electromagnetic valve corresponding to the nozzle according to the first motion data of the moving carrier where the nozzle is located, estimates the spool position offset of the electromagnetic valve, estimates the flow regulation deviation of the electromagnetic valve to the nozzle according to the spool position offset, determines the expected output flow of the nozzle according to the second motion data of the moving carrier, adjusts the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation, further predicts the hydraulic impact of the electromagnetic valve according to the dynamic characteristics of the pipeline pressure connected to the nozzle during the adjustment of the electromagnetic valve, adjusts the backflow operation of the electromagnetic valve, quantifies the spool position offset of the electromagnetic valve caused by external vibration, determines the flow regulation deviation of the electromagnetic valve, and provides a reference for stable and accurate control of the flow regulation mode of the electromagnetic valve. It also detects the hydraulic impact of the electromagnetic valve caused by the accumulated pressure of the pipeline, adjusts the backflow operation of the electromagnetic valve in time, and avoids damage to the electromagnetic valve caused by hydraulic impact.

[0022] In another embodiment, the first motion data of the moving carrier where the nozzle is located is obtained, and the dynamic disturbance of the electromagnetic valve corresponding to the nozzle is determined according to the first motion data. The spool position offset of the electromagnetic valve is estimated according to the dynamic disturbance, including: The vibration data of the moving carrier where the nozzle is located in the direction perpendicular to the moving direction during the movement of the moving carrier itself is obtained, and the dynamic vibration disturbance of the electromagnetic valve is determined according to the vibration data and the installation orientation of the electromagnetic valve corresponding to the nozzle. The time variation analysis of the dynamic vibration disturbance is performed to determine the vibration acceleration of the electromagnetic valve, and the spool position offset of the electromagnetic valve is estimated according to the vibration acceleration and the real-time position of the spool of the electromagnetic valve.

[0023] The beneficial effects of the above embodiments are that the mobile carrier such as a vehicle carries a spraying device, which mainly includes a liquid storage tank, a variable frequency motor, a pipeline and a spray head. The variable frequency motor extracts and pressurizes the liquid in the liquid storage tank, and then delivers it to the spray head through the pipeline, and the spray head sprays the liquid outward. An electromagnetic valve is arranged in the spray head, and a PWM signal is applied to the electromagnetic valve through a controller to change the opening size of the electromagnetic valve, thereby adjusting the spraying flow of the spray head. The electromagnetic valve includes a valve core, which is a component for controlling the opening size of the electromagnetic valve, and its position inside the electromagnetic valve directly affects the accuracy of the opening size control. In actual work, vibration will inevitably occur during the movement of the mobile carrier, and the electromagnetic valve will vibrate synchronously with the mobile carrier. Once the vibration acceleration of the electromagnetic valve reaches a certain level, the valve core will loosen and cause the valve core to fail to act at the original design position. This will form a certain size opening when the valve core is not affected by any PWM signal, causing the electromagnetic valve to form a flow regulation deviation. Generally speaking, the greater the valve core position offset, the greater the flow regulation deviation of the electromagnetic valve. In order to accurately determine the flow regulation deviation of the electromagnetic valve caused by the valve core position offset, it is necessary to first determine the vibration effect on the electromagnetic valve, especially the vibration acceleration of the electromagnetic valve from the outside world. Specifically, an acceleration sensor arranged on the mobile carrier can be used to detect the vibration data of the mobile carrier in all directions perpendicular to the movement direction during the movement of the mobile carrier; then, according to the installation orientation of the electromagnetic valve relative to the spray head, the vibration data component of the installation orientation of the electromagnetic valve is extracted from the above vibration data, and abnormal data elimination processing is performed on the vibration data component to obtain the dynamic vibration interference on the electromagnetic valve, thereby continuously characterizing the interference on the electromagnetic valve from the outside vibration. In addition, the dynamic vibration interference is analyzed for time variation to determine the vibration acceleration of the electromagnetic valve itself, and according to the vibration acceleration and the real-time position of the valve core of the electromagnetic valve, the displacement offset of the valve core inside the electromagnetic valve relative to the original design standard position is estimated, which provides a reliable basis for subsequent determination of the opening deviation of the electromagnetic valve caused by the outside vibration.

[0024] In another embodiment, according to the valve core position offset, the flow regulation deviation of the electromagnetic valve to the spray head is estimated; according to the second motion data of the mobile carrier, the expected output flow of the spray head is determined; and according to the expected output flow and the flow regulation deviation, the phase of the PWM signal applied to the electromagnetic valve is adjusted. According to the amplitude and direction of the valve core position offset, the valve core opening deviation of the electromagnetic valve itself under the trigger of the reference PWM signal is estimated; and according to the valve core opening deviation and the input liquid flow rate of the electromagnetic valve, the flow regulation deviation of the electromagnetic valve to the spray head is estimated. According to the motion speed data of the mobile carrier along the movement direction during the automatic movement of the mobile carrier, the expected output flow of the spray head corresponding to the uniform flow spraying of the mobile carrier moving through the space region is determined; and according to the expected output flow and the flow regulation deviation, the phase of the PWM signal applied to the electromagnetic valve is adjusted.

[0025] The beneficial effects of the above embodiments are that the spool of the electromagnetic valve serves as a component for adjusting the size of the opening of the electromagnetic valve, and only when the spool can move relative to the original design standard position, the spool can be accurately closed and switched to the corresponding opening size; when the spool has a position offset, the spool will not be able to accurately close and switch to the corresponding opening size under the action of the same PWM signal, but there will always be a certain opening, and the above opening forms the spool opening deviation. The above spool opening deviation depends on the amplitude and direction of the spool position offset, so the reference spool opening generated under the trigger of the reference PWM signal when the spool position of the electromagnetic valve has no offset is obtained first, and then the actual spool opening generated by the electromagnetic valve under the trigger of the reference PWM signal is obtained according to the amplitude and direction of the spool position offset, and the difference between the actual spool opening and the reference spool opening is used to determine the spool opening deviation of the electromagnetic valve under the current spool position offset, thereby quantifying the opening offset of the electromagnetic valve caused by external vibration interference. In addition, the flow rate sensor is used to obtain the input liquid flow rate at the upstream of the electromagnetic valve, and the flow rate adjustment deviation of the electromagnetic valve to the nozzle is estimated in combination with the above spool opening deviation. Generally speaking, the greater the spool opening deviation and / or the greater the input liquid flow rate, the greater the flow rate adjustment deviation of the electromagnetic valve to the nozzle. In addition, as the mobile carrier moves, the moving speed of the mobile carrier will affect the spraying amount of the spraying device on the surrounding environment. When the spraying device sprays liquid on the surrounding environment at a constant flow rate, the greater the moving speed of the mobile carrier, the smaller the spraying amount of the spraying device on the surrounding environment per unit time and per unit area, and the smaller the moving speed of the mobile carrier, the greater the spraying amount of the spraying device on the surrounding environment per unit time and per unit area. In order to make the spraying device uniformly and constantly spray liquid on the surrounding environment during the movement of the mobile carrier, the movement speed data of the mobile carrier during the automatic movement along the movement direction is used to determine the expected output flow rate corresponding to the uniform flow rate spraying of the nozzle on the mobile carrier moving through the space region, wherein the expected output flow rate refers to the output liquid flow rate of the nozzle on the mobile carrier moving through the space region per unit time and per unit area. By comparing the expected output flow rate and the flow rate adjustment deviation, the phase of the PWM signal applied to the electromagnetic valve is adjusted. Specifically, when the flow rate adjustment deviation causes the actual output flow rate of the nozzle on the surrounding environment to be greater than the expected output flow rate, the phase of the PWM signal applied to the electromagnetic valve is changed, so that the PWM signal with the changed phase can reduce the actual output flow rate to match the expected output flow rate. Correspondingly, when the flow rate adjustment deviation causes the actual output flow rate of the nozzle on the surrounding environment to be less than the expected output flow rate, the phase of the PWM signal applied to the electromagnetic valve is changed, so that the PWM signal with the changed phase can increase the actual output flow rate to match the expected output flow rate, thereby ensuring that the electromagnetic valve accurately and stably controls the liquid output flow rate.

[0026] In another embodiment, the hydraulic impact on the electromagnetic valve is predicted according to the pressure dynamic characteristics of the pipe connected to the nozzle during adjustment of the electromagnetic valve; and the backflow operation on the electromagnetic valve is adjusted according to the hydraulic impact, including: The internal liquid pressure dynamic data of the pipe connected to the nozzle during adjustment of the electromagnetic valve is acquired, and the pressure dynamic characteristics of the pipe are determined according to the internal liquid pressure dynamic data of the pipe; wherein the pressure dynamic characteristics of the pipe include a peak value of pressure fluctuation in the pipe and a time point at which the peak value occurs; the time frequency of occurrence of a hydraulic impact event on the electromagnetic valve is predicted according to the pressure dynamic characteristics of the pipe; wherein the hydraulic impact event refers to an event in which the actual hydraulic impact value on the electromagnetic valve exceeds a preset impact threshold; and the opening of the backflow valve connected to the electromagnetic valve is adjusted according to the time frequency of occurrence of the hydraulic impact event, so as to adjust the liquid backflow amount on the electromagnetic valve.

[0027] The above-mentioned embodiments have the beneficial effect that the variable frequency motor extracts and pressurizes the liquid in the liquid storage tank and then delivers the liquid to the pipe, the liquid pressure in the pipe will continuously increase, when the liquid pressure increases to a certain extent, a hydraulic impact fluctuation will be formed in the pipe, the above-mentioned hydraulic impact fluctuation will be transmitted to the electromagnetic valve through the liquid medium in the pipe, when the intensity of the above-mentioned hydraulic impact fluctuation exceeds the maximum impact intensity that the electromagnetic valve can withstand, the electromagnetic valve will be structurally damaged and fail, therefore, in order to avoid the failure of the electromagnetic valve, the liquid pressure in the pipe needs to be released in time to avoid the continuous accumulation of the liquid pressure in the pipe. Specifically, the internal liquid pressure dynamic data of the pipe connected to the nozzle during adjustment of the electromagnetic valve is detected by using the hydraulic sensor arranged in the pipe, the above-mentioned internal liquid pressure dynamic data of the pipe is analyzed in time domain, the peak value of pressure fluctuation in the pipe and the time point at which the peak value occurs are determined, and the peak value and the time point are compared with the maximum impact intensity that the electromagnetic valve can withstand (i.e. the preset impact threshold), the time frequency of occurrence of a hydraulic impact event on the electromagnetic valve is predicted, and the opening of the backflow valve connected to the electromagnetic valve is adjusted at the time point at which the hydraulic impact event is about to occur, the liquid backflow amount on the electromagnetic valve is adaptively adjusted, the hydraulic impact of the liquid in the pipe on the electromagnetic valve is reduced, and the electromagnetic valve is prevented from being damaged due to the hydraulic impact.

[0028] In another embodiment, adjusting the opening of the backflow valve connected to the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event includes: The time frequency of occurrence of the hydraulic impact event is retrieved; The actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event is retrieved; The actual hydraulic impact value corresponding to each hydraulic impact event is retrieved; The actual hydraulic impact value corresponding to each hydraulic impact event is retrieved; The first hydraulic ratio coefficient is obtained by the following formula: B 01 = B x / B y ; The first hydraulic ratio coefficient is obtained by the following formula: x B y represents a preset impact threshold value; The absolute difference between the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs and the preset impact threshold value is obtained according to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs. The absolute difference corresponding to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs is processed by a ratio with the preset impact threshold value to obtain a second hydraulic ratio coefficient. The second hydraulic ratio coefficient is obtained by the following formula: B 02 = B c / B y ; The second hydraulic ratio coefficient is obtained by the following formula: c B y represents a preset impact threshold value; The target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with the hydraulic impact event time frequency. The target opening degree of the backflow valve is obtained by the following formula: ; The target opening degree of the backflow valve is obtained by the following formula: 02i B 01 represents the first hydraulic ratio coefficient; w 01 represents an impact frequency correction coefficient, and the value range is 0.3-0.5; w 02 represents a pressure distribution correction coefficient, and the value range is 0.2-0.4; f represents the hydraulic impact event time frequency; f y represents a preset maximum allowed frequency of the hydraulic impact event; The opening degree of the backflow valve is adjusted according to the target opening degree.

[0029] The beneficial effects of the above embodiments are that the present embodiment calculates the ratio of the actual hydraulic impact value standard deviation (B x ) and the preset threshold value (B 01This effectively characterizes the dispersion of hydraulic impact intensity and reflects the stability of system pressure fluctuations; simultaneously, it uses the ratio of the absolute difference of a single impact to a threshold (B... 02i This method accurately captures the degree of deviation for each impact, forming a multi-dimensional quantitative description of impact risk and overcoming the limitations of single-parameter assessment. Impact frequency, impact intensity dispersion, and deviation of a single impact are weighted by a coefficient (w). 01 w 02 This system employs coupled calculations to ensure that the target opening (K) simultaneously responds to both the frequency and intensity distribution characteristics of impact events. This avoids over- or under-adjustment issues caused by relying on a single indicator, ensuring that the adjustment range matches the actual hydraulic shock risk. Through multi-parameter fusion-based opening adjustment, the return flow can be increased to buffer the impact when the hydraulic shock risk increases, and the return flow can be appropriately reduced to maintain system efficiency when the risk decreases. This effectively suppresses the cumulative damage of hydraulic shocks to the solenoid valve and piping system, extends equipment lifespan, reduces flow fluctuations caused by impacts, and improves system stability. By collecting and calculating dynamic data of hydraulic shock events in real time, the return valve opening can be dynamically adjusted according to changes in system operating conditions. It adapts to changes in hydraulic characteristics under different loads and operating stages without manual intervention, improving the system's intelligence and automated control capabilities.

[0030] Please see Figure 2 As shown in one embodiment of this application, an intelligent and stable control system for a solenoid valve is provided. This intelligent and stable control system for the solenoid valve includes: The first motion detection and analysis module is used to acquire the first motion data of the moving carrier where the nozzle is located, and to determine the dynamic interference received by the solenoid valve corresponding to the nozzle based on the first motion data. The valve spool offset determination module is used to estimate the valve spool position offset of the solenoid valve based on dynamic disturbances. The flow regulation deviation determination module is used to estimate the flow regulation deviation of the solenoid valve on the nozzle based on the valve core position offset. The second motion detection and analysis module is used to determine the expected output flow rate of the nozzle based on the second motion data of the moving carrier. The PWM signal adjustment module is used to adjust the PWM signal applied to the solenoid valve according to the desired output flow and flow regulation deviation. The hydraulic shock prediction module is used to predict the hydraulic shocks experienced by the solenoid valve based on the dynamic characteristics of the pipeline pressure connected to the nozzle during solenoid valve adjustment. The reflux operation adjustment module is used to adjust the reflux operation of the solenoid valve according to hydraulic shock.

[0031] The beneficial effects of the above embodiments are that the intelligent stable control system of the electromagnetic valve determines the dynamic disturbance of the electromagnetic valve corresponding to the spray head according to the first motion data of the moving carrier where the spray head is located, estimates the spool position offset of the electromagnetic valve according to the spool position offset, estimates the flow regulation deviation of the electromagnetic valve to the spray head according to the spool position offset, determines the expected output flow of the spray head according to the second motion data of the moving carrier, adjusts the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation, and further adjusts the backflow operation of the electromagnetic valve according to the hydraulic impact of the electromagnetic valve during the adjustment of the electromagnetic valve, so as to predict the hydraulic impact of the electromagnetic valve according to the dynamic characteristics of the pipeline pressure connected to the spray head during the adjustment of the electromagnetic valve, thereby adjusting the backflow operation of the electromagnetic valve. The spool position offset of the electromagnetic valve caused by external vibration is quantitatively calibrated to determine the flow regulation deviation of the electromagnetic valve, which provides a reference for stable and accurate control of the flow regulation mode of the electromagnetic valve. The hydraulic impact of the electromagnetic valve caused by the accumulated pressure of the pipeline is also detected to timely adjust the backflow operation of the electromagnetic valve, so as to avoid damage to the electromagnetic valve caused by the hydraulic impact.

[0032] In another embodiment, the first motion detection and analysis module is configured to obtain first motion data of a moving carrier where the spray head is located, and determine the dynamic disturbance of the electromagnetic valve corresponding to the spray head according to the first motion data, including: obtaining vibration data of the moving carrier in a direction perpendicular to the moving direction during the movement of the moving carrier, and determining the dynamic vibration disturbance of the electromagnetic valve according to the vibration data and the installation orientation of the electromagnetic valve corresponding to the spray head; The spool offset determination module is configured to estimate the spool position offset of the electromagnetic valve according to the dynamic disturbance, including: performing time variation analysis on the dynamic vibration disturbance to determine the vibration acceleration of the electromagnetic valve, and estimating the spool position offset of the electromagnetic valve according to the vibration acceleration and the real-time position of the spool of the electromagnetic valve.

[0033] The beneficial effects of the above embodiments are that the mobile carrier such as a vehicle carries a spraying device, which mainly includes a liquid storage tank, a variable frequency motor, a pipeline and a spray head. The variable frequency motor extracts and pressurizes the liquid in the liquid storage tank, and then delivers it to the spray head through the pipeline, and the spray head sprays the liquid outward. An electromagnetic valve is arranged in the spray head, and a PWM signal is applied to the electromagnetic valve through a controller to change the opening size of the electromagnetic valve, thereby adjusting the spraying flow of the spray head. The electromagnetic valve includes a valve core, which is a component for controlling the opening size of the electromagnetic valve. The position of the valve core inside the electromagnetic valve directly affects the accuracy of the opening size control. In actual work, vibration of the mobile carrier during movement is inevitable, and the electromagnetic valve vibrates synchronously with the mobile carrier. Once the vibration acceleration of the electromagnetic valve reaches a certain level, the valve core will loosen and cause the valve core to fail to act at the original design position. This will form a certain size opening when the valve core is not affected by any PWM signal, causing the electromagnetic valve to form a flow regulation deviation. Generally speaking, the greater the valve core position offset, the greater the flow regulation deviation of the electromagnetic valve. In order to accurately determine the flow regulation deviation of the electromagnetic valve caused by the valve core position offset, it is necessary to first determine the vibration effect on the electromagnetic valve, especially the vibration acceleration of the electromagnetic valve from the outside world. Specifically, an acceleration sensor arranged on the mobile carrier can be used to detect the vibration data of the mobile carrier in all directions perpendicular to the movement direction during movement; then, according to the installation orientation of the electromagnetic valve relative to the spray head, the vibration data component of the installation orientation of the electromagnetic valve is extracted from the above vibration data, and abnormal data elimination processing is performed on the above vibration data component to obtain the dynamic vibration interference of the electromagnetic valve, thereby continuously characterizing the interference of the electromagnetic valve from the outside vibration. In addition, the dynamic vibration interference is analyzed for time variation to determine the vibration acceleration of the electromagnetic valve itself, and according to the vibration acceleration and the real-time position of the valve core of the electromagnetic valve, the displacement offset of the valve core inside the electromagnetic valve relative to the original design standard position is estimated, which provides a reliable basis for subsequent determination of the opening deviation of the electromagnetic valve caused by the outside vibration.

[0034] In another embodiment, the flow regulation deviation determination module is configured to estimate the flow regulation deviation of the electromagnetic valve to the spray head according to the valve core position offset, including: According to the amplitude and direction of the valve core position offset, the valve core opening deviation of the electromagnetic valve under the trigger of the reference PWM signal is estimated; according to the valve core opening deviation and the input liquid flow rate of the electromagnetic valve, the flow regulation deviation of the electromagnetic valve to the spray head is estimated; The second motion detection and analysis module is configured to determine the expected output flow of the spray head according to the second motion data of the mobile carrier, including: According to the motion speed data of the mobile carrier along the movement direction during automatic movement, the expected output flow corresponding to the uniform flow spraying of the spray head to the mobile carrier moving through the space region is determined; The PWM signal adjusting module is configured to adjust the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow adjustment deviation, including: adjusting the phase of the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow adjustment deviation.

[0035] The beneficial effects of the above embodiments are that the spool of the electromagnetic valve serves as a component for adjusting the size of the opening of the electromagnetic valve, and only when the spool can move relative to the original design standard position, the spool can be accurately closed and switched to the corresponding opening size; when the spool has a position offset, the spool will not be able to accurately close and switch to the corresponding opening size under the action of the same PWM signal, but there will always be a certain opening, and the above opening forms the spool opening deviation. The above spool opening deviation depends on the amplitude and direction of the spool position offset, so the reference spool opening generated under the trigger of the reference PWM signal when the spool position of the electromagnetic valve has no offset is obtained first, and then the actual spool opening generated by the electromagnetic valve under the trigger of the reference PWM signal is obtained according to the amplitude and direction of the spool position offset. The difference between the actual spool opening and the reference spool opening determines the spool opening deviation of the electromagnetic valve under the current spool position offset, thereby quantifying the opening offset of the electromagnetic valve caused by external vibration interference. In addition, the flow rate sensor is used to obtain the input liquid flow rate at the upstream of the electromagnetic valve, and the flow rate adjustment deviation of the electromagnetic valve to the nozzle is estimated in combination with the above spool opening deviation. Generally speaking, the greater the spool opening deviation and / or the greater the input liquid flow rate, the greater the flow rate adjustment deviation of the electromagnetic valve to the nozzle. In addition, the mobile carrier moves with the spraying device, and the movement speed of the mobile carrier will affect the spraying amount of the spraying device on the surrounding environment. When the spraying device sprays liquid on the surrounding environment at a constant flow rate, the greater the movement speed of the mobile carrier, the smaller the spraying amount of the spraying device on the surrounding environment per unit time and per unit area, and the smaller the movement speed of the mobile carrier, the greater the spraying amount of the spraying device on the surrounding environment per unit time and per unit area. In order to make the spraying device uniformly and constantly spray liquid on the surrounding environment during the movement of the mobile carrier, the movement speed data of the mobile carrier along the movement direction during the automatic movement of the mobile carrier is determined to determine the expected output flow rate of the nozzle for uniformly spraying the mobile carrier moving through the space region at a flow rate. The expected output flow rate refers to the output liquid flow rate of the nozzle on the mobile carrier moving through the space region per unit time and per unit area. By comparing the expected output flow rate and the flow rate adjustment deviation, the phase of the PWM signal applied to the electromagnetic valve is adjusted. Specifically, when the flow rate adjustment deviation causes the actual output flow rate of the nozzle on the surrounding environment to be greater than the expected output flow rate, the phase of the PWM signal applied to the electromagnetic valve is changed, so that the PWM signal with the changed phase can reduce the actual output flow rate to match the expected output flow rate. Correspondingly, when the flow rate adjustment deviation causes the actual output flow rate of the nozzle on the surrounding environment to be less than the expected output flow rate, the phase of the PWM signal applied to the electromagnetic valve is changed, so that the PWM signal with the changed phase can increase the actual output flow rate to match the expected output flow rate, thereby ensuring that the electromagnetic valve accurately and stably controls the liquid output flow rate.

[0036] In another embodiment, the hydraulic impact prediction module is configured to predict the hydraulic impact on the electromagnetic valve based on the pressure dynamic characteristics of the pipe connected to the spray head during the electromagnetic valve adjustment, including: acquiring dynamic data of the liquid pressure inside the pipe connected to the spray head during the electromagnetic valve adjustment, determining the pressure dynamic characteristics of the pipe based on the dynamic data of the liquid pressure inside the pipe, wherein the pressure dynamic characteristics of the pipe include the peak value of the pressure fluctuation inside the pipe and the time point of occurrence, and predicting the time frequency of the hydraulic impact event on the electromagnetic valve based on the pressure dynamic characteristics of the pipe, wherein the hydraulic impact event refers to the event that the actual hydraulic impact value on the electromagnetic valve exceeds the preset impact threshold. The backflow operation adjustment module is configured to adjust the backflow operation on the electromagnetic valve based on the hydraulic impact, including: adjusting the opening of the backflow valve connected to the electromagnetic valve based on the time frequency of the hydraulic impact event, thereby adjusting the liquid backflow amount on the electromagnetic valve.

[0037] The beneficial effects of the above embodiments are that the variable frequency motor extracts and pressurizes the liquid in the liquid storage tank and delivers it to the pipe, the liquid pressure inside the pipe will continuously increase, when the liquid pressure increases to a certain extent, the hydraulic impact fluctuation will be formed inside the pipe, the above hydraulic impact fluctuation will be transmitted to the electromagnetic valve through the liquid medium inside the pipe, when the intensity of the above hydraulic impact fluctuation exceeds the maximum impact intensity that the electromagnetic valve can withstand, the electromagnetic valve will be structurally damaged and fail, therefore, to avoid the failure of the electromagnetic valve, the liquid pressure inside the pipe needs to be released in time to avoid the continuous accumulation of the liquid pressure inside the pipe. Specifically, a hydraulic sensor arranged in the pipe is used to detect the dynamic data of the liquid pressure inside the pipe connected to the spray head during the electromagnetic valve adjustment, the dynamic data of the liquid pressure inside the pipe is analyzed in time domain, the peak value of the pressure fluctuation inside the pipe and the time point of occurrence are determined, and compared with the maximum impact intensity that the electromagnetic valve can withstand (i.e. the preset impact threshold), the time frequency of the hydraulic impact event on the electromagnetic valve is predicted, and based on the above time frequency, the opening of the backflow valve connected to the electromagnetic valve is adjusted at the time point when the hydraulic impact event is about to occur, the liquid backflow amount on the electromagnetic valve is adaptively adjusted, the hydraulic impact of the liquid inside the pipe on the electromagnetic valve is reduced, and the damage of the electromagnetic valve caused by the hydraulic impact is avoided.

[0038] In another embodiment, adjusting the opening of the backflow valve connected to the electromagnetic valve based on the time frequency of the hydraulic impact event includes: retrieving the time frequency of the hydraulic impact event; retrieving the actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event; acquiring the standard deviation of the actual hydraulic impact value corresponding to each hydraulic impact event based on the actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event; The actual hydraulic impact value standard deviation is subjected to ratio processing with a preset impact threshold to obtain a first hydraulic ratio coefficient; The first hydraulic ratio coefficient is obtained by the following formula: B 01 =B x / B y ; The first hydraulic ratio coefficient is obtained by the following formula: x B y represents the preset impact threshold; An absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs and the preset impact threshold is obtained according to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs; The absolute difference value corresponding to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs is subjected to ratio processing with the preset impact threshold to obtain a second hydraulic ratio coefficient; The second hydraulic ratio coefficient is obtained by the following formula: B 02 =B c / B y ; The second hydraulic ratio coefficient is obtained by the following formula: c B y represents the preset impact threshold; A target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event with a hydraulic impact event occurrence time frequency; The target opening degree of the backflow valve is obtained by the following formula: ; The target opening degree of the backflow valve is obtained by the following formula: 02i B 01 represents the first hydraulic ratio coefficient; w 01 represents an impact frequency correction coefficient, and the value range is 0.3-0.5; w 02 represents a pressure distribution correction coefficient, and the value range is 0.2-0.4; f represents the hydraulic impact event occurrence time frequency; f y represents a preset maximum allowed frequency of the hydraulic impact event; The opening degree of the backflow valve is adjusted according to the target opening degree.

[0039] The beneficial effects of the above embodiment, the present embodiment calculates the ratio (B 01 ) of the actual hydraulic impact numerical standard deviation (B x ) and the preset threshold value, effectively characterizes the dispersion degree of the hydraulic impact intensity, reflects the stability of the system pressure fluctuation; at the same time, through the ratio (B 02i ) of the single impact absolute difference value and the threshold value, the deviation degree of each impact is accurately captured, forming a multi-dimensional quantitative description of the impact risk, overcoming the limitations of single parameter evaluation. The impact frequency, impact intensity dispersion and single impact deviation are coupled by weighting coefficients (w 02 , w 01 ), so that the target opening (K) can respond to the frequency characteristics and intensity distribution characteristics of the impact event at the same time, avoiding the problem of over-adjustment or under-adjustment caused by adjusting only according to a single index, and ensuring that the adjustment amplitude matches the actual hydraulic impact risk. Through the opening adjustment based on multi-parameter fusion, the backflow can be increased in time to buffer the impact when the hydraulic impact risk increases, and the backflow can be appropriately reduced to ensure system efficiency when the risk decreases, thereby effectively inhibiting the cumulative damage of hydraulic impact to the electromagnetic valve and the pipeline system, prolonging the service life of the equipment, reducing the flow fluctuation caused by impact, and improving the stability of the system operation. Through real-time acquisition of dynamic data of hydraulic impact events and real-time calculation, the backflow valve opening can be dynamically adjusted with the system working condition, without manual intervention, so as to adapt to the hydraulic characteristics of different loads and different operating stages, and improve the intelligent level and automatic control ability of the system.

[0040] Overall, the intelligent stable control method and system of the electromagnetic valve determines the dynamic disturbance of the electromagnetic valve corresponding to the nozzle according to the first motion data of the mobile carrier where the nozzle is located, estimates the spool position offset of the electromagnetic valve, estimates the flow regulation deviation of the electromagnetic valve to the nozzle according to the spool position offset, determines the expected output flow of the nozzle according to the second motion data of the mobile carrier, adjusts the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation, and also predicts the hydraulic impact of the electromagnetic valve according to the pressure dynamic characteristics of the pipeline connected to the nozzle during the adjustment of the electromagnetic valve, to adjust the backflow operation of the electromagnetic valve. By quantifying the spool position offset of the electromagnetic valve caused by external vibration, the flow regulation deviation of the electromagnetic valve is determined, which provides a reference for stable and accurate control of the flow regulation mode of the electromagnetic valve. It also detects the hydraulic impact of the electromagnetic valve caused by the accumulated pressure of the pipeline, and adjusts the backflow operation of the electromagnetic valve in time to avoid damage to the electromagnetic valve caused by hydraulic impact.

[0041] The above is only one specific embodiment of the present application, and any improvement made on the basis of the concept of the present application is considered to be within the scope of protection of the present application.

Claims

1. A method for intelligent and stable control of a solenoid valve, characterized in that, include: Acquire the first motion data of the moving carrier where the nozzle is located, and determine the dynamic interference received by the solenoid valve corresponding to the nozzle based on the first motion data; Based on the dynamic disturbance, estimate the valve core position offset of the solenoid valve; Based on the valve core position offset, estimate the flow regulation deviation of the solenoid valve on the nozzle; based on the second motion data of the moving carrier, determine the desired output flow of the nozzle; based on the desired output flow and the flow regulation deviation, adjust the PWM signal applied to the solenoid valve. Based on the dynamic characteristics of the pipeline pressure connected to the nozzle during the adjustment of the solenoid valve, the hydraulic shock experienced by the solenoid valve is predicted; based on the hydraulic shock, the backflow operation of the solenoid valve is adjusted.

2. The intelligent and stable control method for the solenoid valve as described in claim 1, characterized in that: Acquire first motion data of the moving carrier where the nozzle is located; determine the dynamic disturbance experienced by the solenoid valve corresponding to the nozzle based on the first motion data; estimate the valve core position offset of the solenoid valve based on the dynamic disturbance, including: Vibration data of the moving carrier containing the nozzle is obtained in the direction perpendicular to the direction of movement during its own movement. Based on the vibration data and the installation position of the solenoid valve corresponding to the nozzle, the dynamic vibration interference experienced by the solenoid valve is determined. The dynamic vibration disturbance is analyzed over time to determine the vibration acceleration of the solenoid valve; based on the vibration acceleration and the real-time position of the solenoid valve core, the position offset of the solenoid valve core is estimated.

3. The intelligent and stable control method for the solenoid valve as described in claim 1, characterized in that: Based on the valve core position offset, estimate the flow regulation deviation of the solenoid valve on the nozzle; based on the second motion data of the moving carrier, determine the desired output flow rate of the nozzle; Adjusting the PWM signal applied to the solenoid valve based on the desired output flow rate and the flow rate regulation deviation includes: Based on the magnitude and direction of the valve core position offset, estimate the valve core opening deviation of the solenoid valve under the triggering of the reference PWM signal; based on the valve core opening deviation and the input liquid flow rate of the solenoid valve, estimate the flow regulation deviation of the solenoid valve on the nozzle. Based on the motion speed data along the moving direction during the automatic movement of the mobile carrier, the desired output flow rate corresponding to the uniform flow rate spraying of the nozzle on the spatial area through which the mobile carrier moves is determined; based on the desired output flow rate and the flow rate adjustment deviation, the phase of the PWM signal applied to the solenoid valve is adjusted.

4. The intelligent and stable control method for the solenoid valve as described in claim 1, characterized in that: Based on the dynamic characteristics of the pipeline pressure connected to the nozzle during the adjustment of the solenoid valve, the hydraulic shock experienced by the solenoid valve is predicted; based on the hydraulic shock, the backflow operation of the solenoid valve is adjusted, including: The system acquires dynamic data of the internal liquid pressure in the pipe connected to the nozzle during the adjustment of the solenoid valve. Based on this data, it determines the dynamic characteristics of the pipe pressure, including the peak value of the internal pressure fluctuation and its occurrence time. Based on these characteristics, it predicts the frequency of hydraulic shock events affecting the solenoid valve, where a hydraulic shock event refers to an event where the actual hydraulic shock value received by the solenoid valve exceeds a preset shock threshold. Based on the frequency of these hydraulic shock events, it adjusts the opening of the return valve connected to the solenoid valve to adjust the liquid return flow to the solenoid valve.

5. The intelligent and stable control method for the solenoid valve as described in claim 4, characterized in that: Adjusting the opening of the return valve connected to the solenoid valve according to the frequency of occurrence of the hydraulic shock events includes: Retrieve the frequency of occurrence of the hydraulic shock events; Retrieve the actual hydraulic shock value experienced by the solenoid valve at the time of each hydraulic shock event; The standard deviation of the actual hydraulic shock value corresponding to each hydraulic shock event is obtained based on the actual hydraulic shock received by the solenoid valve at the time of each hydraulic shock event. The first hydraulic ratio coefficient is obtained by comparing the standard deviation of the actual hydraulic impact value with the preset impact threshold. The first hydraulic ratio coefficient is obtained by the following formula: B 01 =B x / B y ; Among them, B x B represents the standard deviation of the actual hydraulic shock value. y Indicates the preset impact threshold; The absolute difference between the actual hydraulic shock value received by the solenoid valve and the preset shock threshold is obtained based on the actual hydraulic shock value received by the solenoid valve at the time of each hydraulic shock event. The absolute difference between the actual hydraulic shock value received by the solenoid valve at each hydraulic shock event and the preset shock threshold is compared to obtain the second hydraulic ratio coefficient. The second hydraulic ratio coefficient is obtained by the following formula: B 02 =B c / B y ; Among them, B c This represents the absolute difference between the actual hydraulic shock values ​​experienced by the solenoid valve at each hydraulic shock event; B y Indicates the preset impact threshold; The target opening degree of the return valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic shock event with the occurrence time frequency of the hydraulic shock event. The target opening degree of the reflux valve is obtained by the following formula: ； Where K represents the target opening degree of the return valve; K0 represents the initial reference opening degree of the return valve; n represents the total number of hydraulic shock events; B 02i B represents the second hydraulic ratio coefficient corresponding to the i-th hydraulic shock event; 01 Indicates the first hydraulic ratio coefficient; w 01 This represents the impact frequency correction factor, with a value ranging from 0.3 to 0.5; w 02 This represents the pressure distribution correction factor, with a value ranging from 0.2 to 0.

4. The opening of the return valve is adjusted according to the target opening degree; f represents the frequency of hydraulic shock events; f y This indicates the preset maximum allowable frequency of hydraulic shock events.

6. An intelligent and stable control system for a solenoid valve, characterized in that, include: The first motion detection and analysis module is used to acquire the first motion data of the moving carrier where the nozzle is located, and to determine the dynamic interference received by the solenoid valve corresponding to the nozzle based on the first motion data. The valve core offset determination module is used to estimate the valve core position offset of the solenoid valve based on the dynamic disturbance. A flow regulation deviation determination module is used to estimate the flow regulation deviation of the solenoid valve on the nozzle based on the valve core position offset. The second motion detection and analysis module is used to determine the expected output flow rate of the nozzle based on the second motion data of the moving carrier. A PWM signal adjustment module is used to adjust the PWM signal applied to the solenoid valve according to the desired output flow rate and the flow rate adjustment deviation. A hydraulic shock prediction module is used to predict the hydraulic shock experienced by the solenoid valve based on the dynamic characteristics of the pipeline pressure connected to the nozzle during the adjustment of the solenoid valve. The reflux operation adjustment module is used to adjust the reflux operation of the solenoid valve according to the hydraulic impact.

7. The intelligent and stable control system for the solenoid valve as described in claim 6, characterized in that: The first motion detection and analysis module is used to acquire first motion data of the moving carrier where the nozzle is located, and based on the first motion data, determine the dynamic interference experienced by the solenoid valve corresponding to the nozzle, including: Vibration data of the moving carrier containing the nozzle is obtained in the direction perpendicular to the direction of movement during its own movement. Based on the vibration data and the installation position of the solenoid valve corresponding to the nozzle, the dynamic vibration interference experienced by the solenoid valve is determined. The valve core offset determination module is used to estimate the valve core position offset of the solenoid valve based on the dynamic disturbance, including: The dynamic vibration disturbance is analyzed over time to determine the vibration acceleration of the solenoid valve; based on the vibration acceleration and the real-time position of the solenoid valve core, the position offset of the solenoid valve core is estimated.

8. The intelligent and stable control system for the solenoid valve as described in claim 6, characterized in that: The flow regulation deviation determination module is used to estimate the flow regulation deviation of the solenoid valve on the nozzle based on the valve core position offset, including: Based on the magnitude and direction of the valve core position offset, estimate the valve core opening deviation of the solenoid valve under the triggering of the reference PWM signal; based on the valve core opening deviation and the input liquid flow rate of the solenoid valve, estimate the flow regulation deviation of the solenoid valve on the nozzle. The second motion detection and analysis module is used to determine the desired output flow rate of the nozzle based on the second motion data of the moving carrier, including: Based on the motion speed data along the moving direction during the automatic movement of the mobile carrier, the desired output flow rate corresponding to the uniform flow rate spraying of the nozzle on the spatial area through which the mobile carrier moves is determined; The PWM signal adjustment module is used to adjust the PWM signal applied to the solenoid valve according to the desired output flow rate and the flow rate adjustment deviation, including: The phase of the PWM signal applied to the solenoid valve is adjusted according to the desired output flow rate and the flow rate regulation deviation.

9. The intelligent and stable control system for the solenoid valve as described in claim 6, characterized in that: The hydraulic shock prediction module is used to predict the hydraulic shock experienced by the solenoid valve based on the dynamic characteristics of the pipeline pressure connected to the nozzle during the adjustment of the solenoid valve, including: The system acquires dynamic data of the internal liquid pressure in the pipe connected to the nozzle during the adjustment of the solenoid valve, and determines the dynamic characteristics of the pipe pressure based on the dynamic data of the internal liquid pressure. The dynamic characteristics of the pipe pressure include the peak value of the internal pressure fluctuation and the time point of its occurrence. Based on the dynamic characteristics of the pipe pressure, the system predicts the frequency of occurrence of hydraulic shock events affecting the solenoid valve. A hydraulic shock event refers to an event where the actual hydraulic shock value affecting the solenoid valve exceeds a preset shock threshold. The reflux operation adjustment module is used to adjust the reflux operation of the solenoid valve according to the hydraulic shock, including: Based on the frequency of the hydraulic shock events, the opening of the return valve connected to the solenoid valve is adjusted, thereby adjusting the liquid return flow to the solenoid valve.

10. The intelligent and stable control system for the solenoid valve as described in claim 9, characterized in that: Adjusting the opening of the return valve connected to the solenoid valve according to the frequency of occurrence of the hydraulic shock events includes: Retrieve the frequency of occurrence of the hydraulic shock events; Retrieve the actual hydraulic shock value experienced by the solenoid valve at the time of each hydraulic shock event; The standard deviation of the actual hydraulic shock value corresponding to each hydraulic shock event is obtained based on the actual hydraulic shock received by the solenoid valve at the time of each hydraulic shock event. The first hydraulic ratio coefficient is obtained by comparing the standard deviation of the actual hydraulic impact value with the preset impact threshold. The first hydraulic ratio coefficient is obtained by the following formula: B 01 =B x / B y ; Among them, B x B represents the standard deviation of the actual hydraulic shock value. y Indicates the preset impact threshold; The absolute difference between the actual hydraulic shock value received by the solenoid valve and the preset shock threshold is obtained based on the actual hydraulic shock value received by the solenoid valve at the time of each hydraulic shock event. The absolute difference between the actual hydraulic shock value received by the solenoid valve at each hydraulic shock event and the preset shock threshold is compared to obtain the second hydraulic ratio coefficient. The second hydraulic ratio coefficient is obtained by the following formula: B 02 =B c / B y ; Among them, B c This represents the absolute difference between the actual hydraulic shock values ​​experienced by the solenoid valve at each hydraulic shock event; B y Indicates the preset impact threshold; The target opening degree of the return valve is obtained by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic shock event with the occurrence time frequency of the hydraulic shock event. The target opening degree of the reflux valve is obtained by the following formula: ； Where K represents the target opening degree of the return valve; K0 represents the initial reference opening degree of the return valve; n represents the total number of hydraulic shock events; B 02i B represents the second hydraulic ratio coefficient corresponding to the i-th hydraulic shock event; 01 Indicates the first hydraulic ratio coefficient; w 01 This represents the impact frequency correction factor, with a value ranging from 0.3 to 0.5; w 02 represents the pressure distribution correction factor, with a value ranging from 0.2 to 0.4; f represents the frequency of hydraulic shock events; f y This indicates the preset maximum permissible frequency of hydraulic shock events; Adjust the opening of the reflux valve according to the target opening degree.

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