Intelligent stable control method and system for solenoid valve

Abstract

The application provides an intelligent stable control method and system of an electromagnetic valve, wherein dynamic interference of a corresponding electromagnetic valve of a nozzle caused by first motion data of a moving carrier on which the nozzle is located is determined to estimate a spool position offset of the electromagnetic valve; a flow regulation deviation of the electromagnetic valve to the nozzle is estimated according to the spool position offset; second motion data of the moving carrier is used to determine an expected output flow of the nozzle; a PWM signal applied to the electromagnetic valve is adjusted according to the expected output flow and the flow regulation deviation; and hydraulic impact on the electromagnetic valve is predicted according to dynamic characteristics of a pipeline connected to the nozzle during adjustment of the electromagnetic valve, so as to adjust backflow operation of the electromagnetic valve, provide a reference for stable and accurate control of a flow regulation mode of the electromagnetic valve, and timely adjust the backflow operation of the electromagnetic valve to avoid damage of the electromagnetic valve caused by 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, the dynamic disturbance suffered by the electromagnetic valve corresponding to the spray head is determined, so as to estimate the position offset of the valve core of the electromagnetic valve; according to the position offset of the valve core, the flow adjustment 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 adjustment deviation, the PWM signal applied to the electromagnetic valve is adjusted; and according to the dynamic characteristics of the pipeline pressure connected with the spray head during adjustment of the electromagnetic valve, the hydraulic impact suffered by the electromagnetic valve is predicted, so as to adjust the backflow operation of the electromagnetic valve. By quantitatively calibrating 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; the hydraulic impact suffered by the electromagnetic valve due to the accumulation of pressure in the pipeline is also detected, and the backflow operation of the electromagnetic valve is adjusted in time to avoid damage to the electromagnetic valve due to the hydraulic impact.

[0004] The present application is realized by the following technical solutions:

[0005] The intelligent stable control method of the electromagnetic valve comprises:

[0006] Obtain the first motion data of the mobile carrier where the spray head is located, and determine the dynamic disturbance suffered by the electromagnetic valve corresponding to the spray head according to the first motion data; estimate the position offset of the valve core of the electromagnetic valve according to the dynamic disturbance;

[0007] 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;

[0008] According to the dynamic characteristics of the pipeline pressure connected to 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.

[0009] 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:

[0010] Obtain vibration data in a direction perpendicular to the moving direction during the 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;

[0011] Perform time-varying analysis on the dynamic vibration disturbance to 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.

[0012] 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:

[0013] According to the amplitude 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;

[0014] 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 when the mobile carrier moves through a 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.

[0015] Optionally, according to the dynamic characteristics of the pipeline pressure connected to 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:

[0016] acquire dynamic data of liquid pressure inside the pipeline connected with the spray head during adjustment of the electromagnetic valve, determine pipeline pressure dynamic characteristics according to the dynamic data of liquid pressure inside the pipeline, wherein the pipeline pressure dynamic characteristics include a peak value of pressure fluctuation inside the pipeline and a time point of occurrence of the peak value; predict a time frequency of occurrence of a hydraulic impact event suffered by the electromagnetic valve according to the pipeline pressure dynamic characteristics, wherein the hydraulic impact event refers to an event that an actual hydraulic impact value suffered by the electromagnetic valve exceeds a preset impact threshold; and adjust an opening degree of a backflow valve connected with the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event, so as to adjust a liquid backflow amount of the electromagnetic valve.

[0017] adjust the opening degree of the backflow valve connected with the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event, including:

[0018] acquire the time frequency of occurrence of the hydraulic impact event;

[0019] acquire an actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event;

[0020] acquire a standard deviation of actual hydraulic impact values corresponding to the hydraulic impact event according to the actual hydraulic impact value suffered by the electromagnetic valve corresponding to each hydraulic impact event;

[0021] perform ratio processing on the standard deviation of actual hydraulic impact values and a preset impact threshold to acquire a first hydraulic ratio coefficient;

[0022] wherein the first hydraulic ratio coefficient is acquired through the following formula:

[0023] B 01 =B x / B y ;

[0024] wherein B x represents the standard deviation of actual hydraulic impact values; and B y represents the preset impact threshold;

[0025] acquire an 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;

[0026] 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;

[0027] wherein the second hydraulic ratio coefficient is acquired through the following formula:

[0028] B 02 =Bc / B y ;

[0029] wherein, B c represents the absolute difference value of the actual hydraulic impact value suffered by the corresponding electromagnetic valve when each hydraulic impact event occurs; B y represents a preset impact threshold value;

[0030] The first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event are combined with the hydraulic impact event occurrence frequency to obtain the target opening degree of the backflow valve;

[0031] wherein, the target opening degree of the backflow valve is obtained by the following formula:

[0032] ;

[0033] wherein, K represents the target opening degree of 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 an impact frequency correction coefficient, with a value range of 0.3-0.5; w 02 represents a pressure distribution correction coefficient, with a value range of 0.2-0.4; f represents the hydraulic impact event occurrence frequency; f y represents a preset maximum allowable frequency of hydraulic impact events; the opening degree of the backflow valve is adjusted according to the target opening degree.

[0034] An intelligent stable control system of an electromagnetic valve, comprising:

[0035] A first motion detection and analysis module, configured to obtain first motion data of a mobile carrier on which a nozzle is located, and determine dynamic interference suffered by a corresponding electromagnetic valve of the nozzle according to the first motion data;

[0036] A valve core offset determination module, configured to estimate a valve core position offset of the electromagnetic valve according to the dynamic interference;

[0037] A flow regulation deviation determination module, configured to estimate a flow regulation deviation of the electromagnetic valve to the nozzle according to the valve core position offset;

[0038] A second motion detection and analysis module, configured to determine an expected output flow of the nozzle according to second motion data of the mobile carrier;

[0039] A PWM signal adjustment module, configured to adjust a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation.

[0040] a hydraulic impact prediction module configured to predict a hydraulic impact on the electromagnetic valve according to a dynamic characteristic of a pipe pressure connected to the spray head during the electromagnetic valve adjustment;

[0041] a backflow operation adjustment module configured to adjust a backflow operation on the electromagnetic valve according to the hydraulic impact.

[0042] Optionally, the first motion detection and analysis module is configured to acquire first motion data of a mobile carrier on which the spray head is located, and determine a dynamic disturbance on the electromagnetic valve corresponding to the spray head according to the first motion data, including:

[0043] acquire vibration data of the mobile carrier on which the spray head is located in a direction perpendicular to a moving direction during self movement of the mobile carrier, and determine a dynamic vibration disturbance on the electromagnetic valve corresponding to the spray head according to the vibration data and an installation orientation of the electromagnetic valve;

[0044] the spool displacement determination module is configured to estimate a spool position displacement of the electromagnetic valve according to the dynamic disturbance, including:

[0045] perform time variation analysis on the dynamic vibration disturbance to determine a vibration acceleration of the electromagnetic valve, and estimate the spool position displacement of the electromagnetic valve according to the vibration acceleration and a real-time position of a spool of the electromagnetic valve.

[0046] Optionally, 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 spool position displacement, including:

[0047] estimate a spool opening deviation of the electromagnetic valve itself under a reference PWM signal trigger according to a magnitude and a direction of the spool position displacement, and estimate the flow regulation deviation of the electromagnetic valve on the spray head according to the spool opening deviation and an input liquid flow rate of the electromagnetic valve;

[0048] 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:

[0049] determine an expected output flow corresponding to a uniform flow spraying implemented by the spray head on the mobile carrier moving through a space region according to motion speed data of the mobile carrier in a moving direction during automatic movement of the mobile carrier;

[0050] 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, including:

[0051] adjust a phase of the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation.

[0052] Optionally, the hydraulic impact prediction module is configured to predict the hydraulic impact on the electromagnetic valve according to a pressure dynamic characteristic of a pipe connected to the spray head during the electromagnetic valve adjustment, including:

[0053] acquiring dynamic data of liquid pressure inside the pipe connected to the spray head during the electromagnetic valve adjustment, determining the pressure dynamic characteristic of the pipe according to the dynamic data of liquid pressure inside the pipe, wherein the pressure dynamic characteristic of the pipe includes a peak value of pressure fluctuation inside the pipe and a time point of occurrence of the peak value; and predicting a time frequency of occurrence of a hydraulic impact event on the electromagnetic valve according to the pressure dynamic characteristic of the pipe, wherein the hydraulic impact event refers to an event that an actual hydraulic impact value on the electromagnetic valve exceeds a preset impact threshold value.

[0054] The backflow operation adjustment module is configured to adjust the backflow operation on the electromagnetic valve according to the hydraulic impact, including:

[0055] adjusting an opening degree of a backflow valve connected to the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event, so as to adjust an amount of liquid backflow to the electromagnetic valve.

[0056] adjusting the opening degree of the backflow valve connected to the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event, including:

[0057] obtaining the time frequency of occurrence of the hydraulic impact event;

[0058] obtaining an actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event;

[0059] obtaining a standard deviation of actual hydraulic impact values corresponding to the hydraulic impact event according to the actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event;

[0060] obtaining a first hydraulic ratio coefficient by ratio processing the standard deviation of actual hydraulic impact values and a preset impact threshold value;

[0061] wherein the first hydraulic ratio coefficient is obtained by the following formula:

[0062] B 01 =B x / B y ;

[0063] wherein B x represents the standard deviation of actual hydraulic impact values; and B y represents the preset impact threshold value.

[0064] 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 value is obtained according to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs;

[0065] 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 value to obtain a second hydraulic ratio coefficient;

[0066] The second hydraulic ratio coefficient is obtained through the following formula:

[0067] B 02 =B c / B y ;

[0068] B c represents the absolute difference value corresponding to the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs; B y represents the preset impact threshold value;

[0069] A target opening degree of the backflow valve is obtained by combining the first hydraulic ratio coefficient, the second hydraulic ratio coefficient corresponding to each hydraulic impact event and the hydraulic impact event occurrence time frequency;

[0070] The target opening degree of the backflow valve is obtained through the following formula:

[0071] ;

[0072] K represents the target opening degree of the backflow valve; K0 represents an 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 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 allowable frequency of the hydraulic impact event;

[0073] The opening degree of the backflow valve is adjusted according to the target opening degree.

[0074] Compared with the prior art, the present application has the following beneficial effects:

[0075] The intelligent stable control method and system of the electromagnetic valve provided by the 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; the flow regulation deviation of the electromagnetic valve to the spray head is estimated according to the spool position offset; the expected output flow of the spray head is determined according to the second motion data of the mobile carrier; the PWM signal applied to the electromagnetic valve is adjusted according to the expected output flow and the flow regulation deviation; the hydraulic impact received by the electromagnetic valve is predicted according to the dynamic characteristics of the pipeline pressure connected to the spray head during the adjustment of the electromagnetic valve, so as to adjust the backflow operation of the electromagnetic valve; the flow regulation deviation of the electromagnetic valve is determined by quantitatively calibrating the spool position offset of the electromagnetic valve caused by external vibration, so as to provide a reference for the flow regulation mode of the electromagnetic valve for stable and accurate control; the hydraulic impact received by the electromagnetic valve caused by the accumulated pressure of the pipeline 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

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description only represent some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort. Among them:

[0077] Figure 1 The flowchart of the intelligent stable control method of the electromagnetic valve provided by the present application.

[0078] Figure 2 The structure diagram of the intelligent stable control system of the electromagnetic valve provided by the present application. DETAILED DESCRIPTION

[0079] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present application.

[0080] The terms "comprises", "comprising", "includes", "including", "has", "having" and their conjugates herein, mean "including but not limited to". As used herein, the expression "and / or" includes combinations of one or more of the associated listed items.

[0081] 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. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, or to a single alternative embodiment. It is explicitly contemplated that embodiments described herein can be combined with each other.

[0082] See 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:

[0083] Obtaining first motion data of a mobile carrier on which the spray head is located, determining dynamic interference suffered by the solenoid valve corresponding to the spray head according to the first motion data, and estimating a spool position offset of the solenoid valve according to the dynamic interference.

[0084] Estimating a flow regulation deviation of the solenoid valve to the spray head according to the spool position offset, determining an expected output flow of the spray head 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.

[0085] According to the dynamic characteristics of the pipeline pressure connected to the spray head during adjustment of the solenoid valve, predicting hydraulic impact suffered by the solenoid valve, and adjusting backflow operation of the solenoid valve according to the hydraulic impact.

[0086] 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.

[0087] 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:

[0088] 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.

[0089] 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.

[0090] 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 of the mobile carrier during movement is inevitable, 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 be loose and unable to act at the original design position, which will form a certain opening size without any PWM signal acting on the valve core, resulting in a flow regulation deviation of the electromagnetic valve. 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 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.

[0091] 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 PWM signal applied to the electromagnetic valve is adjusted, including:

[0092] 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;

[0093] According to the motion speed data of the mobile carrier along the moving direction during the automatic movement, a corresponding expected output flow rate of the nozzle for implementing the uniform flow spraying of the mobile carrier moving through the space region is determined; and according to the expected output flow rate and the flow rate adjustment deviation, the phase of the PWM signal applied to the electromagnetic valve is adjusted.

[0094] 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 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 moving speed data of the mobile carrier during the automatic movement along the moving direction is determined 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.

[0095] 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:

[0096] 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 of occurrence; 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 of the electromagnetic valve.

[0097] The beneficial effects of the above embodiments are that the variable frequency motor extracts and pressurizes the liquid in the liquid storage tank and then delivers it 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 hydraulic impact fluctuation will be transmitted to the electromagnetic valve through the liquid medium in 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 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 a hydraulic sensor arranged in the pipe, the time domain change of the above internal liquid pressure dynamic data of the pipe is analyzed, the peak value of pressure fluctuation in the pipe and the time point of occurrence are determined, and 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 when the hydraulic impact event is about to occur, the liquid backflow amount of 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.

[0098] 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:

[0099] The time frequency of occurrence of the hydraulic impact event is retrieved;

[0100] The actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event is retrieved;

[0101] The actual hydraulic impact value standard deviation corresponding to the hydraulic impact event is obtained according to the actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event;

[0102] The first hydraulic ratio coefficient is obtained by comparing the standard deviation of the actual hydraulic impact value with the preset impact threshold.

[0103] The first hydraulic ratio coefficient is obtained by the following formula:

[0104] B 01 =B x / B y ;

[0105] Among them, B x B represents the standard deviation of the actual hydraulic shock value. y Indicates the preset impact threshold;

[0106] 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.

[0107] 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.

[0108] The second hydraulic ratio coefficient is obtained by the following formula:

[0109] B 02 =B c / B y ;

[0110] 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;

[0111] 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.

[0112] The target opening degree of the reflux valve is obtained by the following formula:

[0113] ;

[0114] 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 01represents an impact frequency correction coefficient, the value range is 0.3-0.5; w 02 represents a 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 a preset maximum allowable frequency of the hydraulic impact event;

[0115] Adjust the opening of the backflow valve according to the target opening.

[0116] The beneficial effects of the above embodiment, the embodiment calculates the ratio of the actual hydraulic impact value standard deviation (B x ) and the preset threshold value (B 01 ), effectively represents the dispersion degree of the hydraulic impact intensity, and reflects the stability of the system pressure fluctuation; at the same time, through the ratio of the single impact absolute difference value and the threshold value (B 02i ), 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 degree are coupled by weighting coefficients (w 01 , w 02 ) for calculation, 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 the hydraulic impact to the solenoid valve and the pipeline system, prolonging the service life of the equipment, reducing the flow fluctuation caused by the impact, and improving the stability of the system operation. By collecting dynamic data of the hydraulic impact event in real time and performing 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 change of hydraulic characteristics in different loads and different running stages, and improve the intelligent level and automatic control ability of the system.

[0117] Please refer to Figure 2 , an embodiment of the present application provides an intelligent stable control system of a solenoid valve. The intelligent stable control system of the solenoid valve comprises:

[0118] A first motion detection and analysis module is configured to obtain first motion data of a mobile carrier on which the nozzle is located, and determine dynamic interference received by the nozzle corresponding solenoid valve according to the first motion data.

[0119] A valve core offset determination module is configured to estimate the position offset of the valve core of the solenoid valve according to the dynamic interference.

[0120] a flow regulation deviation determination module configured to estimate a flow regulation deviation of the electromagnetic valve to the spray head according to the spool position offset;

[0121] a second motion detection and analysis module configured to determine an expected output flow of the spray head according to second motion data of the mobile carrier;

[0122] a PWM signal adjustment module configured to adjust a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation;

[0123] a hydraulic impact prediction module 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;

[0124] a backflow operation adjustment module configured to adjust a backflow operation to the electromagnetic valve according to the hydraulic impact.

[0125] The intelligent stable control system of the electromagnetic valve according to the above embodiment determines a dynamic disturbance on the electromagnetic valve corresponding to the spray head according to first motion data of a mobile carrier where the spray head is located, estimates a spool position offset of the electromagnetic valve based on the dynamic disturbance, estimates a flow regulation deviation of the electromagnetic valve to the spray head according to the spool position offset, determines an expected output flow of the spray head according to second motion data of the mobile carrier, adjusts a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation, and further predicts 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, so as to adjust a backflow operation to the electromagnetic valve. The flow regulation deviation of the electromagnetic valve is determined by quantitatively calibrating the spool position offset of the electromagnetic valve caused by external vibration, which provides a reference for stable and accurate control of the flow regulation mode of the electromagnetic valve. The hydraulic impact on the electromagnetic valve caused by accumulated pressure in the pipeline is also detected and predicted, and the backflow operation to the electromagnetic valve is adjusted in time to avoid damage to the electromagnetic valve caused by the hydraulic impact.

[0126] In another embodiment, the first motion detection and analysis module is configured to obtain first motion data of a mobile carrier where the spray head is located, and determine a dynamic disturbance on the electromagnetic valve corresponding to the spray head according to the first motion data, including:

[0127] obtaining vibration data of the mobile carrier in a direction perpendicular to the moving direction during movement of the mobile carrier, and determining a dynamic vibration disturbance on the electromagnetic valve according to the vibration data and an installation orientation of the electromagnetic valve corresponding to the spray head;

[0128] The spool offset determination module is configured to estimate a spool position offset of the electromagnetic valve according to the dynamic disturbance, including:

[0129] performing time variation analysis on the dynamic vibration disturbance to determine a vibration acceleration of the electromagnetic valve, and estimating the spool position offset of the electromagnetic valve according to the vibration acceleration and a real-time position of the spool of the electromagnetic valve.

[0130] The beneficial effects of the above embodiments, a 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. The spray head sprays the liquid outward. An electromagnetic valve is arranged in the spray head. By applying a PWM signal to the electromagnetic valve through a controller, the opening size of the electromagnetic valve can be changed, 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. 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, resulting in a flow regulation deviation of the electromagnetic valve. 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 the abnormal data is removed from the above vibration data component to obtain the dynamic vibration interference of the electromagnetic valve. Thus, the interference of the electromagnetic valve from the outside vibration is continuously characterized. In addition, the dynamic vibration interference is analyzed for time variation to determine the vibration acceleration of the electromagnetic valve itself. 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.

[0131] 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, comprising:

[0132] 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. 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.

[0133] 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, comprising:

[0134] According to the motion speed data of the mobile carrier along the moving direction during the automatic movement, determine the expected output flow corresponding to the mobile carrier moving through the space region to implement the uniform flow spraying by the nozzle;

[0135] 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:

[0136] Adjust the phase of the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow adjustment deviation.

[0137] 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.

[0138] 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 adjustment of the electromagnetic valve, including:

[0139] acquiring dynamic data of the liquid pressure inside the pipe connected to the spray head during the adjustment of the electromagnetic valve, 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.

[0140] The backflow operation adjustment module is configured to adjust the backflow operation of the electromagnetic valve based on the hydraulic impact, including:

[0141] 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 of the electromagnetic valve.

[0142] 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 adjustment of the electromagnetic valve, the dynamic data of the liquid pressure inside the pipe is analyzed in time domain to determine the peak value of the pressure fluctuation inside the pipe and the time point of occurrence, 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 of 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.

[0143] 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:

[0144] retrieving the time frequency of the hydraulic impact event;

[0145] retrieving the actual hydraulic impact value on the electromagnetic valve corresponding to each hydraulic impact event;

[0146] acquire the actual hydraulic impact value corresponding to the electromagnetic valve when each hydraulic impact event occurs;

[0147] acquire the first hydraulic ratio coefficient by ratio processing the actual hydraulic impact value standard deviation and the preset impact threshold value;

[0148] wherein the first hydraulic ratio coefficient is acquired by the following formula:

[0149] B 01 =B x / B y ;

[0150] wherein B x represents the actual hydraulic impact value standard deviation; B y represents the preset impact threshold value;

[0151] acquire the absolute difference value between the actual hydraulic impact value corresponding to the electromagnetic valve when each hydraulic impact event occurs and the preset impact threshold value;

[0152] acquire the second hydraulic ratio coefficient by ratio processing the absolute difference value corresponding to the actual hydraulic impact value corresponding to the electromagnetic valve when each hydraulic impact event occurs and the preset impact threshold value;

[0153] wherein the second hydraulic ratio coefficient is acquired by the following formula:

[0154] B 02 =B c / B y ;

[0155] wherein B c represents the absolute difference value corresponding to the actual hydraulic impact value corresponding to the electromagnetic valve when each hydraulic impact event occurs; B y represents the preset impact threshold value;

[0156] acquire the target opening degree of the backflow valve by combining the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to the electromagnetic valve when each hydraulic impact event occurs with the hydraulic impact event occurrence time frequency;

[0157] wherein the target opening degree of the backflow valve is acquired by the following formula:

[0158] ;

[0159] wherein K represents the target opening degree of the backflow valve; K0 represents the initial reference opening degree of the backflow valve; n represents the total number of hydraulic impact events; B 02irepresents the second hydraulic ratio value coefficient corresponding to the i-th hydraulic impact event; B 01 represents the first hydraulic ratio value 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;

[0160] The opening of the backflow valve is adjusted according to the target opening.

[0161] The beneficial effects of the above embodiment, the present embodiment calculates the ratio of the actual hydraulic impact value standard deviation (B x ) and the preset threshold value (B 01 ), effectively represents the dispersion degree of the hydraulic impact intensity, and reflects the stability of the system pressure fluctuation; at the same time, through the ratio of the single impact absolute difference and the threshold value (B 02i ), 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 01 , w 02 ) for calculation, 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 the hydraulic impact to the solenoid valve and the pipeline system, prolonging the service life of the equipment, reducing the flow fluctuation caused by the impact, and improving the stability of the system operation. Through real-time acquisition of dynamic data of the hydraulic impact event and real-time calculation, the opening of the backflow valve can be dynamically adjusted with the change of the system working condition, without manual intervention, so as to adapt to the change of hydraulic characteristics in different loads and different running stages, and improve the intelligent level and automatic control ability of the system.

[0162] 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 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 on 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 the stable and accurate control of the flow regulation mode of the electromagnetic valve. It also detects the hydraulic impact on the electromagnetic valve caused by the accumulated pressure in the pipeline, adjusts the backflow operation of the electromagnetic valve in time, and avoids damage to the electromagnetic valve caused by the hydraulic impact.

[0163] 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 of intelligent stable control of a solenoid valve, characterized by, The method comprises: acquiring first motion data of a mobile carrier on which the spray head is located, and determining dynamic interference to which a corresponding electromagnetic valve of the spray head is subjected according to the first motion data; estimating a spool position offset of the electromagnetic valve according to the dynamic interference; estimating a flow regulation deviation of the electromagnetic valve to the spray head according to the spool position offset; determining an expected output flow of the spray head according to second motion data of the mobile carrier; and adjusting a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation; predicting hydraulic impact to which the electromagnetic valve is subjected according to dynamic characteristics of pipeline pressure connected to the spray head during adjustment of the electromagnetic valve; and adjusting backflow operation of the electromagnetic valve according to the hydraulic impact.

2. The intelligent stable control method of the electromagnetic valve according to claim 1, wherein: acquiring first motion data of a mobile carrier on which the spray head is located, and determining dynamic interference to which a corresponding electromagnetic valve of the spray head is subjected according to the first motion data; and estimating a spool position offset of the electromagnetic valve according to the dynamic interference, comprises: acquiring vibration data of the mobile carrier in a direction perpendicular to a moving direction during self movement of the mobile carrier, and determining dynamic vibration interference to which the electromagnetic valve is subjected according to the vibration data and an installation orientation of the electromagnetic valve corresponding to the spray head; performing time variation analysis on the dynamic vibration interference to determine vibration acceleration of the electromagnetic valve; and estimating a spool position offset of the electromagnetic valve according to the vibration acceleration and a real-time position of a spool of the electromagnetic valve.

3. The intelligent stable control method of the electromagnetic valve according to claim 1, wherein: estimating a flow regulation deviation of the electromagnetic valve to the spray head according to the spool position offset; and determining an expected output flow of the spray head according to second motion data of the mobile carrier; adjusting a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation, comprises: estimating a spool opening deviation of the electromagnetic valve itself under triggering of a reference PWM signal according to a magnitude and a direction of the spool position offset; and estimating a flow regulation deviation of the electromagnetic valve to the spray head according to the spool opening deviation and an input liquid flow rate of the electromagnetic valve; determining an expected output flow corresponding to uniform flow spraying of the spray head to the mobile carrier moving through a space region according to motion speed data of the mobile carrier along a moving direction during automatic movement of the mobile carrier; and adjusting a phase of the PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation.

4. The intelligent stable control method of the electromagnetic valve according to claim 1, wherein: predicting hydraulic impact to which the electromagnetic valve is subjected according to dynamic characteristics of pipeline pressure connected to the spray head during adjustment of the electromagnetic valve; and adjusting backflow operation of the electromagnetic valve according to the hydraulic impact, comprises: acquire dynamic data of liquid pressure inside a pipeline connected with the nozzle during adjustment of the electromagnetic valve, determine pipeline pressure dynamic characteristics according to the dynamic data of liquid pressure inside the pipeline, wherein the pipeline pressure dynamic characteristics include a peak value of pressure fluctuation inside the pipeline and a time point at which the peak value occurs, and predict a time frequency of occurrence of a hydraulic impact event to which the electromagnetic valve is subjected according to the pipeline pressure dynamic characteristics, wherein the hydraulic impact event refers to an event in which an actual hydraulic impact value to which the electromagnetic valve is subjected exceeds a preset impact threshold, and adjust an opening degree of a backflow valve connected with the electromagnetic valve according to the time frequency of occurrence of the hydraulic impact event, so as to adjust a liquid backflow amount to the electromagnetic valve.

5. The intelligent stable control method of a solenoid valve according to claim 4, characterized by: According to the time frequency of occurrence of the hydraulic impact event, adjusting the opening degree of the backflow valve connected with the electromagnetic valve comprises: acquiring the time frequency of occurrence of the hydraulic impact event; acquiring an actual hydraulic impact value to which the electromagnetic valve is subjected when each hydraulic impact event occurs; acquiring a standard deviation of actual hydraulic impact values corresponding to the hydraulic impact event according to the actual hydraulic impact value to which the electromagnetic valve is subjected when each hydraulic impact event occurs; performing ratio processing on the standard deviation of actual hydraulic impact values and a preset impact threshold to acquire a first hydraulic ratio coefficient; wherein the first hydraulic ratio coefficient is acquired through the following formula: B 01 =B x / B y ; B x represents the actual hydraulic impact value standard deviation; B y represents the preset impact threshold value; acquiring an absolute difference value between the actual hydraulic impact value to which the electromagnetic valve is subjected when each hydraulic impact event occurs and the preset impact threshold according to the actual hydraulic impact value to which the electromagnetic valve is subjected when each hydraulic impact event occurs; performing ratio processing on the absolute difference value corresponding to the actual hydraulic impact value to which the electromagnetic valve is subjected when each hydraulic impact event occurs and the preset impact threshold to acquire a second hydraulic ratio coefficient; wherein the second hydraulic ratio coefficient is acquired through 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 when each hydraulic impact event occurs; B y represents a preset impact threshold value; acquiring a target opening degree of the backflow valve by using the first hydraulic ratio coefficient and the second hydraulic ratio coefficient corresponding to each hydraulic impact event in combination with the time frequency of occurrence of the hydraulic impact event; wherein the target opening degree of the backflow valve is acquired through 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 value coefficient corresponding to the i-th hydraulic impact event; B 01 represents the first hydraulic ratio value 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; adjusting the opening of the backflow valve according to the target opening; f represents the frequency of the hydraulic impact event occurrence time; f y represents the preset maximum allowable frequency of the hydraulic impact event.

6. An intelligent stabilizing control system for solenoid valves, characterized by, comprises: a first motion detection and analysis module configured to acquire first motion data of a mobile carrier on which a nozzle is located, and determine dynamic interference to which an electromagnetic valve corresponding to the nozzle is subjected according to the first motion data; a valve core offset determination module configured to estimate a valve core position offset of the electromagnetic valve according to the dynamic interference; a flow regulation deviation determination module configured to estimate a flow regulation deviation of the electromagnetic valve to the nozzle according to the valve core position offset; a second motion detection and analysis module configured to determine an expected output flow of the nozzle according to second motion data of the mobile carrier; a PWM signal adjustment module configured to adjust a PWM signal applied to the electromagnetic valve according to the expected output flow and the flow regulation deviation; a hydraulic impact prediction module configured to predict a hydraulic impact to which the electromagnetic valve is subjected according to pipeline pressure dynamic characteristics of a pipeline connected with the nozzle during adjustment of the electromagnetic valve; a backflow operation adjustment module configured to adjust a backflow operation to the electromagnetic valve according to the hydraulic impact. 7.The intelligent stable control system of solenoid valve according to claim 6, wherein: the first motion detection and analysis module is configured to obtain first motion data of the mobile carrier on which the spray head is located, and determine dynamic disturbance suffered by the solenoid valve corresponding to the spray head according to the first motion data, including: obtaining vibration data of the mobile carrier on which the spray head is located in a direction perpendicular to the moving direction during self movement of the mobile carrier, and determining dynamic vibration disturbance suffered by the solenoid valve according to the vibration data and installation orientation of the solenoid valve corresponding to the spray head; the spool offset determination module is configured to estimate spool position offset of the solenoid valve according to the dynamic disturbance, including: performing time variation analysis on the dynamic vibration disturbance, and determining vibration acceleration of the solenoid valve; and estimating spool position offset of the solenoid valve according to the vibration acceleration and real-time position of the spool of the solenoid valve. 8.The intelligent stable control system of solenoid valve according to claim 6, wherein: the flow regulation bias determination module is configured to estimate flow regulation bias of the solenoid valve to the spray head according to the spool position offset, including: estimating spool opening degree bias of the solenoid valve itself under triggering of a reference PWM signal according to amplitude and direction of the spool position offset; and estimating flow regulation bias of the solenoid valve to the spray head according to the spool opening degree bias and input liquid flow rate of the solenoid valve; the second motion detection and analysis module is configured to determine expected output flow of the spray head according to second motion data of the mobile carrier, including: determining expected output flow corresponding to uniform flow spraying implemented by the spray head on the mobile carrier moving through a space region according to motion speed data of the mobile carrier along the moving direction during automatic movement of the mobile carrier; and the PWM signal adjustment module is configured to adjust the PWM signal applied to the solenoid valve according to the expected output flow and the flow regulation bias, including: adjusting phase of the PWM signal applied to the solenoid valve according to the expected output flow and the flow regulation bias. 9.The intelligent stable control system of solenoid valve according to claim 6, wherein: the hydraulic impact prediction module is configured to predict hydraulic impact suffered by the solenoid valve according to pressure dynamic characteristics of a pipeline connected with the spray head during adjustment of the solenoid valve, including: obtaining internal liquid pressure dynamic data of the pipeline connected with the spray head during adjustment of the solenoid valve, and determining the pressure dynamic characteristics of the pipeline according to the internal liquid pressure dynamic data of the pipeline; wherein, the pressure dynamic characteristics of the pipeline include internal pressure fluctuation peak value and its occurrence time point; and predicting occurrence time frequency of a hydraulic impact event suffered by the solenoid valve according to the pressure dynamic characteristics of the pipeline; wherein, the hydraulic impact event refers to an event that actual hydraulic impact value suffered by the solenoid valve exceeds a preset impact threshold; and the backflow operation adjustment module is configured to adjust backflow operation of the solenoid valve according to the hydraulic impact, including: adjusting opening degree of a backflow valve connected with the solenoid valve according to the occurrence time frequency of the hydraulic impact event, so as to adjust liquid backflow amount of the solenoid valve. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 10. The intelligent stable control system of a solenoid valve according to claim 9, characterized by: According to the hydraulic impact event occurrence time frequency, adjusting the opening degree of the backflow valve connected with the electromagnetic valve, comprising: Obtaining the hydraulic impact event occurrence time frequency; Obtaining the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event; Obtaining the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event; Obtaining the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event; Obtaining the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event; B 01 =B x / B y ; wherein B x represents the actual hydraulic impact value standard deviation; B y represents the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; B 02 =B c / B y ; B c represents the absolute difference value of the actual hydraulic impact value of the corresponding electromagnetic valve when each hydraulic impact event occurs; B y represents a preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; ； 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 occurrence of the hydraulic impact event; f y represents the preset maximum allowable frequency of the hydraulic impact event; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual hydraulic impact value of the corresponding electromagnetic valve in each hydraulic impact event and the preset impact threshold value; Obtaining the absolute difference value between the actual

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