Proportional valve driving control method, device and system

Abstract

The invention discloses a proportional valve driving control method, device and system, and relates to the field of proportional valve driving, and the proportional valve driving control method comprises the following steps: firstly, obtaining an instruction current and an output current of a proportional valve collected by a sampling module; then, the difference value of the instruction current and the output current is input into a current loop controller to obtain modulation voltage; modulating the modulation voltage to obtain a sine pulse width modulation signal; and finally, the sine pulse width modulation signal is transmitted to the power module, so that the power module drives a proportional valve. The vibration current is adjusted by using the sine pulse width modulation signal, so that the vibration frequency, the switching frequency and the vibration amplitude can be freely adjusted, the response speed and the response sensitivity of the valve element are improved, and the control precision and the control speed of the proportional valve are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of proportional valve driving, in particular to a proportional valve driving control method, device and system. BACKGROUND

[0002] The proportional valve is the core of electro-hydraulic proportional control technology, and the proportional valve generally uses different sizes of current to adjust the size of the proportional valve opening. The proportional valve driving technology directly affects the control performance of the proportional valve.

[0003] At present, the switching frequency and current ripple frequency of the digital PWM proportional valve driving technology are related to the frequency and amplitude of the modulation signal and input voltage, and cannot be accurately adjusted independently, which is difficult to meet the system requirements of high control performance. SUMMARY

[0004] The embodiment of the present application provides a proportional valve driving control method to solve the technical problem that the control of the fundamental oscillation frequency, switching frequency and oscillation amplitude are coupled and cannot be adjusted independently in the related art.

[0005] In a first aspect, a proportional valve driving control method is provided, comprising the following steps: Obtaining an instruction current and an output current of a proportional valve collected by a sampling module; Inputting the difference between the instruction current and the output current into a current loop controller to obtain a modulation voltage; Obtaining a sinusoidal pulse width modulation signal after modulating the modulation voltage; Sending the sinusoidal pulse width modulation signal to a power module to drive the proportional valve by the power module.

[0006] In some embodiments, the step of inputting the difference between the instruction current and the output current into the current loop controller to obtain the modulation voltage comprises: The transfer function of the current loop controller is

[0007] The modulation voltage is u o = i er H i ( s ); Wherein, i er is the difference between the instruction current and the current output current, i er = i ref - i o , i ref is the instruction current, io is an output current; s represents a Laplace complex variable, K p represents a proportional coefficient, K r represents a resonance coefficient, ω 0 is a chatter current angular frequency, ω c represents a cut-off frequency.

[0008] In some embodiments, the instruction current is i ref = i ave + A 0 sinω 0 t ; wherein, i ave is an output current i o whose average value is A 0 sinω 0 t is a chatter current; A 0 is a chatter current amplitude.

[0009] In a second aspect, a proportional valve driving control device is provided, comprising: a power supply module, a main control module, a sampling module, and a power module: The power supply module is connected with the main control module, the sampling module, and the power module; The main control module is connected with the power module and the sampling module, and is configured to: acquire an instruction current and an output current of a proportional valve collected by the sampling module; input a difference between the instruction current and the output current into a current loop controller to obtain a modulation voltage; modulate the modulation voltage to obtain a sinusoidal pulse width modulation signal; deliver the sinusoidal pulse width modulation signal to the power module, so that the power module drives the proportional valve.

[0010] In some embodiments, the inputting of the difference between the instruction current and the output current into the current loop controller to obtain the modulation voltage comprises: a transfer function of the current loop controller is

[0011] the modulation voltage is u o = i er H i ( s ); in, i er This is the difference between the commanded current and the current output current. i er = i ref - i o , i ref For command current, i o For output current, s Represents a Laplace complex variable. K p Represents the proportionality coefficient. K r Represents the resonance coefficient. ω 0 represents the angular frequency of the flutter current. ω c Indicates the cutoff frequency.

[0012] In some embodiments, the command current is i ref = i ave + A 0 sinω 0 t ; in, i ave For output current i o The average value, A 0 sinω 0 t This is the flutter current; A 0 represents the flutter current amplitude.

[0013] In some embodiments, the power module includes: a driver chip, a first switch, a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first capacitor, and a second capacitor; The first terminal of the first capacitor is grounded. The second terminal of the first capacitor is connected to the first terminal of the first diode. The second terminal of the first diode is connected to the first terminal of the second capacitor. The first terminal of the second capacitor is connected to the eighth terminal of the driver chip. The second terminal of the second capacitor is connected to the second terminal of the third resistor. The first terminal of the second resistor is connected to the seventh terminal of the driver chip. The second terminal of the second resistor is connected to the gate of the first switch. The first terminal of the third resistor is connected to the second terminal of the second resistor. The second terminal of the third resistor is connected to the sixth terminal of the driver chip. The first terminal of the second diode is connected to the second terminal of the third resistor. The second terminal of the second diode is connected to the proportional valve. The second terminal of the second diode is grounded. The source of the first switch is connected to the proportional valve. The drain of the first switch is connected to an external power supply. The first terminal of the driver chip is connected to the power module. The second terminal of the driver chip is connected to the main control module. The fourth terminal of the driver chip is grounded.

[0014] In some embodiments, the first switch is a MOSFET.

[0015] In some embodiments, the sampling module includes: a current sampling chip, a fourth resistor, and a third capacitor; The first terminal of the current sampling chip is connected to the main control module, the second terminal of the current sampling chip is grounded, the third terminal of the current sampling chip is connected to the first terminal of the fourth resistor, the fourth terminal of the current sampling chip is connected to the second terminal of the fourth resistor, the fifth terminal of the current sampling chip is connected to the first terminal of the third capacitor, and the second terminal of the third capacitor is grounded.

[0016] Thirdly, a proportional valve drive control system is provided, including the aforementioned proportional valve drive control device.

[0017] The beneficial effects of the technical solution provided by this invention include: This invention provides a proportional valve drive control device, system, and method. The proportional valve drive control device uses sinusoidal pulse width modulation technology to achieve individual and precise control of the chatter frequency, switching frequency, and chatter amplitude, thereby improving the sensitivity, stability, and control effect of the control action. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1A schematic flowchart of the proportional valve drive control method provided in an embodiment of the present invention; Figure 2 A flowchart illustrating the proportional valve drive control provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of a proportional valve drive control device provided in an embodiment of the present invention; Figure 4 A circuit diagram of a power module provided for an embodiment of the present invention; Figure 5 A circuit diagram of the sampling module provided in an embodiment of the present invention; Figure 6 This is a simulation diagram of the first proportional valve drive current waveform provided in an embodiment of the present invention; Figure 7 This is a simulation diagram of the first proportional valve drive current waveform provided in an embodiment of the present invention; Figure 8 This is a simulation diagram of the first proportional valve drive current waveform provided in an embodiment of the present invention; Figure 9 The first proportional valve drive current waveform simulation diagram provided for an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] This invention provides a proportional valve drive control method that can solve the technical problem that the chatter frequency, switching frequency and chatter amplitude cannot be adjusted independently when using a fully digital PWM modulated proportional valve.

[0022] See Figure 1 As shown, this embodiment of the invention provides a proportional valve drive control method, including the following steps: Step S1: The main control module acquires the command current, and the sampling module acquires the output current of the proportional valve, wherein the command current is... i ref = i ave + A 0 sinω 0 t , i ave For output current i oThe average value, A 0 sinω 0 t This is the flutter current; A 0 represents the amplitude of the flutter current; Step S2: Calculate the difference between the command current and the output current. i er Input current loop controller Obtain the modulation voltage u o ,in , u o = i er H i ( s ); Step S3: Set the modulation voltage u o After modulation K PWM After modulation, a sinusoidal pulse width modulation signal is obtained, in which... K PWM Equivalent to 1; Step S4: The sinusoidal pulse width modulation signal is sent to the power module. The sinusoidal pulse width modulation signal is amplified by the MOSFET to obtain a high-frequency DC square wave high-voltage drive proportional valve.

[0023] In this embodiment of the invention, the proportional valve drive control method first acquires the command current and the output current of the proportional valve collected by the sampling module; then, the difference between the command current and the output current is input into the current loop controller to obtain the modulation voltage; then, the modulation voltage is modulated to obtain a sinusoidal pulse width modulation signal; finally, the sinusoidal pulse width modulation signal is sent to the power module to drive the proportional valve.

[0024] By adjusting the chatter current using a sinusoidal pulse width modulation signal, the chatter frequency, switching frequency, and chatter amplitude can all be freely adjusted, improving the valve core response speed and sensitivity, and reducing hysteresis.

[0025] See Figure 2 As shown, in an optional embodiment, the step of inputting the difference between the command current and the output current into the current loop controller to obtain the modulated voltage includes: The transfer function of the current loop controller is

[0026] The modulation voltage is u o = i er H i ( s); Command current is i ref = i ave + A 0 sinω 0 t ; in, i er This is the difference between the commanded current and the current output current. i er = i ref - i o , i ref For command current, i o For output current; s Represents a Laplace complex variable. K p Represents the proportionality coefficient. K r Represents the resonance coefficient. ω 0 represents the angular frequency of the flutter current. ω c Indicates the cutoff frequency. i ave For output current i o The average value, A 0 sinω 0 t This is the flutter current; A 0 represents the amplitude of the chatter current, and the frequency of the chatter current is independently controlled by the fundamental frequency. The switching frequency is determined by... K pwm The carrier frequency is independently controlled and is independent of the flutter current frequency, and the flutter amplitude is independently controlled by the fundamental amplitude and is independent of the flutter current frequency.

[0027] By precisely matching the resonant frequency of the current loop controller with the frequency of the command current, decoupled control of the chatter frequency, switching frequency, and chatter amplitude is achieved. This solves the problem of mutual coupling between current frequency and amplitude in traditional proportional valve drive schemes. No additional hardware is required; decoupled control is achieved solely through parameter configuration of the fundamental frequency, carrier frequency, and fundamental amplitude, thus reducing the cost of proportional valve control.

[0028] See Figure 3 As shown, this embodiment of the invention provides a proportional valve drive control device, including: a power supply module, a main control module, a sampling module, and a power module. The power module is connected to the main control module, the sampling module, and the power module; The main control module is connected to the power module and the sampling module, and is configured as follows: Acquire the command current and the output current of the proportional valve collected by the sampling module; The difference between the command current and the output current is input into the current loop controller to obtain the modulation voltage; The modulation voltage is modulated to obtain a sinusoidal pulse width modulation signal; A sinusoidal pulse width modulation signal is sent to the power module, causing the power module to drive the proportional valve.

[0029] By adjusting the chatter current using a sinusoidal pulse width modulation signal, the chatter frequency, switching frequency, and chatter amplitude can all be freely adjusted, improving the valve core response speed and sensitivity, and reducing hysteresis.

[0030] See Figure 4 As shown, in an optional embodiment, the power module includes: a driver chip, a first switch, a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first capacitor, and a second capacitor; The first terminal of the first capacitor is grounded. The second terminal of the first capacitor is connected to the first terminal of the first diode. The second terminal of the first diode is connected to the first terminal of the second capacitor. The first terminal of the second capacitor is connected to the eighth terminal of the driver chip. The second terminal of the second capacitor is connected to the second terminal of the third resistor. The first terminal of the second resistor is connected to the seventh terminal of the driver chip. The second terminal of the second resistor is connected to the gate of the first switch. The first terminal of the third resistor is connected to the second terminal of the second resistor. The second terminal of the third resistor is connected to the sixth terminal of the driver chip. The first terminal of the second diode is connected to the second terminal of the third resistor. The second terminal of the second diode is connected to the proportional valve. The second terminal of the second diode is grounded. The source of the first switch is connected to the proportional valve. The drain of the first switch is connected to an external power supply. The first terminal of the driver chip is connected to the power module. The second terminal of the driver chip is connected to the main control module. The fourth terminal of the driver chip is grounded.

[0031] This embodiment achieves decoupled control of switching frequency and dithering frequency by precisely designing a power module drive circuit including a driver chip, a first switch N1, a first diode D1, a second diode D2, a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1, and a second capacitor C2. This is easy to implement without additional hardware.

[0032] See Figure 4As shown, in an optional embodiment, the first switch is a MOSFET. The source of the MOSFET is connected to the proportional valve coil to power the proportional valve, the drain of the MOSFET is connected to the 24V DC power supply of the external power supply to provide the operating voltage, and the gate of the MOSFET is connected to the second end of the second resistor to receive the PWM signal output by the driver chip.

[0033] Using MOSFETs as power switches eliminates the need for additional diodes, saving costs and enabling high-frequency switching without additional circuitry. The switching frequency and dithering frequency of MOSFETs are independent of each other and can be adjusted separately.

[0034] See Figure 5 As shown, in an optional embodiment, the sampling module includes: a current sampling chip, a fourth resistor, and a third capacitor; The first terminal of the current sampling chip is connected to the main control module, the second terminal of the current sampling chip is grounded, the third terminal of the current sampling chip is connected to the first terminal of the fourth resistor, the fourth terminal of the current sampling chip is connected to the second terminal of the fourth resistor, the fifth terminal of the current sampling chip is connected to the first terminal of the third capacitor, and the second terminal of the third capacitor is grounded.

[0035] The actual current of the proportional valve coil is obtained in real time by the sampling module, and the sinusoidal pulse width modulation signal is adjusted in real time to reduce the delay of the proportional valve drive and increase the sensitivity of the proportional valve drive.

[0036] Figure 6 , Figure 7 , Figure 8 and Figure 9 Multiple simulation diagrams of the proportional valve drive current waveform: Figure 6 This is a simulation diagram of the proportional valve drive current waveform. The average value of the chatter current is 0.4A, the peak-to-peak value of the chatter current is 0.1A, and the frequency of the chatter current is 50Hz. Figure 7 This is a simulation diagram of the proportional valve drive current waveform. The average value of the chatter current is 0.8A, the peak-to-peak value of the chatter current is 0.1A, and the frequency of the chatter current is 50Hz. Figure 8 This is a simulation diagram of the proportional valve drive current waveform. The average value of the chatter current is 0.8A, the peak-to-peak value of the chatter current is 0.2A, and the frequency of the chatter current is 50Hz. Figure 9 This is a simulation diagram of the proportional valve drive current waveform. The average value of the chatter current is 0.4A, the peak-to-peak value of the chatter current is 0.1A, and the frequency of the chatter current is 100Hz.

[0037] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply the meaning. The device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A proportional valve drive control method, characterized in that, Includes the following steps: Acquire the command current and the output current of the proportional valve collected by the sampling module; The difference between the command current and the output current is input into the current loop controller to obtain the modulation voltage; The modulation voltage is modulated to obtain a sinusoidal pulse width modulation signal; The sinusoidal pulse width modulation signal is sent to the power module, which then drives the proportional valve.

2. The proportional valve drive control method according to claim 1, characterized in that, The step of inputting the difference between the command current and the output current into the current loop controller to obtain the modulation voltage includes: The transfer function of the current loop controller is The modulation voltage is u o = i er H i ( s ); in, i er This is the difference between the commanded current and the current output current. i er = i ref - i o , i ref For command current, i o For output current; s Represents a Laplace complex variable. K p This represents the proportionality coefficient. K r Represents the resonance coefficient. ω 0 represents the angular frequency of the flutter current. ω c Indicates the cutoff frequency.

3. The proportional valve drive control method according to claim 2, characterized in that... : The command current is i ref = i ave + A 0 sinω 0 t ; in, i ave For output current i o The average value, A 0 sinω 0 t This is the flutter current; A 0 represents the flutter current amplitude.

4. A proportional valve drive control device, characterized in that, include: Power supply module, main control module, sampling module, power module: The power module is connected to the main control module, the sampling module, and the power module; The main control module is connected to the power module and the sampling module, and is configured as follows: Acquire the command current and the output current of the proportional valve collected by the sampling module; The difference between the command current and the output current is input into the current loop controller to obtain the modulation voltage; The modulation voltage is modulated to obtain a sinusoidal pulse width modulation signal; A sinusoidal pulse width modulation signal is sent to the power module, causing the power module to drive the proportional valve.

5. The proportional valve drive control device according to claim 4, characterized in that, The step of inputting the difference between the command current and the output current into the current loop controller to obtain the modulation voltage includes: The transfer function of the current loop controller is The modulation voltage is u o = i er H i ( s ); in, i er This is the difference between the commanded current and the current output current. i er = i ref - i o , i ref For command current, i o For output current; s Represents a Laplace complex variable. K p This represents the proportionality coefficient. K r Represents the resonance coefficient. ω 0 represents the angular frequency of the flutter current. ω c Indicates the cutoff frequency.

6. The proportional valve drive control device according to claim 5, characterized in that... : The command current is i ref = i ave + A 0 sinω 0 t ; in, i ave For output current i o The average value, A 0 sinω 0 t For chatter current, A 0 represents the flutter current amplitude.

7. The proportional valve drive control device according to claim 6, characterized in that: The power module includes: a driver chip, a first switch, a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first capacitor, and a second capacitor; The first terminal of the first capacitor is grounded. The second terminal of the first capacitor is connected to the first terminal of the first diode. The second terminal of the first diode is connected to the first terminal of the second capacitor. The first terminal of the second capacitor is connected to the eighth terminal of the driver chip. The second terminal of the second capacitor is connected to the second terminal of the third resistor. The first terminal of the second resistor is connected to the seventh terminal of the driver chip. The second terminal of the second resistor is connected to the gate of the first switch. The first terminal of the third resistor is connected to the second terminal of the second resistor. The second terminal of the third resistor is connected to the sixth terminal of the driver chip. The first terminal of the second diode is connected to the second terminal of the third resistor. The second terminal of the second diode is connected to the proportional valve. The second terminal of the second diode is grounded. The source of the first switch is connected to the proportional valve. The drain of the first switch is connected to an external power supply. The first terminal of the driver chip is connected to the power module. The second terminal of the driver chip is connected to the main control module. The fourth terminal of the driver chip is grounded.

8. The proportional valve drive control device according to claim 7, characterized in that: The first switch is a MOSFET.

9. The proportional valve drive control device according to claim 7, characterized in that: The sampling module includes: a current sampling chip, a fourth resistor, and a third capacitor; The first terminal of the current sampling chip is connected to the main control module, the second terminal of the current sampling chip is grounded, the third terminal of the current sampling chip is connected to the first terminal of the fourth resistor, the fourth terminal of the current sampling chip is connected to the second terminal of the fourth resistor, the fifth terminal of the current sampling chip is connected to the first terminal of the third capacitor, and the second terminal of the third capacitor is grounded.

10. A proportional valve drive control system, characterized in that, Includes the proportional valve drive control device as described in any one of claims 4-9.

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