Ceramic rod sensor-based double-path opening degree synchronous deviation correction method and ceramic rod sensor-based double-path opening degree synchronous deviation correction system

Abstract

The invention relates to the technical field of synchronous control, and particularly discloses a ceramic rod sensor-based double-path opening synchronous deviation correction method and system. The method comprises the steps that an opening degree difference value, deviation value tolerance, an opening degree deviation standard value and a peak value change interval are synthesized, and an opening degree synchronization state is determined; generating a net deviation value, and taking the net deviation value as a basis for judging the opening degree synchronization state; and determining a deviation correction interval according to the duration of the asynchronous state, and executing double-path opening deviation correction operation in the deviation correction interval by taking the polarization time point as a reference. According to the method, the instantaneous amplitude of the opening difference value and the periodic change characteristics of the opening difference value serve as judgment bases, inherent transient fluctuation and the real continuous asynchronous state of the system are distinguished, the accuracy and reliability of opening synchronous state judgment are improved, random noise or sudden interference signals of the ceramic rod sensor are filtered out, and the accuracy and reliability of opening synchronous state judgment are improved. And the recognition accuracy of the opening deviation state is improved.

Description

Technical Field

[0001] This invention belongs to the field of synchronous control technology, specifically relating to a dual-path opening synchronization correction method and system based on a ceramic rod sensor. Background Technology

[0002] In scenarios such as coordinated grasping by robotic arms, multi-axis linkage of CNC machine tools, synchronous opening and closing of pipeline valves in chemical processes, water conservancy and hydropower, and industrial opening and closing equipment, the coordinated control of multiple actuators or components is used to synchronize the motion units, thereby ensuring production efficiency and processing accuracy. Currently, dual-path drive or dual-path control system is often used to synchronize the opening or status of dual-channel production lines to complete the corresponding process flow.

[0003] Existing dual-path synchronous control technology relies on a single control signal link or centralized data processing architecture. When the signal transmission path is interrupted, delayed, or subjected to electromagnetic interference, it is prone to synchronization failure, which in turn causes equipment malfunction and component interference and collision, and may even trigger a chain of failures, posing a threat to production safety. Furthermore, existing technologies generally employ continuous and high-frequency correction strategies. The continuous correction commands themselves introduce delays, causing the correction actions to always lag behind the actual deviation state. This results in continuous oscillations or slight jitters near the synchronization target value, which can easily exacerbate the wear of mechanical components and reduce the overall smoothness and service life of the system.

[0004] In view of this, this application discloses a dual-path opening synchronous correction method and system based on a ceramic rod sensor. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-channel opening synchronous correction method and system based on a ceramic rod sensor.

[0006] This invention is achieved through the following technical solution: A dual-channel opening synchronization correction method based on a ceramic rod sensor includes the following steps: Based on the signal output obtained from the ceramic rod sensor, the dual-path opening degree is determined, and the opening degree synchronization state is determined based on the dual-path opening degree. When the opening synchronization state is out of sync, determine the deviation correction range and perform dual-path opening correction operation within the deviation correction range; The method for determining the opening synchronization state based on dual-path opening includes: comparing the first and second openings in the dual-path opening to generate an opening difference value; performing data smoothing on the opening difference value; removing data points with fluctuation amplitudes greater than a preset fluctuation threshold from the smoothed opening difference value; identifying multiple deviation maxima from the opening difference value and calculating the time interval between two adjacent deviation maxima as the peak change interval; and determining the opening synchronization state based on the opening difference value, a preset deviation tolerance, a preset opening deviation standard value, and the peak change interval.

[0007] Preferably, when the opening synchronization state is in a asynchronous state, determining the deviation correction interval includes: Obtain the duration of the asynchronous state; based on the duration, determine the deviation correction interval.

[0008] Preferably, before performing dual-path opening correction operation within the deviation correction range, the method further includes: The starting time point is determined within the deviation correction range; among them, the dual-path opening correction operation is performed based on the starting time point.

[0009] Preferably, the dual-path opening correction operation is performed within a time period starting from the point of initiation of the deviation and ending at the point of termination of the deviation correction interval.

[0010] Preferably, performing dual-path opening correction operation within the deviation correction range includes: The first correction execution time point within the deviation correction interval is defined as the reference time. After the reference time, the dual-path opening correction operation is repeated within the deviation correction interval according to the preset delay period.

[0011] A dual-channel opening synchronous correction system based on a ceramic rod sensor includes the following modules: The opening synchronization status judgment module is used to determine the dual-channel opening based on the signal output obtained from the ceramic rod sensor, and to determine the opening synchronization status based on the dual-channel opening. The deviation correction strategy generation module is used to determine the deviation correction interval and the starting time point when the response opening synchronization state judgment module determines that the opening synchronization state is out of sync. The opening correction execution module is used to perform dual-path opening correction operations within the deviation correction interval determined by the correction strategy generation module based on the deviation correction interval and the starting time point.

[0012] Preferably, the step of determining the opening synchronization state based on the dual-path opening degree includes: The opening degree of the first path in the dual-path opening is compared with the opening degree of the second path to generate an opening degree difference value; multiple deviation maxima are identified from the opening degree difference value, and the time interval between two adjacent deviation maxima is calculated as the peak change interval; based on the opening degree difference value, the preset deviation tolerance, the preset opening degree deviation standard value, and the peak change interval, the opening degree synchronization state is determined.

[0013] Preferably, before identifying multiple deviations to maximum values ​​from the opening difference values, the opening difference values ​​are smoothed, and data points with fluctuation amplitudes greater than a preset fluctuation threshold are removed from the smoothed opening difference values.

[0014] Preferably, when the opening synchronization state is in a asynchronous state, determining the deviation correction interval includes: Obtain the duration of the asynchronous state and determine the deviation correction interval based on the duration.

[0015] Preferably, based on the determined deviation correction interval and the starting time point, a dual-path opening correction operation is performed within a time period starting from the starting time point and ending at the end point of the deviation correction interval. After defining the first correction execution time point within the deviation correction interval as the reference time, the dual-path opening correction operation is repeated according to a preset delay period.

[0016] Beneficial effects This invention generates an opening difference value by comparing the opening degree of the first path and the opening degree of the second path, identifies the maximum deviation value, and calculates the time interval between adjacent maximum deviation values ​​as the peak change interval. By combining the opening difference value, deviation tolerance, opening deviation from the standard value, and peak change interval, the opening synchronization state is determined. The instantaneous amplitude of the opening difference value and its periodic change characteristics are used as the judgment criteria, thereby distinguishing between the inherent transient fluctuations of the system and the true continuous asynchronous state, improving the accuracy and reliability of the opening synchronization state judgment.

[0017] After generating the opening difference value, this invention performs data smoothing on the opening difference value. By identifying and removing data points with fluctuation amplitudes greater than a preset fluctuation threshold, a net deviation value is generated. This net deviation value is used as the basis for judging the opening synchronization state. This can filter out random noise or sudden interference signals introduced by the ceramic rod sensor during signal acquisition, ensuring that the data basis for identifying the maximum deviation value and judging the opening synchronization state is a net deviation value that can reflect the true deviation trend, thereby improving the accuracy of opening deviation state identification.

[0018] After determining that the opening synchronization state is out of sync, this invention determines the deviation correction interval based on the duration of the out-of-sync state, and determines the starting time point within the interval. Using the starting time point as a reference, dual-path opening correction operation is performed within the deviation correction interval, achieving targeted control of the dual-path opening correction operation. The deviation correction interval is dynamically planned based on the actual duration of the opening difference, and the starting time point, which is the true starting point, is traced back through trend change analysis. This ensures that the dual-path opening correction operation starts at the appropriate time and is executed within a reasonable interval, improving the response speed and execution efficiency of the dual-path opening correction operation. Attached Figure Description

[0019] Figure 1 This is a flowchart of the method provided by the present invention; Figure 2 This is a system module diagram provided by the present invention. Detailed Implementation

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Example 1 Please refer to Figure 1 This embodiment provides a dual-channel opening synchronization correction method based on a ceramic rod sensor, including the following steps: S1. Obtain the signal output of the ceramic rod sensor, determine the rod displacement data in the first direction and the rod displacement data in the second direction, and determine the opening degree or displacement of the two parallel or linked mechanisms at the same time point based on the rod displacement data, and use it as the dual-path opening degree. Specifically, the two ceramic rods of the ceramic rod sensor are mechanically connected to the key measurement points of the test piece by means of a rigid clamp; in the application scenario of a double-acting hydraulic valve, they can be connected to the valve cores on both sides. The test piece is mounted as a whole onto a load-applying device such as a hydraulic test bench or a material testing machine. The load-applying device applies a dynamically changing load to the test piece, which can specifically simulate the continuous opening and closing process of a valve under high-pressure fluid impact. The minute displacement of the key measurement points of the test piece will cause the deformation of the ceramic rod. The ceramic rod sensor will then sense the displacement change and output a corresponding electrical signal, which is the raw data required for subsequent opening determination.

[0022] S2. Set the baseline opening degree and baseline time period as a reference system for subsequent deviation comparison; Among them, the dual-path opening of the test piece is obtained as the reference opening when it is in a static state or in the initial state with only preload applied. The reference opening is used as the zero-point reference to determine whether the opening deviates from the zero-point reference. Specifically, in the initial state, the dual-path opening of the test piece is acquired under a specific initial state. The initial state refers to the static state of the test piece when it is installed in place, but the load-applying device has not yet applied any working load or has only applied preload. The dual-path opening acquired in the initial state can reflect the inherent alignment baseline under no external dynamic interference. The dual-path opening in this initial state is set as the reference opening, providing a clear zero-point reference for subsequent judgment of whether the opening has deviated.

[0023] S3. During the reference period, by continuously comparing the opening degree of the first channel and the opening degree of the second channel at a fixed time frequency, an opening degree deviation line is generated to represent the change of the difference between the opening degrees of the two channels over time. The value corresponding to each time point on the opening degree deviation line is defined as the opening degree difference value. Specifically, after generating the opening deviation line, in order to improve the accuracy and anti-interference ability of the deviation analysis, a data preprocessing process is also included; the original opening difference value is smoothed to filter out the instantaneous fluctuation value that is caused by electrical noise or high-frequency mechanical vibration and does not reflect the true trend, which is manifested as high-frequency spikes on the line. The smoothing process includes: for a data value at a given time point, taking the data values ​​at that time point and several adjacent time points before and after it and calculating the arithmetic mean, and using the average value as the new value after smoothing at that time point; In the smoothed opening difference value, data points with fluctuation amplitude greater than the preset fluctuation threshold are identified and removed, thereby eliminating occasional anomalies in the measurement process; the preset fluctuation threshold can be preset based on historical operating data by statistical methods such as calculating a specific multiple of the standard deviation, representing the reasonable fluctuation range during normal operation; After removing the data points that were deemed abnormal, the remaining data point sequence generates a net deviation value. This net deviation value is used as the opening phase difference value to determine the opening synchronization status, ensuring the reliability and accuracy of the data used for decision-making.

[0024] S4. To accurately determine the synchronization state, from the time series of opening difference values, by comparing the local values ​​with their adjacent values, multiple deviation maxima are identified as local peaks; and the time interval between two adjacent deviation maxima is calculated and defined as the peak change interval. S5. Based on the current value of the opening difference, the preset deviation tolerance, the preset opening deviation standard value, and the peak change interval, the opening synchronization state is determined through a preset judgment logic; wherein, the preset deviation tolerance is a small difference that is allowed and can be ignored; the preset opening deviation standard value is the threshold for determining whether to start correction. S6. If the opening synchronization state is determined to be asynchronous, the duration of the asynchronous state from the beginning to the current time is obtained, and the deviation correction interval is determined based on this duration. S7. Within the deviation correction range, the starting time point is determined by preset logic rules, and based on this starting time point, dual-path opening correction operation is performed within the deviation correction range to achieve synchronous closed-loop control. The starting time point is the time point when the local deviation change trend is first detected to be consistent with the overall deviation change trend through backtracking search, which is the true starting point of the persistent deviation. Determining the starting point of deviation includes: within the deviation correction interval, starting from the end point, backtracking by a preset time length, and defining the preset time length as the search period; During the search period, two adjacent data points are acquired sequentially, the direction of numerical change between the two data points is calculated, and the local upward and downward trend is determined. Then, the overall direction of change of all data points within the entire deviation correction interval is calculated to determine the overall upward and downward trend; Then, continuously judge whether the local rise and fall trend is consistent with the overall rise and fall trend. If the two trends are inconsistent, it indicates that the fluctuation at the current position may still be a random disturbance. If the two trends begin to show consistency, it indicates that a persistent and non-random deviation trend has been formed. When the local upward and downward trend is first detected to be consistent with the overall upward and downward trend, the timestamp corresponding to the earlier data point among the two adjacent data points is determined as the starting point of the deviation. The starting point of the deviation is used to distinguish the true starting point of the persistent deviation from random noise, providing a reliable basis for the timing of intervention of the dual-path opening correction operation.

[0025] The dual-path opening correction operation is performed within a specific time window, starting from the point of initiation of the deviation and ending at the point of termination of the deviation correction range. This avoids premature intervention before the deviation has formed a stable trend, which could lead to control disorder, and also avoids unnecessary adjustments after the deviation has naturally recovered, thus ensuring the timeliness and effectiveness of control. The steps for performing dual-path opening correction operations adopt a step-by-step and repetitive strategy to achieve a smooth transition rather than abrupt adjustment; the first correction execution time point within the deviation correction interval is defined as the reference time, and the first correction operation is performed at the reference time; after the reference time, the dual-path opening correction operation is repeated within the deviation correction interval according to the preset delay period. The length of the preset delay period is set according to the mechanical response time required for the controlled object to complete the action from receiving the instruction; this ensures that the effect of the previous adjustment action is fully observed before the next fine adjustment is made, which can effectively suppress overshoot and oscillation in the control process and achieve a smooth synchronization process.

[0026] This method is applicable to scenarios such as industrial automation and intelligent manufacturing, for synchronous control of equipment with two linked components. When there is a synchronization difference in the opening of the two paths, it not only identifies the synchronization difference, but also distinguishes which path has a slightly faster, smaller delay or a slightly slower, larger delay by analyzing historical difference trend data. Synchronization is achieved by performing delay adjustment on the path with the smaller delay or advance compensation on the path with the larger delay.

[0027] In practical applications, due to factors such as mechanical inertia, control delay, or sudden changes in external load, the time required for calibration of one of the channels may exceed the preset synchronization period. If this period of time is insufficient to complete the entire synchronization process, it will cause subsequent adjustment actions to lag; therefore, a delay adjustment node processing mechanism is added on the basis of normal adjustment operations. The processing mechanism of the delay adjustment node includes: adding an extra compensation time based on the identification of the next peak change interval after the adjustment command is completed; thus forming a longer adjustment window to ensure that the adjustment action corresponding to the delay signal can be fully executed.

[0028] By setting up a mechanism for parallel output of synchronous adjustment nodes and delay adjustment nodes, the load distribution can be optimized. This allows the system to determine whether to enable regular, fast-responding synchronous adjustment or delay adjustment with additional time margin, based on the severity and type of the deviation. This avoids performing unnecessary redundant synchronous operations with large margins under normal working conditions of basic synchronization. Based on the recording and analysis of historical correction parameters, an adaptive adjustment logic is established, which includes: updating the parameters used in subsequent adjustment operations according to the actual effect data of previous correction operations and the preset adjustment rules; specifically, the length of the delay adjustment period and the value of the buffer coefficient can be adjusted to form an adaptive synchronous correction capability. The buffer coefficient is a parameter used in the adaptive adjustment logic, and its value is dynamically updated to optimize the duration of the delay adjustment.

[0029] During the long-term operation of the two linked components, the correction and delay node mechanism makes the synchronous correction process more stable and reduces the probability of oscillation caused by over-adjustment. The opening change data output during each correction process is uniformly converted into displacement change signals with the same format as the original input. These signals are then used as the initial parameters for the next correction process for continuous optimization, in order to meet the needs of precise measurement and control of dual-channel synchronization under complex working conditions.

[0030] Example 2 Please refer to Figure 2 This embodiment provides a dual-channel opening synchronous correction system based on a ceramic rod sensor, including the following modules: The opening synchronization status judgment module is used to obtain signal output from the ceramic rod sensor, continuously determine the dual-channel opening, and judge the current opening synchronization status based on the dual-channel opening. The system receives real-time signal output from the ceramic rod sensor and resolves these signals into quantized dual-channel openings, specifically including a first channel opening and a second channel opening. The values ​​of the first channel opening and the second channel opening at the same point in time are compared to generate a time series opening difference value. Preprocessing operations are selectively performed before analyzing the difference in aperture size; The preprocessing operation includes: smoothing the opening phase difference value using the moving average method or Gaussian filtering to eliminate the interference of high-frequency noise; identifying and removing data points with fluctuation amplitude greater than the preset fluctuation threshold from the smoothed opening phase difference value to eliminate isolated and severe pseudo fluctuations caused by external shocks or signal anomalies. After preprocessing, multiple deviation maxima are identified from the processed time series of opening difference values ​​using a peak detection algorithm; the time interval between two adjacent deviation maxima is calculated and used as the peak change interval; the final opening synchronization state is determined by comprehensively considering the current opening difference value, the preset deviation tolerance, the preset opening deviation standard value, and the calculated peak change interval. When the difference in opening degree continuously exceeds the range defined by the opening degree deviation from the standard value and the deviation tolerance, and the dynamic characteristics of this deviation reflected by the peak change interval are inconsistent with the fluctuation pattern of normal synchronous operation, the current opening degree synchronization state is judged as asynchronous state.

[0031] The correction strategy generation module is used to plan the execution strategy for the upcoming dual-path opening correction operation after receiving a signal indicating that the current state is asynchronous. The planning and execution strategy includes: determining the deviation correction interval and the starting point of deviation, and obtaining the time length from the start of the state to the current moment as the duration of the asynchronous state; Based on this duration, and possibly in conjunction with a pre-defined system response model, the deviation correction interval is determined. The deviation correction interval defines the time window for executing and completing the entire correction task. After determining the deviation correction range, the precise starting time point within the deviation correction range is determined as the logical benchmark and starting trigger point for subsequent dual-path opening correction operations, ensuring that the correction action is initiated at the most appropriate time. After the calculation is completed, the determined deviation correction interval and the starting time information are transmitted to the opening correction execution module.

[0032] The opening correction execution module is used to perform specific dual-path opening correction operations within the deviation correction interval according to the strategy provided by the correction strategy generation module. After receiving the deviation correction interval and the starting time point, the correction operation will be carried out within the time period starting from the starting time point and ending at the end point of the deviation correction interval. In order to achieve smooth and controllable adjustment, a step-by-step and repetitive execution method is adopted. The first correction execution time point within the deviation correction interval is defined as the reference time, and a dual-path opening correction operation is performed at the reference time. After the initial operation is completed, the opening correction execution module waits for a preset delay period and then performs dual-path opening correction operation again within the deviation correction range. This process is repeated according to the preset delay period until the end point of the deviation correction range is reached or the opening synchronization state returns to normal. The intermittent correction method can effectively prevent system overshoot and provide a buffer time for the system state to stabilize.

[0033] By accurately identifying, strategically planning, and step-by-step correcting the problem of asynchronous opening between two paths, the system avoids over-adjustment or adjustment lag, thereby improving the stability and reliability of the system. It can be used for synchronous correction of dual-path opening in industrial equipment such as valves, gates, or synchronous transmission mechanisms that require high-precision synchronous control.

[0034] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A dual-channel opening synchronous correction method based on a ceramic rod sensor, characterized in that, Includes the following steps: Based on the signal output obtained from the ceramic rod sensor, the dual-path opening degree is determined, and the opening degree synchronization state is determined based on the dual-path opening degree. When the opening synchronization state is out of sync, determine the deviation correction range and perform dual-path opening correction operation within the deviation correction range; The method for determining the opening synchronization state based on dual-path opening includes: comparing the first and second openings in the dual-path opening to generate an opening difference value; performing data smoothing on the opening difference value; removing data points with fluctuation amplitudes greater than a preset fluctuation threshold from the smoothed opening difference value; identifying multiple deviation maxima from the opening difference value and calculating the time interval between two adjacent deviation maxima as the peak change interval; and determining the opening synchronization state based on the opening difference value, a preset deviation tolerance, a preset opening deviation standard value, and the peak change interval.

2. The dual-channel opening synchronous correction method based on a ceramic rod sensor according to claim 1, characterized in that, When the opening synchronization state is out of sync, the deviation correction range is determined as follows: Obtain the duration of the asynchronous state; based on the duration, determine the deviation correction interval.

3. The dual-channel opening synchronous correction method based on a ceramic rod sensor according to claim 1, characterized in that, Before performing dual-path opening correction operations within the deviation correction range, the following steps are also included: The starting time point is determined within the deviation correction range; among them, the dual-path opening correction operation is performed based on the starting time point.

4. The dual-channel opening synchronous correction method based on a ceramic rod sensor according to claim 3, characterized in that, The dual-path opening correction operation is performed within a time period starting from the point of initiation of the deviation and ending at the point of termination of the deviation correction interval.

5. The dual-channel opening synchronous correction method based on a ceramic rod sensor according to claim 4, characterized in that, Performing dual-path opening correction operations within the deviation correction range includes: The first correction execution time point within the deviation correction interval is defined as the reference time. After the reference time, the dual-path opening correction operation is repeated within the deviation correction interval according to the preset delay period.

6. A dual-channel opening synchronous correction system based on a ceramic rod sensor, characterized in that, Includes the following modules: The opening synchronization status judgment module is used to determine the dual-channel opening based on the signal output obtained from the ceramic rod sensor, and to determine the opening synchronization status based on the dual-channel opening. The deviation correction strategy generation module is used to determine the deviation correction interval and the starting time point when the response opening synchronization state judgment module determines that the opening synchronization state is out of sync. The opening correction execution module is used to perform dual-path opening correction operations within the deviation correction interval determined by the correction strategy generation module based on the deviation correction interval and the starting time point.

7. A dual-channel opening synchronous correction system based on a ceramic rod sensor according to claim 6, characterized in that, The determination of the opening synchronization state based on dual-path opening includes: The opening degree of the first path in the dual-path opening is compared with the opening degree of the second path to generate an opening degree difference value; multiple deviation maxima are identified from the opening degree difference value, and the time interval between two adjacent deviation maxima is calculated as the peak change interval; based on the opening degree difference value, the preset deviation tolerance, the preset opening degree deviation standard value, and the peak change interval, the opening degree synchronization state is determined.

8. A dual-channel opening synchronous correction system based on a ceramic rod sensor according to claim 7, characterized in that, Before identifying multiple deviations from the maximum value from the opening difference value, the opening difference value is smoothed, and data points with fluctuation amplitudes greater than the preset fluctuation threshold are removed from the smoothed opening difference value.

9. A dual-channel opening synchronous correction system based on a ceramic rod sensor according to claim 6, characterized in that, When the opening synchronization state is out of sync, the deviation correction range is determined as follows: Obtain the duration of the asynchronous state and determine the deviation correction interval based on the duration.

10. A dual-channel opening synchronous correction system based on a ceramic rod sensor according to claim 6, characterized in that: Based on the determined deviation correction interval and the starting time point, a dual-path opening correction operation is performed within a time period starting from the starting time point and ending at the end point of the deviation correction interval. After defining the first correction execution time point within the deviation correction interval as the reference time, the dual-path opening correction operation is repeated according to the preset delay period.

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