Adaptive adjustment method and device of solenoid valve driving current waveform, electronic equipment and medium

Abstract

The application provides a self-adaptive adjustment method and device of an electromagnetic valve driving current waveform, electronic equipment and a medium, wherein the method comprises: calculating a current duty cycle of the electromagnetic valve in a current switching cycle during a process of driving the double-gas-path glass cutting head to make a forward and backward cutting motion by using a target driving waveform corresponding to the current switching cycle; and adjusting a slope of a second sub-waveform in a target driving waveform corresponding to a next switching cycle according to a difference between the current duty cycle and a target duty cycle, so that the current duty cycle of the electromagnetic valve is close to the target duty cycle when the electromagnetic valve is driven by using the adjusted target driving waveform in the next switching cycle. By the method, the self-adaptive adjustment of the driving current waveform is realized, which is beneficial to maintaining the accuracy and stability of the double-gas-path glass cutting head during high-speed cutting.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to an adaptive adjustment method, device, electronic device and medium for the waveform of a solenoid valve drive current. Background Technology

[0002] In the vitreous cutting system, the dual-air-path cutting head is driven by a high-speed solenoid valve. Specifically, the solenoid valve acts as an electronic switch. When the solenoid valve is connected to the drive power supply (i.e., the solenoid valve is in the open phase), air path A of the dual-air-path cutting head is open, and air path B is closed. Compressed air enters one side of the dual-air-path cutting head from air path A, pushing the diaphragm to the other side, causing the dual-air-path cutting head to make a forward cutting motion. When the solenoid valve is disconnected from the drive power supply (i.e., the solenoid valve is in the closed phase), air path A is closed, and air path B is open. Compressed air enters the other side of the dual-air-path cutting head from air path B, pushing the diaphragm to move in the opposite direction, causing the dual-air-path cutting head to make a backward cutting motion. In other words, each time the solenoid valve opens and closes, the dual-air-path cutting head completes one full forward and backward cutting motion.

[0003] A solenoid valve PWM controller is used to control the connection and disconnection between the solenoid valve and the drive power supply by outputting a drive current waveform. In other words, it is used to control the switching of the solenoid valve between the opening and closing phases by controlling the drive current waveform. Traditional solenoid valve PWM controllers have a fixed drive current waveform, which can meet the operating conditions of solenoid valves with switching speeds of 30Hz and below, but cannot maintain the accuracy and stability of high-speed switching (such as 167Hz (20000cpm, double-edged)). Summary of the Invention

[0004] In view of this, the purpose of this application is to provide an adaptive adjustment method, device, electronic device and medium for the drive current waveform of a solenoid valve, so as to achieve adaptive adjustment of the drive current waveform, which is beneficial to maintaining the accuracy and stability of the dual-air-path glass cutting head during high-speed cutting.

[0005] In a first aspect, embodiments of this application provide an adaptive adjustment method for the drive current waveform of a solenoid valve. The drive current waveform is composed of multiple consecutive target drive waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of the solenoid valve. The opening phase waveform is used to drive a dual-air-path glass cutting head to perform a forward cutting motion, and the closing phase waveform is used to drive the dual-air-path glass cutting head to perform a backward cutting motion. Each opening phase waveform is composed of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously. The method includes: During the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the current duty cycle of the solenoid valve in the current switching cycle is calculated. Based on the difference between the current duty cycle and the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is adjusted so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

[0006] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein, during the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, calculating the current duty cycle of the solenoid valve within the current switching cycle includes: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the opening and closing durations of the solenoid valve; Calculate the sum of the opening duration and the closing duration, and calculate the percentage of the opening duration to the sum. Use this percentage as the current duty cycle of the solenoid valve.

[0007] In conjunction with the first aspect, this application provides a second possible implementation of the first aspect, wherein adjusting the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle based on the difference between the current duty cycle and the target duty cycle includes: If the current duty cycle is greater than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased to reduce the duration of the solenoid valve opening phase waveform. If the current duty cycle is less than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be reduced to increase the duration of the solenoid valve opening phase waveform.

[0008] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein the method further includes: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the rising edge time and the start time of the rising current in the solenoid valve coil. Calculate the time difference between the start of the rise and the rise edge, and use this time difference as the opening delay time of the solenoid valve; If the start-up delay time is greater than the preset delay time, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased.

[0009] In conjunction with the first aspect, this application provides a fourth possible implementation of the first aspect, wherein the method further includes: During the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the actual pressure difference between the two cavities in the dual-air-path glass cutter head is collected; and during the process of driving the dual-air-path glass cutter head to perform forward cutting motion using the opening phase waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time. Calculate the average current value of the collected solenoid valve coil current; The target current value is calculated using the following formula:

[0010] in, The average current value is K; K is a preset coefficient. The actual pressure difference; The target pressure difference between the two chambers in the dual-air-path glass cutting head; The target current value; Based on the relationship between the target current value and the average current value, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is adjusted so that the actual pressure difference between the two cavities in the dual-air-path glass cutting head is close to the target pressure difference.

[0011] In conjunction with the fourth possible implementation of the first aspect, this application provides a fifth possible implementation of the first aspect, wherein, after calculating the target current value, the method further includes: If the difference between the target current value and the average current value is greater than a preset difference threshold, or if the actual pressure difference between the two chambers cannot be brought close to the target pressure difference, then the lifespan of the solenoid valve is determined to have expired.

[0012] Secondly, embodiments of this application also provide an adaptive adjustment device for the drive current waveform of a solenoid valve. The drive current waveform is composed of multiple consecutive target drive waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of the solenoid valve. The opening phase waveform is used to drive a dual-air-path glass cutting head to perform a forward cutting motion, and the closing phase waveform is used to drive the dual-air-path glass cutting head to perform a backward cutting motion. Each opening phase waveform is composed of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously. The device includes: The first calculation module is used to calculate the current duty cycle of the solenoid valve in the current switching cycle during the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle. The first adjustment module is used to adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle according to the difference between the current duty cycle and the target duty cycle, so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps in any of the possible implementations of the first aspect described above are performed.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps in any of the possible implementations of the first aspect described above.

[0015] This application provides an adaptive adjustment method, device, electronic device, and medium for the drive current waveform of a solenoid valve. In each switching cycle, the current duty cycle of the solenoid valve (i.e., the proportion of the on-state duration to the total cycle duration) is calculated in real time. This current duty cycle directly reflects the time allocation between the forward and backward cutting motions of the dual-air-path glass cutter head and is a core indicator for measuring cutting accuracy and stability. The current duty cycle is compared with a preset target duty cycle. Based on the difference, the slope of the second sub-waveform of the on-state waveform in the next switching cycle (i.e., the slope of the linear current decrease segment in PWM modulation) is actively adjusted. This change in slope directly affects the decay rate of the solenoid valve coil current, thereby altering the dynamic response time of the solenoid valve switching from the on-state to the off-state, ultimately achieving fine adjustment of the on-state and off-state durations. This closed-loop adaptive mechanism allows the solenoid valve to quickly pull the actual duty cycle back to near the target value in each switching cycle, even at high-frequency switching (e.g., 167Hz), effectively suppressing accumulated errors caused by high-speed operation, thus helping to maintain the accuracy and stability of the dual-air-path glass cutter head during high-speed cutting.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of an adaptive adjustment method for the solenoid valve drive current waveform provided in an embodiment of this application is shown; Figure 2 A schematic diagram of a target driving waveform provided in an embodiment of this application is shown; Figure 3 This illustration shows a schematic diagram of the curve of the solenoid valve coil current changing with time during the current switching cycle, according to an embodiment of this application. Figure 4 This paper shows a schematic diagram of the structure of an adaptive adjustment device for the drive current waveform of a solenoid valve provided in an embodiment of this application; Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] Considering that traditional solenoid valve PWM controllers have a fixed drive current waveform, they can meet the operating conditions of solenoid valves with switching speeds of 30Hz and below, but cannot maintain the accuracy and stability of high-speed switching (such as 167Hz (20000cpm, double-edged)). Based on this, embodiments of this application provide an adaptive adjustment method, device, electronic device, and medium for the drive current waveform of a solenoid valve, which are described below through embodiments.

[0021] To facilitate understanding of this embodiment, a method for adaptive adjustment of the solenoid valve drive current waveform disclosed in this application will first be described in detail. The drive current waveform is composed of multiple consecutive target drive waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of the solenoid valve. The opening phase waveform is used to drive the dual-air-path glass cutter head to perform forward cutting motion, and the closing phase waveform is used to drive the dual-air-path glass cutter head to perform backward cutting motion. Each opening phase waveform is composed of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously; as shown... Figure 1 As shown, the process includes the following steps S101-S102: S101: During the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target drive waveform corresponding to the current switching cycle, calculate the current duty cycle of the solenoid valve in the current switching cycle.

[0022] S102: Based on the difference between the current duty cycle and the target duty cycle, adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

[0023] In this embodiment, the driving current waveform is composed of multiple consecutive target driving waveforms, such as... Figure 2 As shown, the horizontal axis of the target drive waveform represents time, and the vertical axis represents the drive current. Each target drive waveform is composed of the opening and closing phase waveforms of the solenoid valve. In this embodiment, each opening phase waveform is composed of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously (that is, each opening phase waveform is composed of multiple consecutive inverted V-shaped spikes arranged sequentially). This is because the solenoid valve requires a sufficiently large current during the opening phase to generate electromagnetic force to engage the valve core. However, if a large current is continuously applied for a long time, the solenoid valve coil will heat up rapidly due to Joule heating, leading to insulation damage or even burnout. Therefore, a constant large current waveform cannot be used in actual driving. This embodiment designs the opening phase waveform as multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously. Essentially, this is a high-frequency PWM modulation, where the coil current linearly rises (first sub-waveform) when the PWM signal is high, and linearly falls through the freewheeling circuit (second sub-waveform) when the PWM signal is low. This high-speed alternation maintains the average coil current at the required sustaining current level, while controlling the peak current. This significantly reduces coil heat generation and protects the solenoid valve while ensuring reliable engagement. It is precisely this PWM alternating waveform that allows the start-up phase to continue for a relatively long time without damaging the coil.

[0024] In step S101, the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle means that within one current switching cycle, the solenoid valve first connects the driving power supply under the action of the opening phase waveform, causing the dual-air-path glass cutter head to complete one forward cutting motion; then, under the action of the closing phase waveform, the driving power supply is disconnected, causing the dual-air-path glass cutter head to complete one backward cutting motion. One forward cutting motion and one backward cutting motion together constitute one complete forward and backward cutting motion.

[0025] The current duty cycle reflects the proportion of the time the solenoid valve is in the open state (i.e., driving the dual-air-path glass cutter head to perform forward cutting motion) within the current switching cycle, relative to the entire forward and backward cutting motion cycle. Since the actual opening and closing ratio of the forward and backward cutting motions of the dual-air-path glass cutter head is directly affected by this duty cycle, it can serve as a key indicator for evaluating the opening and closing ratio accuracy of the dual-air-path glass cutter head. The current duty cycle can be calculated by detecting the opening time consumed by the waveform during the opening phase and the closing time consumed by the waveform during the closing phase of the current forward and backward cutting motion.

[0026] In step S102, the target duty cycle can be the desired duty cycle set by the user according to the surgical needs, or it can be a value preset at the factory. The current duty cycle is compared with the target duty cycle to obtain the duty cycle deviation. Based on the sign and magnitude of this deviation, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is adjusted. The second sub-waveform is the linearly decreasing portion of the waveform during the opening phase, and its slope is negative. The absolute value of the slope directly affects the rate of decrease of the solenoid valve coil current, thereby affecting the closing response characteristics of the solenoid valve and the duration of the backward cutting motion of the dual-air-path glass cutting head, ultimately changing the cycle length of the entire forward and backward cutting motion.

[0027] By performing the above steps after each switching cycle, the drive current waveform can be automatically adjusted cycle by cycle, so that the actual duty cycle of the solenoid valve continuously follows the target duty cycle, thereby achieving adaptive control.

[0028] It should be noted that the above adjustment amount (i.e., the change in the slope of the second sub-waveform) can be determined by proportional control, proportional-integral control or other classic control algorithms based on the difference between the current duty cycle and the target duty cycle.

[0029] In one possible implementation, when performing step S101, the following steps S1011-S1013 can be specifically performed: S1011: During the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle.

[0030] S1012: Based on this curve, determine the opening and closing times of the solenoid valve.

[0031] S1013: Calculate the sum of the opening duration and the closing duration, and calculate the percentage of the opening duration to this sum. Use this percentage as the current duty cycle of the solenoid valve.

[0032] In step S1011, within the current switching cycle, the solenoid valve first connects to the drive power supply under the action of the opening phase waveform, and then disconnects the drive power supply under the action of the closing phase waveform. During this process, a current sampling unit (e.g., a shunt resistor combined with a differential amplifier) ​​connected in series in the solenoid valve coil circuit continuously records the instantaneous current value (solenoid valve coil current) flowing through the solenoid valve coil at a sampling frequency of not less than 50kHz. These discrete solenoid valve coil currents are combined with the corresponding timestamps to form a continuous curve with time as the abscissa and solenoid valve coil current as the ordinate. Figure 3 As shown, the curve fully covers all the details of current rise, PWM fluctuation, and current fall within the current switching cycle.

[0033] In step S1012, the rising edge of the solenoid valve coil current (i.e., the time when the power-on command is issued), the falling edge of the solenoid valve coil current (i.e., the time when the power-off command is issued), and the time when the solenoid valve coil current drops to near zero after completing one full pulse (i.e., the last time point when the current is lower than the preset shut-off threshold) are identified from the curve.

[0034] like Figure 3 As shown, the on-time refers to the period from the falling edge of the solenoid valve coil current to the rising edge of the solenoid valve coil current, and the off-time refers to the period from the moment when the solenoid valve coil current drops to near zero after completing one full pulse to the moment when the solenoid valve coil current falls.

[0035] In step S1013, the sum represents the total time it takes for the solenoid valve to complete one full opening and closing action, which is the total time required for the dual-air-path glass cutter head to complete one forward cutting motion and one backward cutting motion. The current duty cycle is the ratio of the opening duration to this sum.

[0036] In one possible implementation, when performing step S102, the following steps S1021-S1022 can be specifically performed: S1021: If the current duty cycle is greater than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased to reduce the duration of the solenoid valve opening phase waveform.

[0037] S1022: If the current duty cycle is less than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be reduced to increase the duration of the solenoid valve opening phase waveform.

[0038] In this embodiment, if the current duty cycle is greater than the target duty cycle, it indicates that the opening time is too large and the subsequent cutting motion time is relatively insufficient. At this time, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle should be increased (so that the linear descent segment is steeper) to shorten the current drop process in the opening phase, thereby reducing the holding force of the solenoid valve or accelerating the closing response, indirectly shortening the opening time or extending the closing time, reducing the duty cycle, and thus reducing the duration of the opening phase waveform of the solenoid valve.

[0039] If the current duty cycle is less than the target duty cycle, it indicates that the opening time is too small and the backward cutting time is too long. In this case, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle should be reduced (so that the linear descent segment is slower) to slow down the current descent rate, appropriately extend the equivalent effect of the opening phase, increase the duty cycle, and thus increase the duration of the opening phase waveform of the solenoid valve.

[0040] In one possible implementation, considering that the opening delay time of the solenoid valve directly reflects the response speed of the solenoid valve from receiving the energizing command (i.e., the rising edge of the solenoid valve coil current) to actually starting to build up current (i.e., the moment the solenoid valve coil current begins to rise), if the opening delay time is too large, it will cause the solenoid valve to engage lag, thereby delaying the start time of the forward cutting motion of the dual-air-path glass cutting head, ultimately causing the actual cutting rate and opening / closing ratio to deviate from the set value. Based on this, this embodiment can also be executed according to the following steps S201-S204 to shorten the opening delay time: S201: During the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle.

[0041] S202: Based on this curve, determine the rising edge time and the start time of the rising edge of the solenoid valve coil current.

[0042] S203: Calculate the time difference between the start of the rise and the rise edge, and use this time difference as the opening delay time of the solenoid valve.

[0043] S204: If the turn-on delay time is greater than the preset delay time, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased.

[0044] In step S201, within the current switching cycle, the instantaneous current value (solenoid coil current) flowing through the solenoid coil is continuously recorded at a sampling frequency of not less than 50kHz by a current sampling unit (e.g., a shunt resistor combined with a differential amplifier) ​​connected in series in the solenoid valve coil circuit. These discrete solenoid valve coil current values ​​are then combined with the corresponding timestamps to form a continuous curve with time as the abscissa and solenoid valve coil current as the ordinate. This curve fully covers all details such as current rise, pulse width modulation fluctuation, and current fall within the current switching cycle.

[0045] In step S202, the rising edge of the drive signal (i.e., the moment when the controller issues the power-on command) is identified from the curve of the solenoid valve coil current changing with time obtained in step S201, and is taken as the rising edge moment of the solenoid valve coil current. At the same time, the starting point of rapid increase from zero (i.e., the time point when the solenoid valve coil current exceeds the preset opening threshold, or the time point when the growth rate of the solenoid valve coil current exceeds the preset slope) is identified as the moment when the solenoid valve coil current begins to rise.

[0046] In step S203, as Figure 3 As shown, let the rising edge time be t0 and the start rising time be t1, then the on-delay time tdon = t1. t0. This time difference reflects the delay between when the controller issues the energizing command and when the solenoid valve coil actually begins to build up current.

[0047] In step S204, the preset delay time is either a pre-calibrated upper limit of the normal opening delay time or a maximum allowable value set by the user according to surgical requirements. When the calculated opening delay time of the current switching cycle exceeds the preset delay time, it will cause the opening duration to increase, which in turn will cause the actual cutting rate and opening / closing ratio to deviate from the set values. At this time, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is increased (that is, the slope of the linear descent segment becomes steeper, thereby shortening the opening duration).

[0048] In one possible implementation, the actual pressure difference between the two cavities in the dual-air-path vitrectomy head directly determines the stability during cutting. When the actual pressure difference deviates from the target pressure difference, it indicates that the pressure difference between the two cavities is unstable, thus affecting the smoothness of the reciprocating motion of the septum, leading to an uneven switching between forward and backward cutting motions, which may cause uneven cutting, tissue traction, or suction fluctuations. The stability of the actual pressure difference is closely related to the average value of the coil current during the solenoid valve opening phase, because the average current determines the holding force of the solenoid valve, thereby affecting the accuracy of air path switching and the consistency of airflow. By adjusting the slope of the second sub-waveform, the rate of current decrease during the pulse width modulation off-phase can be changed, thereby adjusting the average value of the coil current during the entire opening phase, and thus achieving stable control of the pressure difference between the two cavities of the dual-air-path vitrectomy head. Based on this, this embodiment can also be executed according to the following steps S301-S304: S301: During the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the actual pressure difference between the two cavities in the dual-air-path glass cutter head is collected; and during the process of driving the dual-air-path glass cutter head to perform forward cutting motion using the opening phase waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time.

[0049] S302: Calculate the average current value of the collected solenoid valve coil current.

[0050] S303: Calculate the target current value using the following formula:

[0051] in, The average current value is K; K is a preset coefficient. This represents the actual pressure difference; The target pressure difference between the two chambers in the dual-air-path glass cutting head; This is the target current value.

[0052] S304: Based on the relationship between the target current value and the average current value, adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle so that the actual pressure difference between the two cavities in the dual-air-path glass cutter head is close to the target pressure difference.

[0053] In step S301, during the current switching cycle, the real-time pressure values ​​of the two chambers are collected by pressure sensors (e.g., differential pressure sensors or two independent absolute pressure sensors) installed on the two chambers of the dual-air-path glass cutting head at a sampling frequency of not less than 10 kHz, and the difference between the two is calculated as the actual differential pressure. Meanwhile, during the opening phase, when the waveform drives the dual-air-path glass cutter head to make forward cutting motion (i.e., during the time period when the solenoid valve is in the opening phase), the instantaneous current value flowing through the solenoid valve coil is continuously recorded by a current sampling unit (e.g., a shunt resistor combined with a differential amplifier) ​​connected in series in the solenoid valve coil circuit at a sampling frequency of not less than 50kHz, thus obtaining a sampling sequence of the solenoid valve coil current changing with time.

[0054] In step S302, the arithmetic mean of all instantaneous solenoid valve coil current values ​​collected during the opening phase in step S301 is calculated to obtain the average current value. This average current value reflects the average excitation level of the solenoid valve coil during the opening phase of the current switching cycle, directly affecting the holding force of the solenoid valve, and thus affecting the stability of the gas path switching and the pressure difference between the two chambers.

[0055] In step S303, the meaning of this formula is: when the actual pressure difference Deviation from target pressure difference This indicates that the pressure difference between the two chambers is unstable. At this point, it is necessary to check the current average current value. Add a correction amount proportional to the pressure difference deviation to the base. Thus, the desired target current value is obtained. If the actual pressure difference is greater than the target pressure difference, then the target current value is greater than the current average current value. Therefore, the average current needs to be increased to enhance the holding force of the solenoid valve, causing the pressure difference to decrease. If the actual pressure difference is less than the target pressure difference, then the average current needs to be decreased to cause the pressure difference to increase. Through this closed-loop correction, the pressure difference between the two chambers can be stabilized.

[0056] In step S304, the target current value calculated in step S303 is... Average current value of the current switching cycle Compare. If > This indicates that the average current during the turn-on phase needs to be increased to stabilize the voltage difference. In this case, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle should be increased (i.e., the slope of the linear descent segment should be steepened) to accelerate the current decrease during the pulse width modulation turn-off period, resulting in a lower current at the end of each pulse width modulation cycle. This leads to a larger current rise in the next turn-on cycle, ultimately increasing the average current value throughout the entire turn-on phase. < This indicates that the average current during the turn-on phase needs to be reduced. In this case, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle should be reduced (so that the slope of the linear descent segment becomes gentler) to slow down the current descent rate and reduce the average current value.

[0057] In one possible implementation, after performing step S303, the following steps may also be performed: If the difference between the target current value and the average current value is greater than the preset difference threshold, or if the actual pressure difference between the two chambers cannot be brought close to the target pressure difference, then the lifespan of the solenoid valve is deemed to have expired.

[0058] In this embodiment, if the difference between the target current value and the average current value is greater than a preset difference threshold, or if the actual pressure difference between the two chambers cannot be brought close to the target pressure difference, it can be determined that the solenoid valve core cannot move normally, the solenoid valve has reached the end of its lifespan, and an error needs to be reported to remind the user to replace the solenoid valve.

[0059] To describe this embodiment more clearly, the following detailed description is provided in conjunction with specific examples.

[0060] 1. Hardware Configuration Solenoid valve: It adopts a two-position five-way high-speed valve with a rated voltage of 24V DC and a coil resistance of 20Ω at 25℃.

[0061] Drive circuit: It adopts a dual-voltage topology, including a 48V high-voltage source (for quickly opening the solenoid valve) and a 24V low-voltage source (for maintaining the solenoid valve in the engaged state), and uses metal-oxide-semiconductor field-effect transistors for chopping regulation to control the effective voltage.

[0062] Current sampling: A 0.1Ω shunt resistor is used in conjunction with a differential amplifier and a 12-bit analog-to-digital converter, and the sampling rate is set to 100kHz.

[0063] Controller: An STM32H750 microprocessor paired with a field-programmable gate array (FPGA) is used. The FPGA is responsible for high-speed waveform feature extraction, while the STM32 microprocessor runs adaptive algorithms.

[0064] Barometric pressure sensor: dual working port barometric pressure monitoring, with an accuracy of ±0.5% of full scale and a sampling rate of 10kHz.

[0065] 2. Control parameter settings Target cutting rate: set to 10,000 cuts per minute, corresponding to a period of 6 ms.

[0066] Target duty cycle: set to 60%, i.e., high level time is 3.6ms and low level time is 2.4ms.

[0067] Baseline start delay: 0.4ms (factory calibration value).

[0068] Baseline shutdown delay: 0.3ms (factory calibration value).

[0069] 3. Adaptive Process Initial Phase: After power-on, the solenoid valve is driven for 10 switching cycles using a default waveform. The default waveform is: a 48V high-voltage pulse lasting 0.5ms, followed by 24V pulse width modulation (PWM) with a 40% duty cycle. During this process, the solenoid valve coil current waveform is acquired.

[0070] Feature extraction: The field-programmable gate array (FPGA) analyzes the current waveform in real time and measures the turn-on delay time of the current switching cycle as 0.52ms (larger than the reference value), the coil resistance as 22Ω (corresponding to a temperature of about 55 degrees Celsius), the current rise time as 0.45ms (normal), and the peak current as 1.2A (normal).

[0071] Status estimation: The controller determines that the main reason for the excessive turn-on delay is the coil temperature rise (currently 55 degrees Celsius, compared to the reference of 25 degrees Celsius, a temperature rise of 30 degrees Celsius), which slows down the current rise rate. Simultaneously, the drive power supply voltage is detected to be 23.8V, with a deviation of less than 5%, which is within the normal range.

[0072] 4. Calculation of shaping parameters: Start-up phase: Increase the high voltage pulse voltage from 48V to 52V and extend the high voltage pulse duration from 0.5ms to 0.7ms.

[0073] Sustaining phase: The target sustaining current is set to 0.8A, and the current working gas pressure is detected to be 0.6 MPa. Based on this, the pulse width modulation duty cycle is increased from 40% to 50%.

[0074] Shutdown phase: The current shutdown delay time is normal and will not be adjusted at this time.

[0075] Waveform output: The measured turn-on delay time of the next switching cycle was reduced to 0.41ms, reaching the target range (0.4ms±0.05ms).

[0076] Steady-state operation: After running for 1 minute, the coil temperature tends to balance (about 65 degrees Celsius), and the controller automatically fine-tunes the holding current to 0.75A (to reduce power consumption). The turn-on delay time stabilizes between 0.39 and 0.42ms, and the duty cycle error is less than 2%.

[0077] 5. Effect Comparison Using the traditional fixed 24V drive method: after working continuously for 10 minutes, the turn-on delay time increased from 0.4ms to 0.58ms, and the duty cycle error reached 7.5%.

[0078] Using the method of this embodiment: after working continuously for 10 minutes, the start-up delay time stabilizes at 0.42ms, and the duty cycle error is less than 2%.

[0079] As can be seen from the above, the adaptive adjustment method of the driving current waveform provided in this embodiment can effectively compensate for the influence of factors such as voltage fluctuations, coil temperature rise and load changes, which is beneficial to improving the consistency of the solenoid valve switching response and the cutting accuracy of the dual-air-path glass cutter.

[0080] Based on the same technical concept, this application also provides an adaptive adjustment device for a driving current waveform. The driving current waveform is composed of multiple continuous target driving waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of a solenoid valve. The opening phase waveform drives the dual-air-path glass cutting head to perform a forward cutting motion, and the closing phase waveform drives the dual-air-path glass cutting head to perform a backward cutting motion. Each opening phase waveform is composed of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms arranged alternately and continuously. Figure 4 As shown, the device includes: The first calculation module 401 is used to calculate the current duty cycle of the solenoid valve in the current switching cycle during the process of driving the dual air-path glass cutting head to perform a back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle. The first adjustment module 402 is used to adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle according to the difference between the current duty cycle and the target duty cycle, so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

[0081] Optionally, when the first calculation module 401 calculates the current duty cycle of the solenoid valve in the current switching cycle during the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, it is specifically used for: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the opening and closing durations of the solenoid valve; Calculate the sum of the opening duration and the closing duration, and calculate the percentage of the opening duration to the sum. Use this percentage as the current duty cycle of the solenoid valve.

[0082] Optionally, when the first adjustment module 402 adjusts the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle based on the difference between the current duty cycle and the target duty cycle, it is specifically used for: If the current duty cycle is greater than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased to reduce the duration of the solenoid valve opening phase waveform. If the current duty cycle is less than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be reduced to increase the duration of the solenoid valve opening phase waveform.

[0083] Optionally, the device further includes: The first acquisition module is used to acquire the solenoid valve coil current in real time during the process of driving the dual air-path glass cutting head to make one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, so as to obtain the curve of the solenoid valve coil current changing with time in the current switching cycle. The determination module is used to determine the rising edge time and the start time of the rising edge of the solenoid valve coil current based on the curve. The second calculation module is used to calculate the time difference between the start of the rise and the rise edge, and use the time difference as the opening delay time of the solenoid valve. The second adjustment module is used to increase the slope of the second sub-waveform in the target driving waveform corresponding to the next switching cycle if the opening delay time is greater than the preset delay time.

[0084] Optionally, the device further includes: The second acquisition module is used to acquire the actual pressure difference between the two cavities in the dual-air-path glass cutter during the process of driving the dual-air-path glass cutter to perform a forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle; and to acquire the solenoid valve coil current in real time during the process of driving the dual-air-path glass cutter to perform a forward cutting motion using the opening phase waveform corresponding to the current switching cycle. The third calculation module is used to calculate the average current value of the collected solenoid valve coil current; The fourth calculation module is used to calculate the target current value using the following formula:

[0085] in, The average current value is K; K is a preset coefficient. The actual pressure difference; The target pressure difference between the two chambers in the dual-air-path glass cutting head; The target current value; The third adjustment module is used to adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle according to the relationship between the target current value and the average current value, so as to make the actual pressure difference between the two cavities in the dual-air-path glass cutting head closer to the target pressure difference.

[0086] Optionally, the device further includes: The judgment module is used to determine that the lifespan of the solenoid valve has expired if, after the third calculation module calculates the target current value, the difference between the target current value and the average current value is greater than a preset difference threshold, or if the actual pressure difference between the two chambers cannot be brought close to the target pressure difference.

[0087] Based on the same technical concept, embodiments of this application also provide an electronic device. Figure 5 This application provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 5 As shown, the electronic device 500 includes a processor 501, a memory 502, and a bus 503. The memory stores machine-readable instructions that can be executed by the processor. When the electronic device is running, the processor 501 communicates with the memory 502 through the bus 503. The processor 501 executes the machine-readable instructions to perform the steps in the aforementioned adaptive adjustment method for the solenoid valve drive current waveform.

[0088] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps in the aforementioned adaptive adjustment method for the solenoid valve drive current waveform.

[0089] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and electronic equipment can be referred to the corresponding process in the aforementioned adaptive adjustment method of the drive current waveform, and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, electronic devices, and computer-readable storage media can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and other division methods may be used in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0093] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0094] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. An adaptive adjustment method for the drive current waveform of a solenoid valve, characterized in that, The driving current waveform is composed of multiple consecutive target driving waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of the solenoid valve; the opening phase waveform is used to drive the dual-air-path glass cutting head to make a forward cutting motion, and the closing phase waveform is used to drive the dual-air-path glass cutting head to make a backward cutting motion. Each of the aforementioned activation phase waveforms is composed of alternating and continuous arrangements of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms; the method includes: During the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the current duty cycle of the solenoid valve in the current switching cycle is calculated. Based on the difference between the current duty cycle and the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is adjusted so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

2. The method according to claim 1, characterized in that, During the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the current duty cycle of the solenoid valve in the current switching cycle is calculated, including: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the opening and closing durations of the solenoid valve; Calculate the sum of the opening duration and the closing duration, and calculate the percentage of the opening duration to the sum. Use this percentage as the current duty cycle of the solenoid valve.

3. The method according to claim 1, characterized in that, The step of adjusting the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle based on the difference between the current duty cycle and the target duty cycle includes: If the current duty cycle is greater than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased to reduce the duration of the solenoid valve opening phase waveform. If the current duty cycle is less than the target duty cycle, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be reduced to increase the duration of the solenoid valve opening phase waveform.

4. The method according to claim 1, characterized in that, The method further includes: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the rising edge time and the start time of the rising current in the solenoid valve coil. Calculate the time difference between the start of the rise and the rise edge, and use this time difference as the opening delay time of the solenoid valve; If the start-up delay time is greater than the preset delay time, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle will be increased.

5. The method according to claim 1, characterized in that, The method further includes: During the process of driving the dual-air-path glass cutter head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, the actual pressure difference between the two cavities in the dual-air-path glass cutter head is collected; and during the process of driving the dual-air-path glass cutter head to perform forward cutting motion using the opening phase waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time. Calculate the average current value of the collected solenoid valve coil current; The target current value is calculated using the following formula: in, The average current value is K; K is a preset coefficient. The actual pressure difference; The target pressure difference between the two chambers in the dual-air-path glass cutting head; The target current value; Based on the relationship between the target current value and the average current value, the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle is adjusted so that the actual pressure difference between the two cavities in the dual-air-path glass cutting head is close to the target pressure difference.

6. The method according to claim 5, characterized in that, After calculating the target current value, the method further includes: If the difference between the target current value and the average current value is greater than a preset difference threshold, or if the actual pressure difference between the two chambers cannot be brought close to the target pressure difference, then the lifespan of the solenoid valve is determined to have expired.

7. An adaptive adjustment device for the waveform of a solenoid valve drive current, characterized in that, The driving current waveform is composed of multiple consecutive target driving waveforms, each of which is composed of an opening phase waveform and a closing phase waveform of the solenoid valve; the opening phase waveform is used to drive the dual-air-path glass cutting head to make a forward cutting motion, and the closing phase waveform is used to drive the dual-air-path glass cutting head to make a backward cutting motion. Each of the said on-phase waveforms is composed of alternating and continuous arrangements of multiple linearly rising first sub-waveforms and linearly falling second sub-waveforms; the device includes: The first calculation module is used to calculate the current duty cycle of the solenoid valve in the current switching cycle during the process of driving the dual air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle. The first adjustment module is used to adjust the slope of the second sub-waveform in the target drive waveform corresponding to the next switching cycle according to the difference between the current duty cycle and the target duty cycle, so that when the solenoid valve is driven by the adjusted target drive waveform in the next switching cycle, the current duty cycle of the solenoid valve is close to the target duty cycle.

8. The apparatus according to claim 7, characterized in that, When the first calculation module calculates the current duty cycle of the solenoid valve in the current switching cycle during the process of driving the dual-air-path glass cutting head to perform one forward and backward cutting motion using the target driving waveform corresponding to the current switching cycle, it is specifically used for: During the process of driving the dual-air-path glass cutting head to perform one back-and-forth cutting motion using the target driving waveform corresponding to the current switching cycle, the current of the solenoid valve coil is collected in real time to obtain the curve of the solenoid valve coil current changing with time within the current switching cycle. Based on this curve, determine the opening and closing durations of the solenoid valve; Calculate the sum of the opening duration and the closing duration, and calculate the percentage of the opening duration to the sum. Use this percentage as the current duty cycle of the solenoid valve.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the machine-readable instructions, when executed by the processor, perform the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 6.

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