Solenoid valve adaptive control method and solenoid valve device

Abstract

The application provides an electromagnetic valve adaptive control method and an electromagnetic valve device, and relates to the technical field of electromagnetic valves.The method comprises the following steps: acquiring armature displacement information and driving current information in the working process of an electromagnetic valve;generating displacement feedback information when it is determined that the armature stroke has ended;adjusting a PWM control signal based on the displacement feedback information and the driving current information, wherein the PWM control signal comprises a strong excitation stage, a maintenance stage and a demagnetization stage; determining an opening delay response time, a valve core opening time and a valve core closing time based on the armature displacement information and the driving current information; and determining an opening response compensation parameter and a first driving current compensation parameter of the control signal in the strong excitation stage of the next working cycle and a second driving current compensation parameter of the demagnetization stage based on the opening delay response time, the valve core opening time and the valve core closing time and the corresponding recorded average time.The application can correct the deviation between valve core movement and driving control in real time through the above method.

Description

Technical Field

[0001] This application relates to the field of solenoid valve technology, and in particular to an adaptive control method and a solenoid valve device for solenoid valves. Background Technology

[0002] Solenoid valves, as actuators that use electromagnetic force to drive the valve core to switch or control the direction of fluid flow, are widely used in many fields such as industrial automation, automotive and marine engineering, medical equipment, and household appliances. Direct-acting fuel injection solenoid valves typically include core components such as a coil, a fixed iron core, a movable armature, a valve core, and a valve body. Their typical structure includes a hollow outer valve core rigidly connected to the armature, and a fixed inner conical valve core (serving as a valve seat). When the solenoid coil is energized or de-energized, the armature drives the outer valve core to move axially, causing its end to seal or separate from the inner conical valve core, thereby switching the flow path between "on" and "off".

[0003] After a prolonged period of use, the core components of solenoid valves undergo aging, resulting in a gradual decline in performance. This can manifest as problems such as uneven rebound, valve core blockage, and inconsistent fuel injection. While these issues alter the valve's operating state, they do not necessarily necessitate the replacement of the entire solenoid valve. At the time these problems occur, most solenoid valves are still within their normal lifespan. The key challenge is to adjust the control strategy to guide these malfunctioning solenoid valves back to their normal operating state, ensuring their proper functioning throughout their entire lifespan. Summary of the Invention

[0004] In view of this, this application proposes an adaptive control method and a solenoid valve device for solenoid valves.

[0005] In a first aspect, this application provides an adaptive control method for a solenoid valve, comprising: Acquire armature displacement and drive current information during the operation of the solenoid valve; When it is determined that the armature stroke has ended based on the armature displacement information, displacement feedback information is generated, and the PWM control signal is adjusted based on the displacement feedback information and the drive current information. The PWM control signal includes a strong excitation stage, a maintenance stage and a demagnetization stage. The opening delay response time, valve core opening time, and valve core closing time are determined based on the armature displacement information and the drive current information. Based on the opening delay response time and the recorded average response time, the opening response compensation parameters for the PWM control signal under the strong excitation stage of the next working cycle are determined. Based on the valve core opening time and the recorded average opening time, the first drive current compensation parameters for the strong excitation stage of the next working cycle are determined. Based on the valve core closing time and the recorded average closing time, the second drive current compensation parameters for the demagnetization stage of the next working cycle are determined.

[0006] In one embodiment, the adaptive control method for the solenoid valve further includes: Determine the actual duty cycle of the PWM control signal during the maintenance phase under the current operating condition, and determine the measurement start-up work integral and the measurement excitation current slope based on the drive current information of the strong excitation phase. The start-up work integral is the integral value of the current with respect to time during the strong excitation phase, and the excitation current slope is the slope of the correlation curve between the drive current and time during the strong excitation phase. The closing delay rate is determined based on the valve core closing time and the reference closing time; the opening work change rate is determined based on the measured opening work integral and the reference opening work integral; the holding current change rate is determined based on the measured drive current and the reference drive current during the holding phase; the initial excitation change rate is determined based on the measured excitation current slope and the reference excitation current slope; and the holding duty cycle change rate is determined based on the actual duty cycle and the reference holding duty cycle during the holding phase. The aging factor of the solenoid valve is determined based on the closing delay rate, the opening work change rate, the holding current change rate, the initial excitation change rate, and the holding duty cycle change rate. Adjust the compensation and / or limiting parameters of the PWM control signal according to the aging factor of the solenoid valve.

[0007] In one embodiment, determining the aging factor of the solenoid valve based on the closing delay rate, the opening work change rate, the holding current change rate, the initial excitation change rate, and the holding duty cycle change rate includes: When the shutdown delay rate exceeds the first preset diagnostic threshold, the aging factor decoupling is activated to determine whether the change rate of the turn-on work exceeds the second preset positive threshold. If the rate of change of the opening work exceeds the second preset positive threshold, then the aging factor is determined to be mechanical friction jamming. When both the rate of change of the starting work and the rate of change of the holding current are lower than a third preset negative threshold, the aging factor is determined to be reset spring fatigue. When the rate of change of the maintained duty cycle exceeds a preset duty cycle threshold and the rate of change of the initial excitation exceeds a preset excitation slope threshold, the aging factor is determined to be coil aging.

[0008] In one embodiment, adjusting the compensation parameters and / or limiting parameters of the PWM control signal according to the aging factor of the solenoid valve includes: When the aging factor is mechanical friction jamming, increase the first drive current compensation parameter of the strong excitation stage of the PWM control signal and increase the fault judgment threshold of the solenoid valve. When the aging factor is the fatigue of the reset spring, the compensation parameters of the PWM control signal in the strong excitation stage and the demagnetization stage are optimized according to the performance decay characteristics of the reset spring fatigue. When the aging factor is coil aging, the coil's safe withstand voltage threshold is reduced, thereby adjusting the maximum negative voltage limit parameter of the reverse demagnetizing pulse in the demagnetizing stage and constraining the upper limit of the negative voltage corresponding to the PWM control signal.

[0009] In one embodiment, the adaptive control method for the solenoid valve further includes: The continuous fully open phase and continuous fully closed phase of the solenoid valve are determined based on the armature displacement information. Obtain the duration of the fully open and fully closed phases, and determine the fault condition of the solenoid valve based on the duration of the fully open and fully closed phases and a reference time range. If a malfunction is determined in the solenoid valve, the solenoid valve shall be controlled to stop operating.

[0010] In one embodiment, the adaptive control method for the solenoid valve further includes: In the initial stage of demagnetization, the PWM control signal is controlled by a negative voltage with a first duty cycle. When the drive current drops to a preset low range, the PWM control signal is controlled to use a negative voltage with a second duty cycle, wherein the second duty cycle is greater than the first duty cycle.

[0011] In one embodiment, the adaptive control method for the solenoid valve further includes: The maximum negative voltage of the reverse demagnetizing pulse is determined based on the safe withstand voltage threshold of the coil, and the maximum negative voltage of the reverse demagnetizing pulse is used as the upper limit of the negative voltage to limit the PWM control signal during the demagnetizing stage.

[0012] In one embodiment, determining the opening delay response time, valve spool opening time, and valve spool closing time based on the armature displacement information and the drive current information includes: When a solenoid valve opening control signal is issued, timing is started; when the initial displacement of the valve core is determined based on the armature displacement information, timing is stopped; and the timing duration from the start of timing to the stop of timing is determined as the opening delay response time. Based on the armature displacement information, timing is started when the valve core generates an initial displacement, and timing is stopped when the displacement reaches the maximum set value. The timing duration from the start of timing to the stop of timing is determined as the valve core opening time. When a solenoid valve closing control signal is issued, timing is started. When the displacement falls back to the minimum value based on the armature displacement information, timing is stopped. The timing duration from the start of timing to the stop of timing is determined as the valve core closing time.

[0013] In one embodiment, determining the start-up response compensation parameters for the PWM control signal during the strong excitation phase of the next working cycle based on the start-up delay response time and the recorded average response time, determining the first drive current compensation parameters for the strong excitation phase of the next working cycle based on the valve core opening time and the recorded average opening time, and determining the second drive current compensation parameters for the demagnetization phase of the next working cycle based on the valve core closing time and the recorded average closing time, includes: Calculate the difference between the activation delay response time and the average response time, adjust the difference by a coefficient ratio to obtain a target difference, and use the target difference as the activation response compensation parameter; Calculate the difference between the valve core opening time and the average opening time, and sample and hold the difference after proportional adjustment, using the held signal as the first drive current compensation parameter. Calculate the difference between the valve core closing time and the average closing time, and sample and hold the difference after proportional adjustment. Use the held signal as the second drive current compensation parameter.

[0014] Secondly, this application also provides a solenoid valve device, including: a solenoid valve, a sensing module, and a processing module; The sensing module is used to collect armature displacement information and drive current information during the operation of the solenoid valve; The processing module is connected to the sensing module and the solenoid valve respectively, and is used to execute the solenoid valve adaptive control method as described in the first aspect.

[0015] The adaptive control method for electromagnetic valves proposed in this application has the following advantages over related technologies: 1. The adaptive control method for solenoid valves in this application acquires armature displacement information and drive current information. When it is determined that the armature stroke has ended based on the armature displacement information, the PWM control signal is adjusted based on the displacement feedback information and the drive current information. This allows for real-time perception of the actual motion state and electrical drive state of the solenoid valve, dynamic adaptation to the drive requirements of the solenoid valve opening and closing process, precise correction of valve core movement deviation caused by aging, and ensuring the stability of the solenoid valve opening and closing response and drive control.

[0016] 2. Based on the armature displacement information and drive current information, the solenoid valve opening delay response time, valve core opening time, and valve core closing time are determined. Based on the deviation of each key time from the corresponding average time, the opening response compensation parameters, the first drive current compensation parameters, and the second drive current compensation parameters for the demagnetization stage of the next working cycle are determined respectively. This can accurately quantify the opening and closing response deviation and motion lag problems caused by solenoid valve aging. Through adaptive compensation in the next cycle, the valve core motion and drive control deviation are corrected in real time, effectively solving the functional decline problems such as unsmooth rebound, valve core blockage, and fuel injection quantity imbalance caused by solenoid valve aging. The solenoid valve can be adaptively adjusted to normal working state without replacing the entire solenoid valve, ensuring the opening and closing response accuracy and working stability of the solenoid valve throughout its entire life cycle.

[0017] 3. By determining the actual duty cycle of the PWM control signal during the maintenance phase, the integral of the work done during the strong excitation phase, and the slope of the excitation current during the strong excitation phase, the closing delay rate, the rate of change of the work done during the opening phase, the rate of change of the maintenance current, the rate of change of the initial excitation, and the rate of change of the maintenance duty cycle can be calculated. This allows for the accurate decoupling and identification of the aging factors of the solenoid valve. Based on these aging factors, the compensation and limiting parameters of the PWM control signal can be adjusted accordingly. This enables accurate identification of the aging type of the solenoid valve and adaptive optimization of the compensation strategy, effectively avoiding regulation failure caused by misjudgment of aging, and further optimizing the control accuracy and operational stability of the solenoid valve throughout its entire life cycle. Attached Figure Description

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

[0019] Figure 1 This is a flowchart illustrating an adaptive control method for a solenoid valve in one embodiment of this application. Figure 2 This is a schematic diagram illustrating the process of determining the aging factor and making adjustments based on the aging factor in one embodiment of this application; Figure 3 This is a schematic diagram illustrating the principle of an adaptive control method for a solenoid valve in one embodiment of this application; Figure 4 This is a schematic diagram of the flow rate change of a solenoid valve in one embodiment of this application, without the use of a solenoid valve adaptive control method for correction. Figure 5 This is a schematic diagram of the solenoid valve flow rate change corrected by a solenoid valve adaptive control method in one embodiment of this application. Figure 6This is a schematic diagram of the structure of a solenoid valve device in one embodiment of this application. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] In some embodiments, such as Figure 1 As shown, the adaptive control method for a solenoid valve provided in this application includes the following steps S101 to S104.

[0022] S101: Obtain armature displacement information and drive current information during the operation of the solenoid valve.

[0023] In applications, a displacement sensor can be used to detect armature displacement, and a current sensor can be installed in the power supply path of the solenoid valve to detect the drive current. The solenoid valve is connected to a control unit, which outputs the drive current. The control unit is controlled by the input control signal, which is processed by logic circuitry to control the DC power supply of the solenoid valve.

[0024] S102: When it is determined that the armature stroke has ended based on the armature displacement information, displacement feedback information is generated, and the PWM (Pulse Width Modulation) control signal is adjusted based on the displacement feedback information and the drive current information. The PWM control signal includes a strong excitation stage, a sustaining stage and a demagnetizing stage.

[0025] It should be noted that the complete working cycle of a solenoid valve is divided into three stages: a strong excitation stage, a holding stage, and a demagnetizing stage. The strong excitation stage occurs at the initial opening of the solenoid valve. A high-energy drive current is output to quickly generate electromagnetic attraction, overcoming mechanical friction and spring resistance to drive the armature and valve core to move rapidly and complete the opening response. The holding stage is the steady-state working stage after the valve core reaches its position and the armature's stroke ends. By reducing the drive current and optimizing the PWM duty cycle, a smaller electromagnetic force is used to keep the valve core in the open position, reducing coil power consumption and heat loss while ensuring stable operation. The demagnetizing stage is the control stage when the solenoid valve needs to close and reset. A negative voltage PWM control signal is output to quickly cancel the remaining magnetic field of the coil, accelerating the release of magnetic energy and causing the armature and valve core to quickly fall back and close under the action of the reset spring. This effectively shortens the valve core closing delay and improves the overall accuracy and timeliness of the solenoid valve's opening and closing response.

[0026] In applications, the displacement sensor transmits the displacement signal to a trigger for comparison. If the maximum armature stroke has not been reached (set within the trigger), the drive current during the strong excitation phase is maintained (e.g., maintained at 50A power supply) to allow the solenoid valve to open normally. When the trigger detects that the armature stroke has ended and the displacement has reached the set value, it immediately switches to maintaining the drive current (e.g., 3A power supply) to keep the solenoid valve open, thus achieving the purpose of dynamically adjusting the solenoid valve opening and maintaining current switching based on the displacement signal.

[0027] The PWM control signal can be adjusted using a PID controller. Based on displacement feedback information, the target current can be determined, and then PID adjustment is performed based on the difference between the currently detected drive current and the target current to modulate the PWM control signal. It should be noted that determining the difference between the currently detected drive current and the target current can be accomplished using a comparator.

[0028] S103: Determine the opening delay response time, valve core opening time, and valve core closing time based on armature displacement information and drive current information.

[0029] The opening delay response time refers to the time elapsed from the moment the solenoid valve opening control command is issued until the armature and valve core first produce an effective initial displacement; it characterizes the response lag time after the solenoid valve command is triggered. The valve core opening time is the time consumed from the moment the valve core produces its initial displacement until the armature completes its rated stroke and the valve core is fully opened. The valve core closing time is the time elapsed from the moment the solenoid valve closing control command is issued until the armature and valve core are fully reset and the displacement returns to the initial reference position.

[0030] It is understandable that the timing nodes for issuing solenoid valve control commands can be calibrated based on drive current information. Simultaneously, armature displacement information can capture the actual movement nodes of the valve core's initial action, full opening, and reset / closed position. Therefore, by combining armature displacement and drive current information, the opening delay response time from the issuance of the opening command to the initial action of the valve core, the valve core opening time from the initial displacement of the valve core to the completion of the armature stroke, and the valve core closing time from the issuance of the closing control command to the return of the valve core displacement to its initial position can be clearly calculated. Based on this, timing is started when the solenoid valve opening control signal is issued, and stopped when the initial displacement of the valve core is determined based on the armature displacement information. The duration from the start of timing to the stop of timing is determined as the opening delay response time. Similarly, timing is started when the initial displacement of the valve core is determined based on the armature displacement information, and stopped when the displacement reaches the maximum set value. The duration from the start of timing to the stop of timing is determined as the valve core opening time. When a solenoid valve closing control signal is issued, timing is started. Timing stops when the displacement falls back to the minimum value based on the armature displacement information. The timing duration from the start of timing to the stop of timing is determined as the valve core closing time.

[0031] S104: Determine the opening response compensation parameters for the PWM control signal under the strong excitation stage of the next working cycle based on the opening delay response time and the recorded average response time; determine the first drive current compensation parameters for the strong excitation stage of the next working cycle based on the valve core opening time and the recorded average opening time; and determine the second drive current compensation parameters for the demagnetization stage of the next working cycle based on the valve core closing time and the recorded average closing time.

[0032] The associated time period for recording the average time can be a preset time period ending at a preset time node (such as the current time node). It should be noted that the preset time node and the preset time period can be set according to requirements.

[0033] It is understandable that by comparing the real-time detected opening delay response time, valve core opening time, and valve core closing time with the average response time, average opening time, and average closing time pre-stored and statistically analyzed by the system, and based on the deviation of each time parameter, the following parameters are determined: the opening response compensation parameter for the strong excitation stage of the next working cycle to correct the timing characteristics of the PWM control signal; the first drive current compensation parameter for adjusting the electromagnetic drive output capability during the strong excitation stage; and the second drive current compensation parameter for optimizing the valve core reset control effect during the demagnetization stage. By calibrating the compensation parameters of each stage in a closed loop based on the deviation between the actual running timing and the reference timing, the PWM control strategy can be dynamically iterated according to the aging degree of the solenoid valve and changes in operating conditions. This allows for precise compensation of performance degradation issues such as opening and closing response lag and action rate deviation, achieving adaptive optimization and adjustment of control parameters, and effectively maintaining the opening and closing accuracy and dynamic response performance of the solenoid valve during long-term operation.

[0034] The aforementioned adaptive control method for solenoid valves acquires armature displacement information and drive current information. When the armature stroke is determined to have ended based on the armature displacement information, the PWM control signal is adjusted based on the displacement feedback information and drive current information. This allows for real-time perception of the actual motion state and electrical drive state of the solenoid valve, dynamic adaptation to the drive requirements of the solenoid valve opening and closing process, precise correction of valve core movement deviations caused by aging, and ensuring the stability of the solenoid valve's opening and closing response and drive control. By determining the solenoid valve's opening delay response time, valve core opening time, and valve core closing time based on armature displacement and drive current information, and by determining the opening response compensation parameters, first drive current compensation parameters, and second drive current compensation parameters for the demagnetization stage in the next working cycle based on the deviation of each key time from the corresponding average time, the opening response compensation parameters, first drive current compensation parameters, and second drive current compensation parameters for the demagnetization stage in the next working cycle can be determined. This can accurately quantify the opening and closing response deviation and motion lag problems caused by solenoid valve aging. Through adaptive compensation in the next cycle, the valve core motion and drive control deviation can be corrected in real time, effectively solving the functional decline problems caused by solenoid valve aging, such as unsmooth rebound, valve core blockage, and fuel injection quantity imbalance. The solenoid valve can be adaptively adjusted to normal working state without replacing the entire solenoid valve, ensuring the opening and closing response accuracy and working stability of the solenoid valve throughout its entire life cycle.

[0035] In some embodiments, such as Figure 2 As shown, the adaptive control method for the solenoid valve further includes the following steps S201 to S204.

[0036] S201: Determine the actual duty cycle of the PWM control signal during the maintenance phase under the current operating condition, and determine the measured start-up work integral and the measured excitation current slope based on the drive current information during the strong excitation phase. The start-up work integral is the integral value of the current over time during the strong excitation phase, and the excitation current slope is the slope of the curve relating the drive current to time during the strong excitation phase.

[0037] It is understandable that the actual duty cycle of the PWM control signal during the solenoid valve's maintenance phase is detected and locked in real time under the current operating conditions. Simultaneously, based on the raw data of the drive current collected during the strong excitation phase, the integral of the measured start-up work and the slope of the measured excitation current are calculated. The integral of the start-up work is the cumulative electrical work value obtained by integrating the drive current over time during the strong excitation phase, which can quantify the magnitude of the electromagnetic output energy during the strong excitation process. The slope of the excitation current is the rate of change of the fitted curve of the drive current over time during the strong excitation phase, which can intuitively characterize the speed of the coil's rising response when energized.

[0038] S202: Determine the closing delay rate based on the valve core closing time and the reference closing time; determine the opening work change rate based on the measured opening work integral and the reference opening work integral; determine the holding current change rate based on the measured drive current and the reference drive current during the holding phase; determine the initial excitation change rate based on the measured excitation current slope and the reference excitation current slope; and determine the holding duty cycle change rate based on the actual duty cycle and the reference holding duty cycle during the holding phase.

[0039] Taking a type of electronically controlled fuel injection solenoid valve as an example, the servo hydraulic oil pressure of its system... The hydraulic oil temperature typically varies between 100 bar and 150 bar under different loads. Between 40 and 60 degrees Celsius. According to the CCU's preset MAP table. During each fuel injection cycle, the computer uses real-time tables to determine three baseline characteristic values ​​that a healthy solenoid valve should possess under the current operating conditions: baseline closing time, baseline opening work integral, and baseline steady-state holding current. Simultaneously, to determine coil aging, the slope of the specific electrical characteristic reference excitation current also needs to be extracted. ( The reference sustaining duty cycle of the PWM control signal during the steady-state holding phase. It should be noted that the baseline shutdown time is: (Typically within the range of 2.0ms to 4.0ms); the baseline start-up work integral is: (The integral of the start-up current with respect to time); the reference steady-state holding current is: (Average current when maintaining maximum opening).

[0040] To eliminate the absolute numerical differences caused by different operating conditions, the algorithm needs to calculate the percentage deviation Δ between the actual measured value and the baseline value in the current cycle, as shown in the following formula: Shutdown delay rate: Turn on the rate of change of work: Maintain current change rate: Initial excitation rate of change: Maintain duty cycle change rate: in, For valve core closing time, To measure the integral of the work done upon activation, To maintain the measured drive current during the phase, To measure the slope of the excitation current, To maintain the actual duty cycle during the phase.

[0041] It is understandable that by comparing the actual valve core closing time with the preset benchmark closing time, the closing delay rate is calculated to quantify the degree of lag deviation in the valve core reset and closing process of the solenoid valve. The opening work change rate is calculated by comparing the measured opening work integral with the standard benchmark opening work integral, which is used to characterize the attenuation of electromagnetic work capacity during the strong excitation stage. The maintenance current change rate is determined by comparing the difference between the real-time measured drive current and the benchmark drive current during the maintenance stage, which can reflect the deviation of the electrical drive current during the steady-state operation of the solenoid valve. The initial excitation change rate is obtained by comparing the measured excitation current slope with the benchmark excitation current slope, which can reflect the performance change of the initial excitation response speed of the coil. At the same time, the maintenance duty cycle change rate is determined by comparing and analyzing the actual duty cycle of the PWM control signal during the maintenance stage with the benchmark maintenance duty cycle, which accurately reflects the deviation of the steady-state control parameters. The deviation characteristics of the solenoid valve's working performance are quantified from multiple dimensions such as mechanical reset, electromagnetic work, steady-state current, excitation response, and control duty cycle, providing a comprehensive and reliable quantitative indicator basis for the subsequent accurate determination of the solenoid valve's aging factor.

[0042] S203: Determine the aging factor of the solenoid valve based on the closing delay rate, opening work change rate, holding current change rate, initial excitation change rate, and holding duty cycle change rate.

[0043] It is understandable that by analyzing five core quantitative characteristic indicators—closing delay rate, opening work change rate, holding current change rate, initial excitation change rate, and holding duty cycle change rate—a comprehensive judgment and analysis can be made from multiple dimensions, including valve core reset motion performance, strong excitation electromagnetic work capacity, steady-state holding electrical parameters, initial excitation response characteristics, and the matching degree of control duty cycle during the holding phase. This allows for the accurate differentiation of different aging types and degrees, such as valve core stagnation, spring rebound fatigue, coil excitation performance decay, and steady-state operating parameter deviation, thereby accurately determining and calibrating the corresponding solenoid valve aging factor.

[0044] S204: Adjust the compensation and / or limiting parameters of the PWM control signal according to the aging factor of the solenoid valve.

[0045] Understandable, such as Figure 3As shown, based on the identified aging factors of the solenoid valve, different aging types and degrees such as valve core blockage, spring fatigue and poor rebound, and coil excitation attenuation can be determined. This allows for targeted dynamic adaptation and optimization of various compensation parameters and electrical and duty cycle-related limiting parameters of the PWM control signal during the strong excitation, sustaining, and demagnetizing stages. Differentiated control strategies can be precisely matched according to the actual aging characteristics of the solenoid valve, effectively compensating for performance defects such as response lag, insufficient driving force, and slow reset caused by aging. This allows the control logic to adapt to the working characteristics of the solenoid valve after aging in real time, achieving precise matching between drive control and aging state, and ensuring the control accuracy and operational stability of the solenoid valve during long-term operation.

[0046] In this embodiment, by determining the actual duty cycle of the PWM control signal during the maintenance phase, the integral of the measured start-up work during the strong excitation phase, and the slope of the measured excitation current, the closing delay rate, the rate of change of start-up work, the rate of change of maintenance current, the rate of change of initial excitation, and the rate of change of maintenance duty cycle are calculated. This allows for the accurate decoupling and identification of the aging factors of the solenoid valve. Based on these aging factors, the compensation and limiting parameters of the PWM control signal are adjusted accordingly. This enables accurate identification of the aging type of the solenoid valve and adaptive optimization of the compensation strategy, effectively avoiding regulation failure caused by misjudgment of aging, and further optimizing the control accuracy and operational stability of the solenoid valve throughout its entire life cycle.

[0047] In some embodiments, determining the aging factor of the solenoid valve based on the closing delay rate, the opening work change rate, the holding current change rate, the initial excitation change rate, and the holding duty cycle change rate includes: when the closing delay rate exceeds a first preset diagnostic threshold, activating aging factor decoupling and determining whether the opening work change rate exceeds a second preset positive threshold; if the opening work change rate exceeds the second preset positive threshold, determining the aging factor as mechanical friction jamming; when both the opening work change rate and the holding current change rate are lower than a third preset negative threshold, determining the aging factor as return spring fatigue; and when the holding duty cycle change rate exceeds a preset duty cycle threshold and the initial excitation change rate exceeds a preset excitation slope threshold, determining the aging factor as coil aging.

[0048] Among these issues, mechanical friction jamming occurs because the properties of the lubricating oil in the solenoid valve change after prolonged operation, reducing its lubrication capacity and increasing the damping of moving parts such as the valve core. Additionally, small amounts of the pumped liquid, such as fuel, may leak into the valve, and the tiny particles contained within can also obstruct the movement of the valve core. These valve core jamming problems lead to longer valve opening and closing times.

[0049] Return spring fatigue: After prolonged operation, the elasticity of the spring decreases, leading to a reduction in the electromagnetic force required to open the solenoid valve, and consequently, a shorter opening time. Conversely, when the solenoid valve closes, the reduced spring force, which performs the return function, results in a longer closing time. Therefore, return spring fatigue in the aging process of a solenoid valve manifests as two distinct periods: a shortened opening time and a lengthened closing time.

[0050] Coil aging: After long-term operation, the excitation performance of the electromagnetic coil decreases. After the start-up current is applied, the magnetic field is established more slowly than in the normal state, and the current rise slope is significantly lower than in the reference state, resulting in longer start-up response time and start-up time.

[0051] For example, based on the physical characteristics and industrial tolerances of the electronically controlled fuel injection solenoid valve, a three-level judgment threshold range can be set.

[0052] First preset diagnostic threshold Set to +10% to +15%. Only when... Only when the time is right will the subsequent decoupling algorithm be activated, saving system computing power.

[0053] Second preset positive threshold Set to +8%~+12%; third preset negative threshold Set to -8% to -12%.

[0054] when Greater than the first preset diagnostic threshold, and When the value exceeds the second preset positive threshold, it can be quantitatively identified as mechanical friction jamming aging; when Greater than the first preset diagnostic threshold, and and When both are less than the third preset negative threshold, it is quantitatively identified as fatigue aging of the reset spring; when Exceeding the +12% threshold and When the value exceeds the +15% threshold, it is identified as coil aging.

[0055] It is understandable that when the detected closing delay rate exceeds the first preset diagnostic threshold, the system immediately activates the aging factor decoupling discrimination logic to further verify whether the opening work change rate exceeds the second preset positive threshold. If the opening work change rate reaches this threshold, the aging factor corresponding to the solenoid valve can be directly determined to be mechanical friction jamming. When both the opening work change rate and the holding current change rate are lower than the third preset negative threshold, the aging factor of the solenoid valve is determined to be return spring fatigue. When the holding duty cycle change rate exceeds the preset duty cycle threshold and the initial excitation change rate simultaneously exceeds the preset excitation slope threshold, the aging factor can be determined to be coil aging. By using parallel threshold screening and multi-feature index joint comparison, the system can determine the three typical aging types: mechanical friction jamming, return spring fatigue, and coil aging.

[0056] In some embodiments, adjusting the compensation parameters and / or limiting parameters of the PWM control signal according to the aging factor of the solenoid valve includes: when the aging factor is mechanical friction jamming, increasing the first drive current compensation parameter of the PWM control signal in the strong excitation stage and raising the solenoid valve fault judgment threshold; when the aging factor is reset spring fatigue, optimizing the compensation parameters of the PWM control signal in the strong excitation stage and the demagnetization stage according to the performance decay characteristics of the reset spring fatigue; when the aging factor is coil aging, reducing the coil safe withstand voltage threshold, thereby adjusting the maximum negative pressure limiting parameter of the reverse demagnetization pulse in the demagnetization stage and constraining the upper limit of the negative pressure corresponding to the PWM control signal.

[0057] It is understandable that when aging factors include mechanical friction jamming, increasing the first drive current compensation parameter in the strong excitation stage of the PWM control signal can enhance the electromagnetic driving force in the strong excitation stage to effectively overcome mechanical friction resistance, ensuring that the valve core can open quickly to the correct position. At the same time, the fault judgment threshold of the solenoid valve can be increased to avoid the change in motion characteristics caused by friction jamming being misjudged as a serious fault.

[0058] When aging factors include return spring fatigue, the drive compensation parameters of the PWM control signal during the strong excitation stage are specifically optimized to ensure sufficient valve core opening power, taking into account the performance degradation characteristics of return spring elasticity decay and insufficient rebound driving force. Simultaneously, the compensation parameters during the demagnetization stage are optimized to assist the spring in quickly pushing the valve core back to its original position, compensating for the decline in return performance caused by spring fatigue. Specifically, during the strong excitation stage, the first drive current compensation parameter is appropriately lowered to reduce the instantaneous electromagnetic attraction force during strong excitation, adapting to the pre-tightening resistance after spring decay, and avoiding excessive electromagnetic force that could cause valve core opening impact and stroke overshoot. During the demagnetization stage, the second drive current compensation parameter is increased to enhance the reverse demagnetization drive energy. The PWM duty cycle and duration during the demagnetization stage are optimized to accelerate the rapid dissipation of residual magnetism in the coil, weakening the drag effect of residual magnetism on valve core return. By enhancing the demagnetization assist to compensate for insufficient spring rebound power, the valve core closing delay is shortened, improving the problems of slow return and rebound jamming.

[0059] For example, to verify the real-time performance and effectiveness of the displacement and current dual feedback and compensation strategy, the accuracy of fuel injection was used as the standard. Taking spring fatigue as an example (16670N-10000N), since the three feedbacks mentioned above all adjust the valve opening current, the opening flow rate change over 10 cycles was captured. Figure 4 There is no system compensation. Figure 5 In the third cycle, the compensation strategy was activated via a step switch. It can be seen that after compensation was activated, the flow rate of the solenoid valve was controlled at approximately 0.102 and maintained, proving that the compensation strategy can effectively maintain the solenoid valve's performance, provide effective feedback in response to different operating conditions and aging processes, and ensure the valve's operation throughout its entire lifespan.

[0060] When the aging factor is coil aging, the maximum negative voltage limit parameter of the reverse demagnetizing pulse in the demagnetizing stage is adjusted accordingly by reducing the safe withstand voltage threshold of the coil and strictly constraining the upper limit of the negative voltage corresponding to the PWM control signal, so as to avoid the risk of coil damage caused by the decrease in insulation performance and the weakening of withstand voltage due to coil aging.

[0061] In this embodiment, a differentiated parameter adjustment strategy based on aging factor type is adopted to achieve precise adaptation and targeted optimization for different aging faults. This not only ensures the normal working performance of the solenoid valve in the aging state, but also avoids secondary damage to the solenoid valve caused by improper control, thus extending its service life.

[0062] In some embodiments, the adaptive control method for the solenoid valve further includes: determining a continuous fully open phase and a continuous fully closed phase of the solenoid valve based on armature displacement information; obtaining the duration of the fully open phase and the fully closed phase; determining a fault condition of the solenoid valve based on the duration of the fully open phase and the fully closed phase and a reference time range; and controlling the solenoid valve to stop working if a fault is determined.

[0063] It is understandable that, based on real-time acquired armature displacement information, the operating range of the solenoid valve that remains continuously fully open and the operating range that remains continuously fully closed can be distinguished during operation. The actual duration of each of the two steady-state stages can be calculated, and then the measured opening and closing durations are compared and verified with preset standard reference time ranges. Based on whether the duration exceeds a reasonable range, it can be accurately determined whether there is an abnormal fault in the solenoid valve. Once a fault is detected in the solenoid valve, a control command is immediately issued to force the solenoid valve to stop operating, which can promptly identify solenoid valve jamming faults and perform shutdown protection.

[0064] In some embodiments, the adaptive control method for the solenoid valve further includes: in the initial stage of the demagnetization phase, controlling the PWM control signal to use a negative voltage with a first duty cycle; and when the drive current drops to a preset low range, controlling the PWM control signal to use a negative voltage with a second duty cycle. The second duty cycle is greater than the first duty cycle.

[0065] In applications, during the typical demagnetization phase, the current decays to zero in a very short time, inevitably generating an extremely high reverse induced voltage across the coil. Valve core closing time compensation employs a reverse demagnetizing pulse to reduce the closing time. This involves actively applying a reverse negative voltage to the H-bridge circuit, superimposed with the inductor's own reaction force, causing the absolute voltage difference across the coil to spike instantaneously. If this reverse voltage pulse exceeds the dielectric strength of the coil's internal enameled wire insulation, a small arc breakdown will occur between the turns. Prolonged high-frequency application will accelerate insulation aging, eventually burning out the coil. Therefore, when the solenoid valve is operating normally and meets the closing requirements, no additional reverse demagnetizing pulse is added to shorten the closing time. In this compensation strategy, the reverse demagnetizing pulse is not a single step voltage, but a negative PWM modulation wave based on real-time decaying current feedback. In the initial demagnetization phase (when the current is high), a smaller first duty cycle negative voltage is used to limit peak voltage spikes; when the current drops to a lower range, a larger second duty cycle (e.g., full duty cycle) is used to apply a negative voltage to completely eliminate residual magnetism. In addition, the compensation strategy will preset a safe withstand voltage threshold for the coil and constrain the maximum negative pressure of the reverse demagnetizing pulse to ensure that the solenoid valve is not aged prematurely.

[0066] In some embodiments, the adaptive control method for the solenoid valve further includes the step of determining the maximum negative pressure of the reverse demagnetizing pulse based on the coil's safe withstand voltage threshold, and using the maximum negative pressure of the reverse demagnetizing pulse as the upper limit of the negative pressure to limit the PWM control signal during the demagnetizing phase.

[0067] It is understandable that, based on the safe withstand voltage threshold of the solenoid valve coil itself, the maximum negative pressure value allowed to be output by the reverse demagnetizing pulse is calculated and calibrated. This maximum negative pressure value is then set as a fixed upper limit standard for negative pressure. During the generation and output of the PWM control signal in the demagnetizing stage, the negative pressure amplitude of the signal is constrained and controlled in real time. The negative pressure of the demagnetizing PWM signal is strictly limited to not exceeding the set upper limit. This can not only avoid the risk of damage such as insulation breakdown and coil burnout caused by excessive negative pressure when the withstand voltage performance of the coil decreases due to aging, but also reasonably retain the effect of the demagnetizing pulse within the safe threshold range, ensuring the rapid release of residual magnetism in the coil and normal reset of the valve core, thus achieving a two-way balance between the demagnetizing control effect and the safety of coil use.

[0068] In some embodiments, determining the start-up response compensation parameter for the PWM control signal during the strong excitation phase of the next working cycle based on the start-up delay response time and the recorded average response time, determining the first drive current compensation parameter for the strong excitation phase of the next working cycle based on the valve core opening time and the recorded average opening time, and determining the second drive current compensation parameter for the demagnetization phase of the next working cycle based on the valve core closing time and the recorded average closing time, includes: calculating the difference between the start-up delay response time and the average response time, adjusting the difference by a coefficient to obtain a target difference, and using the target difference as the start-up response compensation parameter; calculating the difference between the valve core opening time and the average opening time, adjusting the difference by a coefficient and sampling and holding the sample, and using the held signal as the first drive current compensation parameter; and calculating the difference between the valve core closing time and the average closing time, adjusting the difference by a coefficient and sampling and holding the sample, and using the held signal as the second drive current compensation parameter.

[0069] The adaptive compensation strategy for aging primarily focuses on three key data points: opening delay response time, valve spool opening time, and closing time. These three characteristics are calculated by the displacement and current feedback system. A segmented compensation strategy is then implemented for the strong excitation phase, sustaining phase, and demagnetizing phase of the PWM drive signal. The specific compensation strategy is as follows:

[0070] Enable delay response compensation: The timer starts timing after the enable signal is issued until the valve core displacement is detected. The obtained time value is divided into two paths. One path is sent to the comparator for comparison. If it exceeds the set threshold, a stop signal is triggered. The other path is compared with the calculated average response time. The obtained difference is adjusted to the target difference by a coefficient ratio. The switching frequency of the basic PWM is dynamically adjusted during the strong excitation stage.

[0071] Valve core opening time compensation: The timer starts timing when it detects displacement of the valve core until the displacement reaches its maximum value. The obtained time value is divided into two paths. One path is sent to the comparator for comparison. If it exceeds the set threshold, a stop signal will be triggered. The other path is compared with the calculated average opening time. The difference is proportionally adjusted and then introduced into the sample-and-hold circuit to hold the difference signal until the next cycle. Then, the drive current is adjusted during the strong excitation stage.

[0072] Valve spool closing time compensation: The timer starts counting when it detects displacement of the valve spool and continues until the displacement reaches its minimum value. The time value is split into two paths. One path is sent to a comparator for comparison. If the displacement exceeds the set threshold, a stop signal is triggered. The other path is compared with the calculated average closing time. The difference is proportionally adjusted and then introduced into a sample-and-hold circuit to hold the difference signal until the next cycle. The drive current is then adjusted during the demagnetization phase. Since the valve spool closing time is generally longer due to various aging factors, the drive current during the demagnetization phase is typically negative. This means a negative pressure reverse demagnetization pulse is applied to forcibly accelerate the attenuation of the magnetic field and accelerate valve spool closing, compensating for the increased closing time caused by aging.

[0073] In this embodiment, the deviations between the real-time acquired opening delay response time and the system-stored average response time, the valve core opening time and the average opening time, and the valve core closing time and the average closing time are calculated separately. First, the time difference corresponding to the opening delay response time is introduced into a fixed coefficient for proportional scaling adjustment, and the target difference is calculated and directly set as the opening response compensation parameter. Then, the time difference of the valve core opening time is processed by proportional adjustment and sample-and-hold processing to filter out instantaneous fluctuation interference. The stable output signal is used as the first drive current compensation parameter for the strong excitation stage. At the same time, the time difference of the valve core closing time is adjusted proportionally and sampled and held, and the normalized and stable signal is used as the second drive current compensation parameter for the demagnetization stage. In this way, the actual deviation of the solenoid valve opening and closing sequence is quantified and transformed into standardized and directly callable control compensation parameters. After proportional tuning and sample-and-hold, the parameters are smoother and more reliable, avoiding frequent oscillation adjustments, and providing normalized and effective parameter input for adaptive and accurate compensation of the PWM control signal.

[0074] In some embodiments, please refer to Figure 6 This application provides a solenoid valve device 600, including: a solenoid valve 610, a sensing module 620 and a processing module 630.

[0075] The sensing module 630 is used to collect armature displacement information and drive current information during the operation of the solenoid valve 610. The sensing module 620 may include the displacement sensor and current sensor of the aforementioned embodiments.

[0076] The processing module 630 is connected to the sensing module 620 and the solenoid valve 610 respectively, and is used to execute the solenoid valve adaptive control method of any of the above schemes.

[0077] It should be noted that the solenoid valve device 600 provided in this application embodiment and the solenoid valve adaptive control method provided in this application embodiment are based on the same inventive concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned solenoid valve adaptive control method, and the repeated parts will not be described again.

[0078] In some embodiments, an electronic device provided in this application includes a processor and a memory; the memory stores a computer program, wherein the computer program, when executed by the processor, implements the above-described adaptive control method for the solenoid valve.

[0079] Specifically, the processor may include, for example, a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor may also include onboard memory for caching purposes. The processor may be a single processing unit or multiple processing units for performing different actions of the method flow according to embodiments of this application.

[0080] Memory can be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, memory can include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, instruments, or propagation media. Specific examples of memory include: magnetic storage devices such as magnetic tape or hard disk drives (HDDs); optical storage devices such as optical discs (CD-ROMs); and also random access memory (RAM) or flash memory; and / or wired / wireless communication links.

[0081] This application also provides a non-transitory computer storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned adaptive control method for a solenoid valve. This computer-readable medium may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into that device / apparatus / system. The aforementioned computer-readable medium carries one or more programs, which, when executed, implement the method as described in the embodiments of this application.

[0082] According to embodiments of this application, a computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, optical fiber, radio frequency signals, etc., or any suitable combination thereof.

[0083] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0084] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application. Therefore, the scope of this application should not be limited to the above embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An adaptive control method for a solenoid valve, characterized in that, include: Acquire armature displacement and drive current information during the operation of the solenoid valve; When it is determined that the armature stroke has ended based on the armature displacement information, displacement feedback information is generated, and the PWM control signal is adjusted based on the displacement feedback information and the drive current information. The PWM control signal includes a strong excitation stage, a maintenance stage and a demagnetization stage. The opening delay response time, valve core opening time, and valve core closing time are determined based on the armature displacement information and the drive current information. Based on the opening delay response time and the recorded average response time, the opening response compensation parameters for the PWM control signal under the strong excitation stage of the next working cycle are determined. Based on the valve core opening time and the recorded average opening time, the first drive current compensation parameters for the strong excitation stage of the next working cycle are determined. Based on the valve core closing time and the recorded average closing time, the second drive current compensation parameters for the demagnetization stage of the next working cycle are determined.

2. The adaptive control method for a solenoid valve as described in claim 1, characterized in that, The adaptive control method for the solenoid valve also includes: Determine the actual duty cycle of the PWM control signal during the maintenance phase under the current operating condition, and determine the measurement start-up work integral and the measurement excitation current slope based on the drive current information of the strong excitation phase. The start-up work integral is the integral value of the current with respect to time during the strong excitation phase, and the excitation current slope is the slope of the correlation curve between the drive current and time during the strong excitation phase. The closing delay rate is determined based on the valve core closing time and the reference closing time; the opening work change rate is determined based on the measured opening work integral and the reference opening work integral; the holding current change rate is determined based on the measured drive current and the reference drive current during the holding phase; the initial excitation change rate is determined based on the measured excitation current slope and the reference excitation current slope; and the holding duty cycle change rate is determined based on the actual duty cycle and the reference holding duty cycle during the holding phase. The aging factor of the solenoid valve is determined based on the closing delay rate, the opening work change rate, the holding current change rate, the initial excitation change rate, and the holding duty cycle change rate. Adjust the compensation and / or limiting parameters of the PWM control signal according to the aging factor of the solenoid valve.

3. The adaptive control method for a solenoid valve as described in claim 2, characterized in that, The determination of the aging factor of the solenoid valve based on the closing delay rate, the opening work change rate, the holding current change rate, the initial excitation change rate, and the holding duty cycle change rate includes: When the shutdown delay rate exceeds the first preset diagnostic threshold, the aging factor decoupling is activated to determine whether the change rate of the turn-on work exceeds the second preset positive threshold. If the rate of change of the opening work exceeds the second preset positive threshold, then the aging factor is determined to be mechanical friction jamming. When both the rate of change of the starting work and the rate of change of the holding current are lower than a third preset negative threshold, the aging factor is determined to be reset spring fatigue. When the rate of change of the maintained duty cycle exceeds a preset duty cycle threshold and the rate of change of the initial excitation exceeds a preset excitation slope threshold, the aging factor is determined to be coil aging.

4. The adaptive control method for a solenoid valve as described in claim 3, characterized in that, The adjustment of the compensation parameters and / or limiting parameters of the PWM control signal based on the aging factor of the solenoid valve includes: When the aging factor is mechanical friction jamming, increase the first drive current compensation parameter of the strong excitation stage of the PWM control signal and increase the fault judgment threshold of the solenoid valve. When the aging factor is the fatigue of the reset spring, the compensation parameters of the PWM control signal in the strong excitation stage and the demagnetization stage are optimized according to the performance decay characteristics of the reset spring fatigue. When the aging factor is coil aging, the coil's safe withstand voltage threshold is reduced, thereby adjusting the maximum negative voltage limit parameter of the reverse demagnetizing pulse in the demagnetizing stage and constraining the upper limit of the negative voltage corresponding to the PWM control signal.

5. The adaptive control method for a solenoid valve as described in claim 1, characterized in that, The adaptive control method for the solenoid valve also includes: The continuous fully open phase and continuous fully closed phase of the solenoid valve are determined based on the armature displacement information. Obtain the duration of the fully open and fully closed phases, and determine the fault condition of the solenoid valve based on the duration of the fully open and fully closed phases and a reference time range. If a malfunction is determined in the solenoid valve, the solenoid valve shall be controlled to stop operating.

6. The adaptive control method for a solenoid valve as described in claim 1, characterized in that, The adaptive control method for the solenoid valve also includes: In the initial stage of demagnetization, the PWM control signal is controlled by a negative voltage with a first duty cycle. When the drive current drops to a preset low range, the PWM control signal is controlled to use a negative voltage with a second duty cycle, wherein the second duty cycle is greater than the first duty cycle.

7. The adaptive control method for a solenoid valve as described in claim 6, characterized in that, The adaptive control method for the solenoid valve also includes: The maximum negative voltage of the reverse demagnetizing pulse is determined based on the safe withstand voltage threshold of the coil, and the maximum negative voltage of the reverse demagnetizing pulse is used as the upper limit of the negative voltage to limit the PWM control signal during the demagnetizing stage.

8. The adaptive control method for a solenoid valve as described in claim 1, characterized in that, The determination of the opening delay response time, valve core opening time, and valve core closing time based on the armature displacement information and the drive current information includes: When a solenoid valve opening control signal is issued, timing is started; when the initial displacement of the valve core is determined based on the armature displacement information, timing is stopped; and the timing duration from the start of timing to the stop of timing is determined as the opening delay response time. Based on the armature displacement information, timing is started when the valve core generates an initial displacement, and timing is stopped when the displacement reaches the maximum set value. The timing duration from the start of timing to the stop of timing is determined as the valve core opening time. When a solenoid valve closing control signal is issued, timing is started. When the displacement falls back to the minimum value based on the armature displacement information, timing is stopped. The timing duration from the start of timing to the stop of timing is determined as the valve core closing time.

9. The adaptive control method for a solenoid valve as described in claim 1, characterized in that, The process of determining the start-up response compensation parameters for the PWM control signal during the strong excitation phase of the next working cycle based on the start-up delay response time and the recorded average response time, determining the first drive current compensation parameters for the strong excitation phase of the next working cycle based on the valve core opening time and the recorded average opening time, and determining the second drive current compensation parameters for the demagnetization phase of the next working cycle based on the valve core closing time and the recorded average closing time includes: Calculate the difference between the activation delay response time and the average response time, adjust the difference by a coefficient ratio to obtain a target difference, and use the target difference as the activation response compensation parameter; Calculate the difference between the valve core opening time and the average opening time, and sample and hold the difference after proportional adjustment, using the held signal as the first drive current compensation parameter. Calculate the difference between the valve core closing time and the average closing time, and sample and hold the difference after proportional adjustment. Use the held signal as the second drive current compensation parameter.

10. A solenoid valve device, characterized in that, include: Solenoid valves, sensing modules, and processing modules; The sensing module is used to collect armature displacement information and drive current information during the operation of the solenoid valve; The processing module is connected to the sensing module and the solenoid valve respectively, and is used to execute the solenoid valve adaptive control method as described in any one of claims 1 to 7.

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