技术领域technical field
本发明涉及一种基于开关策略的气动比例阀系统及其控制方法，属于气动放大元件技术领域。The invention relates to a pneumatic proportional valve system based on a switching strategy and a control method thereof, belonging to the technical field of pneumatic amplifying components.
背景技术Background technique
基于Honeywell的Lucifer-type EPP3 J-21-U-100-10型阀门的非线性动态模型进行了分析并做了实验测试。这种阀门利用对高速电磁阀进行PWM控制。作者利用实验获得的参数验证了数学模型的正确性，并且这种模型可以运用到相似阀门的结构设计；吕弢在《压电阀设计及其在列车制动系统中的应用研究》一文中设计了一种以压电比例阀为先导的电气比例压力调节阀。该阀门利用压电比例阀作为先导级比例控制先导腔，再通过先导腔来改变主流道开度，从而达到比例调节的目的。根据实验结果，可知其自制压电阀门性能响应速度较快，线性度较好，但是存在死区，输入气压很低以及跟踪突变信号性能较差的缺点。The nonlinear dynamic model based on Honeywell's Lucifer-type EPP3 J-21-U-100-10 valve is analyzed and tested experimentally. This valve utilizes PWM control of a high-speed solenoid valve. The author used the parameters obtained from the experiment to verify the correctness of the mathematical model, and this model can be applied to the structural design of similar valves; An electric proportional pressure regulating valve piloted by a piezoelectric proportional valve is proposed. The valve uses the piezoelectric proportional valve as the pilot stage to proportionally control the pilot cavity, and then changes the opening of the main channel through the pilot cavity, so as to achieve the purpose of proportional adjustment. According to the experimental results, it can be seen that the performance of the self-made piezoelectric valve has a fast response speed and good linearity, but it has the disadvantages of dead zone, low input air pressure and poor performance of tracking sudden change signals.
Bao Gang,Cheng Tinghai,Huang Yao,Guo Xiangdong,Gao在Han.A Nozzle Flapper Electro-Pneumatic Proportional Pressure Valve Driven by Piezoelectric Motor一文中设计了一种由压电电动机驱动的喷嘴挡板式电气比例压力阀。该阀门的压电电动机改变喷嘴挡板的开度，从而控制先导级的控制压力，进而改变主流道的开度，以达到比例调节的目的。这种阀门在一定工作压力下的线性度是±5%，分离度为0.1%，滞后为±0.5%，相比普通比例阀具有良好的稳定性和控制精度。Bao Gang, Cheng Tinghai, Huang Yao, Guo Xiangdong, Gao designed a nozzle flapper electro-pneumatic proportional pressure valve driven by a piezoelectric motor in the article Han.A Nozzle Flapper Electro-Pneumatic Proportional Pressure Valve Driven by Piezoelectric Motor. The piezoelectric motor of the valve changes the opening of the nozzle baffle, thereby controlling the control pressure of the pilot stage, and then changing the opening of the main channel to achieve the purpose of proportional adjustment. The linearity of this valve under a certain working pressure is ±5%, the separation is 0.1%, and the hysteresis is ±0.5%. Compared with ordinary proportional valves, it has better stability and control accuracy.
利用高速电磁阀来对阀门的前置级进行压力控制，从而改变主流道开度达到比例调节目的。目前涉及到高速电磁阀的很多研究基本上利用PWM控制策略，但是PWM控制对控制精度有如下不良影响：The high-speed solenoid valve is used to control the pressure of the pre-stage of the valve, so as to change the opening of the main channel to achieve the purpose of proportional adjustment. At present, many studies involving high-speed solenoid valves basically use PWM control strategy, but PWM control has the following adverse effects on control accuracy:
1）开关动作产生流量脉动，对系统控制精度有影响；1) The switching action produces flow pulsation, which affects the control accuracy of the system;
2）阀的开关切换特性会形成零位死区。2) The switching characteristics of the valve will form a zero dead zone.
发明内容Contents of the invention
针对上述背景技术的不足，本发明利用简单开关控制策略控制高速电磁阀，改变前置级压力，提供一种基于开关策略的气动比例阀系统及其控制方法。Aiming at the deficiency of the above-mentioned background technology, the present invention uses a simple switch control strategy to control the high-speed solenoid valve, changes the pre-stage pressure, and provides a pneumatic proportional valve system and its control method based on the switch strategy.
本发明为解决上述技术问题采用以下技术方案：The present invention adopts the following technical solutions for solving the problems of the technologies described above:
一种基于开关策略的气动比例阀系统，包括主阀部分、前置级控制部分以及单片机控制部分；其中，所述主阀部分包括空气主流道和依次连接的主控制阀、弹性部件；所述前置级控制部分包括空气分流道、至少两台高速电磁阀、连接管道以及压力传感器，所述空气主流道上连接空气分流道，在空气主流道的出口处依次连接主控制阀以及压力传感器；所述空气分流道上依次设置高速电磁阀，在第一高速电磁阀与第二高速电磁阀之间的空气分流道上连通一管道；所述管道连接一空腔，空腔内依次设有一气动薄膜和动作杆件，动作杆件的另一端刚性连接在主控制阀上，通过空腔内气压的改变使气动薄膜变形推动动作杆件来控制主控制阀的开度；所述单片机控制部分包括单片机以及电机驱动模块，所述单片机根据压力传感器的出流压力信号以及人工设定信号来控制第一高速电磁阀与第二高速电磁阀的开关，从而改变空腔内压力的大小，保持出流压力的平衡。A pneumatic proportional valve system based on a switching strategy, comprising a main valve part, a pre-stage control part and a single-chip microcomputer control part; wherein, the main valve part includes an air main channel and a main control valve and elastic components connected in sequence; the The pre-stage control part includes an air distribution channel, at least two high-speed solenoid valves, connecting pipes and pressure sensors, the air main channel is connected to the air distribution channel, and the outlet of the air main channel is sequentially connected to the main control valve and the pressure sensor; High-speed electromagnetic valves are arranged in sequence on the air distribution channel, and a pipeline is connected to the air distribution channel between the first high-speed electromagnetic valve and the second high-speed electromagnetic valve; the pipeline is connected to a cavity, and a pneumatic film and an action rod are arranged in sequence in the cavity The other end of the action rod is rigidly connected to the main control valve, and the change of air pressure in the cavity makes the pneumatic film deform and pushes the action rod to control the opening of the main control valve; the control part of the single-chip microcomputer includes a single-chip microcomputer and a motor drive Module, the single-chip microcomputer controls the switch of the first high-speed solenoid valve and the second high-speed solenoid valve according to the outflow pressure signal of the pressure sensor and the manual setting signal, thereby changing the pressure in the cavity and maintaining the balance of the outflow pressure.
所述空气分流道的末端为泄气口。The end of the air distribution channel is an air leakage port.
所述单片机连接一显示设备，用于显示系统状态。The single-chip microcomputer is connected with a display device for displaying system status.
一种基于开关策略的气动比例阀控制方法，该方法包括以下步骤，A method for controlling a pneumatic proportional valve based on a switching strategy, the method comprising the following steps,
步骤一，压力传感器采集空气主流道的出口处的空气压力，将其输入到单片机上，判断是需要降低出流压力还是升高出流压力；Step 1, the pressure sensor collects the air pressure at the outlet of the air main channel, and inputs it to the single-chip microcomputer to judge whether it is necessary to reduce the outflow pressure or increase the outflow pressure;
步骤二，单片机输出控制信号，通过电机驱动模块控制高速电磁阀的开关状态，改变空腔内的气压大小，通过气动薄膜改变主控制阀的开度；Step 2, the single-chip microcomputer outputs the control signal, controls the switching state of the high-speed solenoid valve through the motor drive module, changes the air pressure in the cavity, and changes the opening of the main control valve through the pneumatic film;
步骤三，当达到控制效果时，关闭高速电磁阀。Step 3, when the control effect is achieved, close the high-speed solenoid valve.
进一步的，所述步骤二具体指，当需要降低出流压力时，打开空腔上游的高速电磁阀，关闭空腔下游的高速电磁阀；当需要升高出流压力时，关闭空腔上游的高速电磁阀，打开空腔下游的高速电磁阀。Further, the second step specifically refers to, when it is necessary to reduce the outflow pressure, open the high-speed solenoid valve upstream of the cavity, and close the high-speed solenoid valve downstream of the cavity; when it is necessary to increase the outflow pressure, close the high-speed solenoid valve upstream of the cavity High-speed solenoid valve, open the high-speed solenoid valve downstream of the cavity.
更进一步的，所述步骤一具体指，给目标压力设置上下误差范围，即比较压力传感器采集的数据与上误差范围以及下误差范围，当采集的数据大于上误差范围时，需要降低出流压力；当采集的数据小于于下误差范围时，需要升高出流压力。Furthermore, the step 1 specifically refers to setting the upper and lower error ranges for the target pressure, that is, comparing the data collected by the pressure sensor with the upper error range and the lower error range, and when the collected data is greater than the upper error range, it is necessary to reduce the outflow pressure ; When the collected data is less than the lower error range, it is necessary to increase the outflow pressure.
作为一种优选，在所述高低误差范围的基础上，设置上下过渡范围，即在高误差范围的下边缘设置一上过渡范围，在低误差范围的上边缘设置一下过渡范围；当压力传感器采集的数据落入到上下过渡范围中时，同时打开两个高速电磁阀利用bangbang控制和P控制结合的方法控制两个高速电磁阀的开启时间，避免振荡。As a preference, on the basis of the high and low error ranges, the upper and lower transition ranges are set, that is, an upper transition range is set at the lower edge of the high error range, and a transition range is set at the upper edge of the low error range; when the pressure sensor collects When the data falls into the upper and lower transition ranges, open two high-speed solenoid valves at the same time and use the method of combining bangbang control and P control to control the opening time of the two high-speed solenoid valves to avoid oscillation.
本发明采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:
该一种基于开关策略的气动比例阀系统以及控制方法具有精度高和响应速度快的性能，同时具备低成本，高可靠性等特点：The pneumatic proportional valve system and control method based on the switching strategy have the performance of high precision and fast response, and also have the characteristics of low cost and high reliability:
1、精度高：在于原理性装置的误差可以控制在±15kPa以内；1. High precision: the error of the principle device can be controlled within ±15kPa;
2、响应速度快：前置级的响应速度在50ms左右；2. Fast response speed: the response speed of the pre-stage is about 50ms;
3、成本低：高速电磁阀等价格低廉，装置整体的成本较低。3. Low cost: high-speed solenoid valves are low in price, and the overall cost of the device is low.
附图说明Description of drawings
图1为本发明提供的基于开关策略的气动比例阀系统模型图；Fig. 1 is the model diagram of the pneumatic proportional valve system based on switching strategy provided by the present invention;
图2为本发明提供的基于开关策略的气动比例阀控制方法流程示意图；Fig. 2 is a schematic flow chart of a pneumatic proportional valve control method based on a switching strategy provided by the present invention;
图3为本发明提供的基于开关策略的气动比例阀系统压力响应曲线图；Fig. 3 is the pressure response curve diagram of the pneumatic proportional valve system based on the switching strategy provided by the present invention;
图4为本发明提供的基于开关策略的气动比例阀系统出流压力误差曲线；Fig. 4 is the outflow pressure error curve of the pneumatic proportional valve system based on the switching strategy provided by the present invention;
图5为本发明提供的一种实施方式的控制流程框图；Fig. 5 is a control flow diagram of an embodiment provided by the present invention;
图6为图5对应的前置级跃信号响应曲线图；Fig. 6 is the corresponding pre-step signal response curve diagram of Fig. 5;
图7为图5对应的前置级跃信号响应曲线图；Fig. 7 is the corresponding pre-step signal response curve diagram of Fig. 5;
图8为本发明提供的第二种实施方式对应的前置级跃信号响应曲线图；Fig. 8 is a response curve diagram of the pre-step signal corresponding to the second embodiment provided by the present invention;
图9为本发明提供的第二种实施方式对应的前置级跃信号响应曲线图；FIG. 9 is a response curve diagram of the pre-step signal corresponding to the second embodiment provided by the present invention;
图10为本发明提供的第二种实施方式对应的前置级跃信号响应曲线图；Fig. 10 is a response curve diagram of the pre-step signal corresponding to the second embodiment provided by the present invention;
图11为本发明提供的第二种实施方式对应的前置级跃信号响应曲线图。FIG. 11 is a response curve diagram of the pre-step signal corresponding to the second embodiment provided by the present invention.
具体实施方式Detailed ways
本发明提供一种基于开关策略的气动比例阀系统及其控制方法，为使本发明的目的，技术方案及效果更加清楚，明确，以及参照附图并举实例对本发明进一步详细说明。应当理解，此处所描述的具体实施仅用以解释本发明，并不用于限定本发明。The present invention provides a pneumatic proportional valve system based on switching strategy and its control method. In order to make the object, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific implementations described here are only used to explain the present invention, not to limit the present invention.
下面结合附图对发明的技术方案进行详细说明：Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:
该方法提供一种基于开关策略的气动比例阀系统如图1所示，具体结构为：This method provides a pneumatic proportional valve system based on switching strategy as shown in Figure 1, the specific structure is:
一种基于开关策略的气动比例阀系统，包括主阀部分、前置级控制部分以及单片机控制部分；其中，所述主阀部分包括空气主流道和依次连接的主控制阀、弹性部件；所述前置级控制部分包括空气分流道、至少两台高速电磁阀、连接管道以及压力传感器，所述空气主流道上连接空气分流道，在空气主流道的出口处依次连接主控制阀以及压力传感器；所述空气分流道上依次设置高速电磁阀，在第一高速电磁阀与第二高速电磁阀之间的空气分流道上连通一管道；所述管道连接一空腔，空腔内依次设有一气动薄膜和动作杆件，动作杆件的另一端刚性连接在主控制阀上，通过空腔内气压的改变使气动薄膜变形推动动作杆件来控制主控制阀的开度；所述单片机控制部分包括单片机以及电机驱动模块，所述单片机根据压力传感器的出流压力信号以及人工设定信号来控制第一高速电磁阀与第二高速电磁阀的开关，从而改变空腔内压力的大小，保持出流压力的平衡。该空腔为一气缸，空气分流道的末端为泄气口，所述单片机连接一显示设备，用于显示系统状态。A pneumatic proportional valve system based on a switching strategy, comprising a main valve part, a pre-stage control part and a single-chip microcomputer control part; wherein, the main valve part includes an air main channel and a main control valve and elastic components connected in sequence; the The pre-stage control part includes an air distribution channel, at least two high-speed solenoid valves, connecting pipes and pressure sensors, the air main channel is connected to the air distribution channel, and the outlet of the air main channel is sequentially connected to the main control valve and the pressure sensor; High-speed electromagnetic valves are arranged in sequence on the air distribution channel, and a pipeline is connected to the air distribution channel between the first high-speed electromagnetic valve and the second high-speed electromagnetic valve; the pipeline is connected to a cavity, and a pneumatic film and an action rod are arranged in sequence in the cavity The other end of the action rod is rigidly connected to the main control valve, and the change of air pressure in the cavity makes the pneumatic film deform and pushes the action rod to control the opening of the main control valve; the control part of the single-chip microcomputer includes a single-chip microcomputer and a motor drive Module, the single-chip microcomputer controls the switch of the first high-speed solenoid valve and the second high-speed solenoid valve according to the outflow pressure signal of the pressure sensor and the manual setting signal, thereby changing the pressure in the cavity and maintaining the balance of the outflow pressure. The cavity is a cylinder, and the end of the air distribution channel is an air discharge port. The single-chip microcomputer is connected with a display device for displaying system status.
从模型可见，空气经主流道分为两个部分，大部分经主流道节流口后变为目标压力，小部分气体经分流后进入前置级。前置级由两个高速电磁阀和一个控制空腔组成。两个高速电磁阀分别起着给空腔打气和放气的作用，当需要降低出流压力时，则需要将主流道节流口的压力变小，此时需要提高控制空腔的压力以抵抗弹簧力向下运动。若利用简单开关控制策略，控制模块会输出信号，打开上游高速电磁阀，即图1中的第一高速电磁阀。下游高速电磁阀，即图1中的第二高速电磁阀保持关闭。此时主流的一部分气流会经上游高速电磁阀进入控制空腔，空腔压力上升，动作杆克服弹簧力向下移动，在某个位置达到平衡，从而降低了出流的压力。相反，为了提高出流压力则需要打开下游高速电磁阀，关闭上游高速电磁阀。当然，完成这个过程必须要选择有合适弹簧系数的弹簧。出流口的压力传感器获得出流口的压力信号，反馈给控制器，从而形成闭环控制系统。完整的控制流程示意图如图2 。It can be seen from the model that the air is divided into two parts through the main channel. Most of the air becomes the target pressure after passing through the orifice of the main channel, and a small part of the gas enters the pre-stage after being divided. The pre-stage consists of two high-speed solenoid valves and a control cavity. The two high-speed solenoid valves play the role of inflating and deflated the cavity respectively. When it is necessary to reduce the outflow pressure, the pressure of the throttle port of the main channel needs to be reduced. At this time, the pressure of the control cavity needs to be increased to resist Spring force moves downward. If a simple switch control strategy is used, the control module will output a signal to open the upstream high-speed solenoid valve, that is, the first high-speed solenoid valve in Fig. 1 . The downstream high-speed solenoid valve, the second high-speed solenoid valve in Figure 1, remains closed. At this time, part of the mainstream air flow will enter the control cavity through the upstream high-speed solenoid valve, the pressure of the cavity will rise, and the action rod will overcome the force of the spring and move downward to reach a balance at a certain position, thereby reducing the pressure of the outflow. On the contrary, in order to increase the outflow pressure, it is necessary to open the downstream high-speed solenoid valve and close the upstream high-speed solenoid valve. Of course, to complete this process, it is necessary to select a spring with an appropriate spring rate. The pressure sensor at the outlet port obtains the pressure signal at the outlet port and feeds it back to the controller, thus forming a closed-loop control system. The complete control flow diagram is shown in Figure 2.
本发明提供的系统中，所采用的高速电磁阀为MAC 35A-ACA-DDAA-1BA型高速电磁阀，这种电磁阀的最小开启时间为6ms，最小闭合时间为2ms。气缸作为阀门模型中的空腔，起到一定的稳压作用，在前置级中，利用压力传感器获得其中的压力，并通过实验验证实物的正确性。In the system provided by the present invention, the high-speed solenoid valve adopted is a MAC 35A-ACA-DDAA-1BA type high-speed solenoid valve. The minimum opening time of this solenoid valve is 6ms, and the minimum closing time is 2ms. As the cavity in the valve model, the cylinder plays a certain role in stabilizing the pressure. In the pre-stage, the pressure in it is obtained by using the pressure sensor, and the correctness of the real object is verified through experiments.
前置级的控制在本系统的控制效果起了决定性的作用；首先，为了说明前置级控制部分工作的原理以及验证试验结果的准确性，我们将主阀控制部分去除，单独测试前置级控制部分。采用一压力传感器检测空腔内的空气压力；其具体的控制方法为：The control of the pre-stage plays a decisive role in the control effect of this system; first, in order to explain the working principle of the pre-stage control part and verify the accuracy of the test results, we remove the main valve control part and test the pre-stage separately. Control section. A pressure sensor is used to detect the air pressure in the cavity; the specific control method is:
实施例1Example 1
步骤一，压力传感器采集空腔内的空气压力，将其输入到单片机上，判断是需要降低空腔内的空气压力还是升高空腔内的空气压力；Step 1, the pressure sensor collects the air pressure in the cavity, and inputs it to the single-chip microcomputer to judge whether it is necessary to reduce the air pressure in the cavity or increase the air pressure in the cavity;
步骤二，单片机输出控制信号，通过电机驱动模块控制高速电磁阀的开关状态，改变空腔内的气压大小，通过气动薄膜改变主控制阀的开度；Step 2, the single-chip microcomputer outputs the control signal, controls the switching state of the high-speed solenoid valve through the motor drive module, changes the air pressure in the cavity, and changes the opening of the main control valve through the pneumatic film;
步骤三，当达到控制效果时，关闭高速电磁阀。Step 3, when the control effect is achieved, close the high-speed solenoid valve.
我们设定一个前置级空腔压力允许范围，即所得压力包含一个误差带，当空腔压力小于误差允许范围，则打开第一高速电磁阀、关闭第二高速电磁阀，空腔压力上升；当空腔压力大于误差允许范围，则打开第二高速电磁阀阀、关闭第一高速电磁阀，空腔压力下降；当空腔压力在误差范围内，两个电磁阀均保持闭合状态，空腔压力不变。具体的控制框如图5，其步骤分别是：We set a pre-stage cavity pressure allowable range, that is, the obtained pressure includes an error band. When the cavity pressure is less than the error allowable range, the first high-speed solenoid valve is opened and the second high-speed solenoid valve is closed, and the cavity pressure rises; If the cavity pressure is greater than the tolerance range, the second high-speed solenoid valve is opened, the first high-speed solenoid valve is closed, and the cavity pressure drops; when the cavity pressure is within the error range, both solenoid valves remain closed, and the cavity pressure remains unchanged. . The specific control frame is shown in Figure 5, and the steps are as follows:
步骤一，压力传感器采集空腔内的空气压力，将其输入到单片机上，给空腔内的空气压力设置上下误差范围，即比较压力传感器采集的数据与上误差范围以及下误差范围，当采集的数据大于上误差范围时，需要降低空腔内的空气压力；当采集的数据小于下误差范围时，需要升高空腔内的空气压力，判断是需要降低空腔内的空气压力还是升高空腔内的空气压力；Step 1: The pressure sensor collects the air pressure in the cavity, inputs it to the microcontroller, and sets the upper and lower error ranges for the air pressure in the cavity, that is, compares the data collected by the pressure sensor with the upper and lower error ranges. When the collected data is greater than the upper error range, it is necessary to reduce the air pressure in the cavity; when the collected data is smaller than the lower error range, it is necessary to increase the air pressure in the cavity, and judge whether it is necessary to reduce the air pressure in the cavity or increase the cavity the air pressure inside;
步骤二，单片机输出控制信号，通过电机驱动模块控制高速电磁阀的开关状态；当需要降低空腔内的空气压力时，打开上游的高速电磁阀，关闭下游的高速电磁阀；当需要升高空腔内的空气压力时，关闭上游的高速电磁阀，打开下游的高速电磁阀。Step 2, the single-chip microcomputer outputs the control signal, and controls the switch state of the high-speed solenoid valve through the motor drive module; when it is necessary to reduce the air pressure in the cavity, open the upstream high-speed solenoid valve and close the downstream high-speed solenoid valve; when it is necessary to raise the cavity When the air pressure inside is closed, the upstream high-speed solenoid valve is closed, and the downstream high-speed solenoid valve is opened.
步骤三，当达到控制效果时，关闭高速电磁阀。Step 3, when the control effect is achieved, close the high-speed solenoid valve.
由这种控制策略来实现对前置级空腔压力的控制，设置压力允许误差为 ，可以得到如图6-图8的三组空腔压力曲线图，其中所有的压力为绝对压力：从上述三组曲线图可以上看到这种控制策略的效果：相应速度较快，精度也还算是理想，但是仍然存在响应不稳定，容易出现振荡现象。振荡的出现主要原因在于流量较大，高速电磁阀打开时间受限于其本身动作时间，加之误差带较小，会出现压力过低后打气过多、压力过大后放气过多的现象，引起振荡。所以需要引入带有过渡的控制方法。This control strategy is used to control the pre-stage cavity pressure, and the allowable error of the set pressure is , you can get three sets of cavity pressure curves as shown in Figure 6-Figure 8, in which all pressures are absolute pressures: From the above three sets of curves, you can see the effect of this control strategy: the corresponding speed is faster and the accuracy is also higher. It is still ideal, but there are still unstable responses and prone to oscillations. The main reason for the oscillation is that the flow rate is large, the opening time of the high-speed solenoid valve is limited by its own action time, and the error zone is small, so there will be too much gas after the pressure is too low, and too much gas will be released after the pressure is too high. cause oscillations. So need to introduce control method with transition.
实施例2Example 2
在此基础上，为了保证更快的响应速度和更精确的响应效果，在误差带上下边缘分别设置一条过渡带，当压力落入过渡带中，通过同时打开两个高速阀并改变开关时间获得较少的流量，从而避免振荡出现。其具体步骤分别是：On this basis, in order to ensure a faster response speed and a more precise response effect, a transition zone is set at the upper and lower edges of the error zone. When the pressure falls into the transition zone, it is obtained by simultaneously opening two high-speed valves and changing the switching time. Less flow, thus avoiding oscillations. The specific steps are:
步骤一，压力传感器采集空腔内的空气压力，将其输入到单片机上，给空腔内的空气压力设置高低误差范围，即比较压力传感器采集的数据与高误差范围以及低误差范围，当采集的数据大于高误差范围时，需要降低空腔内的空气压力；当采集的数据小于高误差范围时，需要升高空腔内的空气压力，判断是需要降低空腔内的空气还是升高空腔内的空气压力；Step 1: The pressure sensor collects the air pressure in the cavity, inputs it to the microcontroller, and sets the high and low error ranges for the air pressure in the cavity, that is, compares the data collected by the pressure sensor with the high and low error ranges. When the collected data is greater than the high error range, it is necessary to reduce the air pressure in the cavity; when the collected data is less than the high error range, it is necessary to increase the air pressure in the cavity to judge whether it is necessary to reduce the air in the cavity or increase the air pressure in the cavity. air pressure;
特别的，在所述高低误差范围的基础上，设置上下过渡范围，即在高误差范围的下边缘设置一上过渡范围，在低误差范围的上边缘设置一下过渡范围。In particular, on the basis of the high and low error ranges, the upper and lower transition ranges are set, that is, an upper transition range is set at the lower edge of the high error range, and a lower transition range is set at the upper edge of the low error range.
步骤二，单片机输出控制信号，通过电机驱动模块控制高速电磁阀的开关状态；当需要降低空腔内的空气压力时，打开上游的高速电磁阀，关闭下游的高速电磁阀；当需要升高空腔内的空气压力时，关闭上游的高速电磁阀，打开下游的高速电磁阀。当压力传感器采集的数据落入到上下过渡范围中时，同时打开两个高速电磁阀并利用bangbang控制和P控制结合的方法控制两个高速电磁阀的开启时间，避免振荡。Step 2, the single-chip microcomputer outputs the control signal, and controls the switch state of the high-speed solenoid valve through the motor drive module; when it is necessary to reduce the air pressure in the cavity, open the upstream high-speed solenoid valve and close the downstream high-speed solenoid valve; when it is necessary to raise the cavity When the air pressure inside is closed, the upstream high-speed solenoid valve is closed, and the downstream high-speed solenoid valve is opened. When the data collected by the pressure sensor falls into the upper and lower transition range, open two high-speed solenoid valves at the same time and use the method of bangbang control and P control to control the opening time of the two high-speed solenoid valves to avoid oscillation.
步骤三，当达到控制效果时，关闭高速电磁阀。Step 3, when the control effect is achieved, close the high-speed solenoid valve.
实验曲线如图8-图9。从曲线中可以看出，bangbang控制和P控制结合的方法避免了振荡，并且极大缩短了阶跃响应时间，响应时间仅为和，这说明了前置级对目标压力的良好跟随性能。曲线的误差带为压力值，图中所有的压力为绝对压力。图10是容腔压力稳态下的响应曲线。由于装置气密性问题导致压力在逐渐下降，当下降到误差范围之外后高速阀工作给容腔压力补偿。曲线显示，前置级达到了稳态性能要求。The experimental curves are shown in Figure 8-Figure 9. It can be seen from the curve that the combination of bangbang control and P control avoids oscillation, and greatly shortens the step response time, the response time is only and , which shows the good follow performance of the pre-stage to the target pressure. The error band of the curve is the pressure value , all pressures in the figure are absolute pressures. Fig. 10 is the response curve under the steady state of the cavity pressure. Due to the airtightness of the device, the pressure is gradually dropping. When it falls outside the error range, the high-speed valve works to compensate the pressure in the cavity. The curve shows that the pre-stage meets the steady-state performance requirements.
上述的实验都是在压力误差下进行的。将压力误差缩小为，并利用调节过渡压力范围内两个高速阀不同的开关时间，得到压力响应曲线如图11所示，通过bangbang控制结合P控制调节阀门开关时间是一个较好的调节方式，前置级阶跃响应时间能够在左右，且具有较好的稳定性。The above experiments are all under pressure error carried out below. Reduce the pressure error to , and by adjusting the different switching times of the two high-speed valves within the transition pressure range, the pressure response curve is obtained as shown in Figure 11. It is a better adjustment method to adjust the switching time of the valve through bangbang control combined with P control. The pre-stage step response time can be around, and has good stability.
我们将主阀部分及负载整个接入系统，将上文提到的空腔的空气压力用空气主流道的出口处的空气压力替代，使其成为完整的比例阀系统，再进行实验，具体方法为：We connect the main valve part and the whole load to the system, and replace the air pressure of the cavity mentioned above with the air pressure at the outlet of the air main channel to make it a complete proportional valve system, and then conduct experiments, the specific method for:
步骤一，压力传感器采集空气主流道的出口处的空气压力，将其输入到单片机上，判断是需要降低出流压力还是升高出流压力；给目标压力设置上下误差范围，即比较压力传感器采集的数据与上误差范围以及下误差范围，当采集的数据大于上误差范围时，需要降低出流压力；当采集的数据小于下误差范围时，需要升高出流压力。Step 1: The pressure sensor collects the air pressure at the outlet of the main air channel, and inputs it to the single-chip microcomputer to judge whether it is necessary to reduce the outflow pressure or increase the outflow pressure; set the upper and lower error ranges for the target pressure, that is, compare the pressure sensor collected When the collected data is greater than the upper error range, the outflow pressure needs to be reduced; when the collected data is smaller than the lower error range, the outflow pressure needs to be increased.
步骤二，单片机输出控制信号，通过电机驱动模块控制高速电磁阀的开关状态，改变空腔内的气压大小，通过气动薄膜改变主控制阀的开度；Step 2, the single-chip microcomputer outputs the control signal, controls the switching state of the high-speed solenoid valve through the motor drive module, changes the air pressure in the cavity, and changes the opening of the main control valve through the pneumatic film;
步骤三，当达到控制效果时，关闭高速电磁阀。Step 3, when the control effect is achieved, close the high-speed solenoid valve.
为了提高实验精度设置上下过渡范围并且采取与之相对应的控制策略的过程与上文所提到的是一样的，这里就不再赘述。In order to improve the experimental accuracy, the process of setting the upper and lower transition ranges and adopting the corresponding control strategy is the same as mentioned above, and will not be repeated here.
图3和图4为整个系统加上负载情况后的实验效果，其具体参数为，设置出流目标压力阶跃至，气源压力为0.6MPa，可得到如图3所示压力曲线，其出流压力误差曲线如下图4所示；可见在左右出现一个急剧的下降，是因为在这个时候给阀门施加了阶跃信号。由图中可以基本看出阀门的优良的稳态性能和动态性能。Figure 3 and Figure 4 are the experimental results of the whole system plus load conditions, the specific parameters are, set the target pressure of the outflow step to , the gas source pressure is 0.6MPa, the pressure curve shown in Figure 3 can be obtained, and the outflow pressure error curve is shown in Figure 4 below; it can be seen in There is a sharp drop left and right, because a step signal is applied to the valve at this time. It can be basically seen from the figure that the valve has excellent steady-state performance and dynamic performance.
稳态下，主要由于前置级气密性问题，导致前置级空腔压力逐渐降低，使得主节流口的开度变小，出流压力逐渐降低，使得主节流口的开度变小，出流压力逐渐降低，当下降到误差允许范围之外，控制器会增加空腔压力，使得出流压力回到误差允许范围之内。这样形成了一个稳态下的波动曲线。稳态下出流压力误差不超过。In the steady state, mainly due to the air tightness of the pre-stage, the pressure of the pre-stage cavity gradually decreases, making the opening of the main orifice smaller, and the outflow pressure gradually decreases, making the opening of the main orifice smaller. Small, the outflow pressure gradually decreases. When it falls outside the allowable range of error, the controller will increase the cavity pressure to make the outflow pressure return to within the allowable range of error. This forms a fluctuation curve under steady state. In steady state, the outflow pressure error does not exceed .
可以理解的是，对本领域普通技术人员来说，可以根据本发明的技术方案及其发明构思加以等同替换或改变，而所有这些改变或替换都应属于本发明所附的权利要求的保护范围。It can be understood that those skilled in the art can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention, and all these changes or replacements should belong to the protection scope of the appended claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266034.XACN104879551A (en) | 2015-05-22 | 2015-05-22 | Pneumatic proportional valve system based on switch strategy and control method thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266034.XACN104879551A (en) | 2015-05-22 | 2015-05-22 | Pneumatic proportional valve system based on switch strategy and control method thereof |
| Publication Number | Publication Date |
|---|---|
| CN104879551Atrue CN104879551A (en) | 2015-09-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510266034.XAPendingCN104879551A (en) | 2015-05-22 | 2015-05-22 | Pneumatic proportional valve system based on switch strategy and control method thereof |
| Country | Link |
|---|---|
| CN (1) | CN104879551A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422954A (en)* | 2015-12-13 | 2016-03-23 | 北京工业大学 | Control device with multiple switch valves and control method |
| CN107703776A (en)* | 2017-09-26 | 2018-02-16 | 华中科技大学 | A kind of dynamic negative-pressure servo-control system and method based on high-speed switch valve |
| CN110388344A (en)* | 2018-04-23 | 2019-10-29 | 卡莫齐自动化股份公司 | Pneumatic module and system for ratio control |
| CN110479130A (en)* | 2019-09-20 | 2019-11-22 | 济南华信自动化工程有限公司 | A kind of automatic gas-liquid control fluid matching device and fluid mixing system |
| CN110959084A (en)* | 2017-07-25 | 2020-04-03 | 罗伯特·博世有限公司 | Proportional valve for controlling a gaseous medium |
| CN111043216A (en)* | 2019-12-20 | 2020-04-21 | 无锡比德希减震阻尼技术有限公司 | Autonomous telescopic undercarriage buffer |
| CN111434956A (en)* | 2019-01-11 | 2020-07-21 | Smc 株式会社 | Solenoid valve system |
| CN113251192A (en)* | 2021-06-08 | 2021-08-13 | 中国空气动力研究与发展中心低速空气动力研究所 | Digital valve control system and control method by considering valve response time |
| CN118602161A (en)* | 2024-05-30 | 2024-09-06 | 百灵气动科技有限公司 | A precise control method, system and storage medium of a pneumatic proportional valve |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305307A (en)* | 2011-08-09 | 2012-01-04 | 江苏技术师范学院 | Linear servo device of hydraulic valve and operating method thereof |
| CN204828865U (en)* | 2015-05-22 | 2015-12-02 | 南京航空航天大学 | Pneumatic proportional valve system based on switch tactics |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305307A (en)* | 2011-08-09 | 2012-01-04 | 江苏技术师范学院 | Linear servo device of hydraulic valve and operating method thereof |
| CN204828865U (en)* | 2015-05-22 | 2015-12-02 | 南京航空航天大学 | Pneumatic proportional valve system based on switch tactics |
| Title |
|---|
| 吴峰 高速开关阀型气动比例调压阀及控制系统的研究与开发: "《豆丁网http://www.docin.com/p-608718710.html》", 6 March 2013* |
| 吴峰等: "脉宽调制在气动减压阀中的应用", 《液压与气压》* |
| 赵治龙等: "弹载电液舵机的Bang-Bang+PID双模控制研究", 《自动化博览》* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422954A (en)* | 2015-12-13 | 2016-03-23 | 北京工业大学 | Control device with multiple switch valves and control method |
| CN110959084A (en)* | 2017-07-25 | 2020-04-03 | 罗伯特·博世有限公司 | Proportional valve for controlling a gaseous medium |
| CN107703776A (en)* | 2017-09-26 | 2018-02-16 | 华中科技大学 | A kind of dynamic negative-pressure servo-control system and method based on high-speed switch valve |
| CN110388344A (en)* | 2018-04-23 | 2019-10-29 | 卡莫齐自动化股份公司 | Pneumatic module and system for ratio control |
| CN110388344B (en)* | 2018-04-23 | 2022-12-09 | 卡莫齐自动化股份公司 | Pneumatic modules and systems for proportional control |
| CN111434956A (en)* | 2019-01-11 | 2020-07-21 | Smc 株式会社 | Solenoid valve system |
| CN111434956B (en)* | 2019-01-11 | 2023-04-07 | Smc 株式会社 | Solenoid valve system |
| CN110479130A (en)* | 2019-09-20 | 2019-11-22 | 济南华信自动化工程有限公司 | A kind of automatic gas-liquid control fluid matching device and fluid mixing system |
| CN110479130B (en)* | 2019-09-20 | 2024-03-12 | 济南华信自动化工程有限公司 | Automatic gas-liquid control fluid proportioning device and fluid mixing system |
| CN111043216A (en)* | 2019-12-20 | 2020-04-21 | 无锡比德希减震阻尼技术有限公司 | Autonomous telescopic undercarriage buffer |
| CN113251192A (en)* | 2021-06-08 | 2021-08-13 | 中国空气动力研究与发展中心低速空气动力研究所 | Digital valve control system and control method by considering valve response time |
| CN113251192B (en)* | 2021-06-08 | 2021-09-14 | 中国空气动力研究与发展中心低速空气动力研究所 | Digital valve control system and control method by considering valve response time |
| CN118602161A (en)* | 2024-05-30 | 2024-09-06 | 百灵气动科技有限公司 | A precise control method, system and storage medium of a pneumatic proportional valve |
| Publication | Publication Date | Title |
|---|---|---|
| CN104879551A (en) | Pneumatic proportional valve system based on switch strategy and control method thereof | |
| CN105674060B (en) | A kind of compressed air system pressure flow jointly controls energy saver and method | |
| CN204828865U (en) | Pneumatic proportional valve system based on switch tactics | |
| CN105302003A (en) | Servo control system for simulating air pressure of aircraft | |
| WO2008152427A3 (en) | Pressure reducing valve control | |
| TW202016455A (en) | Two-stage air intake and two-stage air exhaust structure of electrically controlled proportional valve capable of achieving the purpose of outputting the secondary side pressure quickly and stably | |
| WO2017114442A1 (en) | Brake control oil circuit | |
| CN202717612U (en) | Concentrated water flow adjusting device for membrane system | |
| CN105473854A (en) | Starting valve for a fluid operating machine working in a vacuum system | |
| CN217592008U (en) | Wind pressure and wind quantity balancer of cigarette making and tipping machine set and centralized process wind power dust removal system | |
| Huang et al. | Development of new pressure regulator with flowrate-amplification using vacuum ejector | |
| CN115826631A (en) | Laminar flow quality and flow control system and control method based on cascade control | |
| CN204213423U (en) | A kind of stage type Self-driven pressure-adjusting valve | |
| CN204460814U (en) | The refrigeration system of environmental test chamber | |
| CN108958305A (en) | One kind 8421 encodes the accurate control structure of flow-controllable high-pressure gas pressure | |
| CN104747524B (en) | Realize the control system of air pressure subdivision based on the switch valve of modulation of staggering the time | |
| CN107703776B (en) | Dynamic negative pressure servo control system and method based on high-speed switch valve | |
| CN106931672A (en) | Air-conditioning evaporating pressure regulating system, adjusting method and air-conditioning system | |
| CN103629422B (en) | Vacuumize ventilation differential pressure cushion valve | |
| CN102705420B (en) | Air spring regulating system | |
| CN105302173B (en) | A kind of barometric pressure servo-control system for high-altitude vehicle | |
| CN202360823U (en) | Digital valve for compositely controlling pressure and flow of high-pressure gas | |
| US10732650B1 (en) | Vacuum large-capacity electrically controlled proportional valve | |
| CN105003479A (en) | High-flow plug-in mounting type three-position four-way electro-hydraulic servo valve and control method thereof | |
| CN204512573U (en) | Axial flow pressure regulator |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20150902 | |
| WD01 | Invention patent application deemed withdrawn after publication |