Method and device for controlling a component that can be moved by means of a coil, and magnetic valve
阅读说明:本技术 用于对能够借助于线圈来运动的部件进行操控的方法和装置以及磁阀 (Method and device for controlling a component that can be moved by means of a coil, and magnetic valve ) 是由 T.贝格尔 D.赛勒-图尔 M.希尔施 C.奥特 T.毛克 于 2018-05-02 设计创作,主要内容包括:本发明涉及一种用于对能够借助于线圈(104)来运动的部件(102)进行操控的方法。在此,对流经所述线圈(104)的电流和/或施加在所述线圈(104)上的电压进行采样,以用于产生线圈信号(112)。在另一个步骤中,在使用所述线圈信号(112)的情况下求取至少一个代表着所述部件(102)的颤动运动的运动参数(116)。最后,可选通过所述运动参数(116)与至少一个目标值(120)的比较来改变用于产生颤动运动的抖动信号(122)的至少一个信号参数,以用于使所述颤动运动与所述目标值(120)相匹配。(The invention relates to a method for controlling a component (102) that can be moved by means of a coil (104). In this case, the current flowing through the coil (104) and/or the voltage applied to the coil (104) is sampled for generating a coil signal (112). In a further step, at least one motion parameter (116) representing a wobbling motion of the component (102) is determined using the coil signal (112). Finally, at least one signal parameter of a dither signal (122) used for generating a dithered motion may optionally be changed by a comparison of the motion parameter (116) with at least one target value (120) for matching the dithered motion with the target value (120).)
1. Method (300) for manipulating a component (102) that can be moved by means of a coil (104), wherein the method (300) comprises the following steps:
sampling (310) a current (126) flowing through the coil (104) and/or a voltage (202) applied to the coil (104) for generating a coil signal (112); and is
At least one motion parameter (116) which represents a wobbling motion of the component (102) is determined (320) using the coil signal (112).
2. The method (300) of claim 1, having the step of varying (330) at least one signal parameter of a dithered target signal (121) for generating a dithered motion by comparing said motion parameter (116) with at least one target value (120) for matching said dithered motion with said target value (120).
3. The method (300) according to claim 1 or 2, wherein the current (126) and/or the voltage (202) is sampled in the sampling step (310) with a sampling rate that depends on a jitter frequency and/or a jitter period of the jitter signal (121).
4. The method (300) of claim 3, wherein the current (126) and/or voltage (202) is sampled 20 to 40 times per jitter cycle in the sampling step (310).
5. The method (300) according to claim 1 or 2, wherein the current (126) and/or the voltage (202) is sampled in the sampling step (310) with a sampling rate depending on a PWM frequency and/or a PWM period of the signal (130).
6. The method (300) of claim 5, wherein the current (126) and/or voltage (202) is sampled at least seven times per PWM cycle in the sampling step (310).
7. The method (300) of claim 1 or 2, wherein the current (126) is sampled and the voltage (202) is calculated from a battery voltage and a duty cycle of a pulse width modulated signal.
8. The method (300) according to claim 1 or 2, wherein the coil primary signal (111) is filtered with a low-pass filter, the limit frequency of which is larger than the maximum occurring jitter frequency.
9. The method (300) of claim 1 or 2, wherein the coil signal (112) or the pre-filtered coil signal is digitally low-pass filtered, wherein a limit frequency of the filtering is in the order of the dither signal (121) for generating a time derivative of the coil signal (112) or the pre-filtered coil signal.
10. The method (300) according to any one of the preceding claims, wherein the motion parameters (116) are found in the finding step (320) using at least one model function mimicking tremor motion.
11. The method (300) according to one of the preceding claims, having a step of averaging the coil signals (112) for generating averaged coil signals (140), wherein the motion parameter (116) is determined in the determination step (320) using the averaged coil signals (140).
12. The method (300) according to any one of the preceding claims, wherein the velocity and/or the displacement of the component (102) is/are determined as the motion parameter (116) in the determining step (320).
13. The method (300) according to any one of the preceding claims, wherein an amplitude or an effective value of the velocity and/or displacement of the component (102) is determined as the motion parameter (116) in the determining step (320).
14. The method (300) according to any of the preceding claims, wherein in the step of varying (330) the amplitude or the effective value and/or the frequency of the dither target signal (121) is varied as the signal parameter.
15. Device (108) having a unit (110, 114, 118, 124, 132, 134, 136, 138, 144, 148) which is designed to carry out and/or handle a method (300) according to one of claims 1 to 14.
16. Solenoid valve (100) having the following features:
at least one coil (104);
at least one component (102) that can be moved by means of the coil (104); and
the apparatus (108) of claim 15.
17. Computer program configured to perform and/or handle the method (300) according to any one of claims 1 to 14.
18. A machine-readable storage medium on which a computer program according to claim 17 is stored.
Technical Field
The invention relates to an apparatus or a method of the type according to the independent claims. A computer program is also the subject of the present invention.
Background
Electromagnetically actuated valves without displacement sensors are known, the valve body or the armature of which can perform small periodic wobbling movements, also referred to as wobbling movements, during operation in order to reduce the disturbing effects caused by static friction or hysteresis. If the flutter motion is too large, this may result in undesirably large leakage or large energy consumption. Conversely, if the flutter motion is too small or the armature even stops, the hysteresis performance and valve dynamics can be significantly degraded. Typical examples for such valves are hydraulic pressure control valves or simple hydraulic continuous valves without displacement measurement.
Disclosure of Invention
Against this background, a method for actuating a component that can be moved by means of a coil, a device using such a method, a solenoid valve and finally a corresponding computer program according to the main claims are described with the aid of the solution described here. Advantageous developments and improvements of the device specified in the independent claims can be achieved by the measures specified in the dependent claims.
A method for controlling a component that can be moved by means of a coil, such as a solenoid valve, is described, wherein the method comprises the following steps:
sampling and filtering the current flowing through the coil and/or the voltage applied to the coil for generating a coil signal; and is
At least one motion parameter which represents a wobbling motion of the component is determined using the coil signals.
In an optional modification step, at least one signal parameter of a dither signal used to generate a dithered motion is modified by comparing the motion parameter to at least one target value for matching the dithered motion to the target value.
A "coil" can refer to an electrical structural element forming an inductance for generating a magnetic field. "component, such as a valve element" can refer to a component for opening or closing, for example, a solenoid valve, either directly or indirectly. The component can be configured, for example, as a rod or punch and is arranged in or on the coil in a displaceable manner. In addition, the component can be coupled to a return spring, for example. In the use case of a solenoid valve, the latter can be, for example, a directly controlled, pilot controlled, positively controlled or pressure-controlled hydraulic or pneumatic valve. The solenoid valve can also be designed as a structural combination of a drive magnet and a hydraulic component.
The sampling and filtering can be implemented in two ways. In the first method, the coil signals (current and voltage measurement or current measurement and calculated voltage signal) are smoothed with a low-pass filter at a limit frequency which is greater than the jitter frequency, typically 1.5 times greater than the maximum occurring jitter frequency, and are then sampled. It is advantageous to sample the PWM sync with 20 to 40 points per dithering cycle, and it is advantageous to sample the PWM sync with a value of 30 points per dithering cycle. This signal is then digitally filtered in preparation for the acquisition, for generating the derivative of the signal. In this case, it is advantageous to have a filter angular frequency corresponding to the dither frequency.
In the second method, the coil signal is sampled directly and PWM synchronously with at least 7 sampling points per PWM period. The filtering is performed exactly over the length of one PWM period by a smooth average value formation. This signal is then digitally filtered in preparation for the derivation of the signal. In this case, it is again advantageous for the filter angular frequency to correspond to the dither frequency.
The "motion parameter" can mean, for example, the speed or the displacement of the component in a wobbling motion. The "signal parameter of the dither signal" can be the amplitude, frequency or signal shape of the dither signal. The dither signal can be generated, for example, by pulse width modulation and has an arbitrary periodic signal shape. The "target value" can be, for example, a predefined value for the speed of the wobbling motion or a maximum amplitude of the wobble signal.
For example, to drive a solenoid valve, a pulse-width-modulated voltage signal having a rectangular shape of 3.125kHz is typically applied to the coil, which voltage signal is used to generate a time-dependent current base signal. PWM frequencies between 500Hz and 5kHz can also be considered. By adjusting the pulse width of the voltage signal, a periodic dither signal having a frequency in the range of 30Hz to 250Hz is added to the base signal. It is also conceivable to use low-frequency PWM in the frequency range of 30Hz to 250Hz directly as the dither signal.
The solution presented here is based on the recognition that: in order to determine and regulate the movement state of, for example, a magnetic armature in a solenoid valve, for example, a hydraulic valve, without sensors, the coil current and/or the coil voltage can be sampled and converted into a corresponding movement variable, such as, for example, speed or displacement. The physical modeling equations include the voltage across the coil and the current flowing through the coil. Both of which should be known in one embodiment for determining the movement state. The voltage across the coil can be sampled or can be calculated from the battery voltage and the duty cycle of the pulse width modulation. By means of such a method, the wobbling movement of the magnetic armature can be detected without additional sensors and matched to the target specification in a suitable manner. In this way, the influence of the prevailing hydraulic load or aging effects, such as increased friction, are advantageously taken into account when adjusting the jerking movement. The method proves particularly advantageous if deposits in the sealing gap of the component prevent the shaking movement. By sampling, determining and changing these steps, the dither parameter can be adjusted continuously in such a way that the desired dither movement occurs without depending on the degree of contamination of the valve.
For example, the current and/or the voltage can be sampled in a sampling step with a sampling rate that depends on the PWM frequency and/or the PWM period of the signal. In this case, the current and/or the voltage can be sampled at least seven times per PWM period. For example, the current can be sampled and the voltage calculated from the battery voltage and the duty cycle of the pulse width modulated signal. The coil signal can be filtered with a low-pass filter whose limit frequency is greater than the maximum occurring jitter frequency. The coil signal or the pre-filtered coil signal can be digitally low-pass filtered, wherein the limit frequency of the filtering is in the order of the dither signal for generating the time derivative of the coil signal or the pre-filtered coil signal.
In one embodiment, instead of measuring the battery voltage U _ batt, PWM synchronously calculates the applied voltage from the duty cycle and the diode voltage.
According to another embodiment, the signal parameter can be changed in the changing step by adjusting the duty cycle of the PWM signal. Thereby a jitter signal can be generated particularly efficiently.
It is also advantageous if the motion parameters are determined in the determination step using at least one model function that simulates tremor motion. The "model function" can refer to a function equation based on a physical model, such as obtained empirically, that is used to describe a parameter of motion as a function of time. This allows the motion parameters to be determined with high accuracy and reliability with little computation effort.
Furthermore, the coil signals can be averaged in an averaging step for generating an averaged coil signal. In contrast, the motion parameter can be determined using the averaged coil signal in the determining step. For example, the averaged coil signal can represent a current and/or voltage average. This can reduce error bias of the method.
In a further embodiment, the speed can be determined in the determination step as a movement parameter or the displacement of the component can be determined additionally or alternatively. This allows the motion parameters to be determined with a small computational overhead and sufficient accuracy.
The amplitude of the dither signal can be changed in the changing step as a signal parameter or the frequency of the dither signal can be changed additionally or alternatively. This enables the jitter signal to be accurately, efficiently, and flexibly matched to the target value.
Such a method can be implemented, for example, in software or hardware, or in a hybrid form of software and hardware, for example in a controller.
In addition, the solution described here provides a device which is designed to carry out, control or carry out the steps of a variant of the method described here in a corresponding device. The object of the invention is also achieved by the embodiment of the invention in the form of a device in a rapid and efficient manner.
For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface with respect to the sensor or the actuator for reading in sensor signals from the sensor or for outputting data signals or control signals to the actuator, and/or at least one communication interface for reading in or outputting data, which are embedded in a communication protocol. The computing unit can be, for example, a signal processor, a microcontroller, etc., wherein the memory unit can be a flash disk, an EPROM or a magnetic memory unit. The communication interface can be designed to read in or output data wirelessly and/or by wire, wherein the communication interface, which can read in or output wired data, can read in these data from or output them into the respective data transmission line, for example electrically or optically.
The "device" can here mean an electrical apparatus which processes the sensor signals and outputs control signals and/or data signals as a function thereof. The device can have an interface, which can be designed in hardware and/or software. If the interface is designed in hardware, it can be part of a so-called system ASIC, for example, which contains the various functions of the device. It is also possible, however, for the interface to be an integrated circuit of its own or to be formed at least partially from discrete components. When implemented in software, the interface can be a software module, which is also located on the microcontroller, for example, in addition to other software modules.
Furthermore, the solution presented here provides a solenoid valve having the following features:
at least one coil;
at least one component movable by means of the coil; and
the apparatus according to the preceding embodiment.
A computer program product or a computer program having a program code which can be stored on a machine-readable carrier or storage medium, such as a semiconductor memory, a hard disk memory or an optical memory, and which is used, in particular when executed on a computer or a device, to carry out, implement and/or manipulate the steps of a method according to one of the embodiments described above is also advantageous.
Drawings
Embodiments of the invention are illustrated in the drawings and are explained in detail in the following description. Wherein:
FIG. 1 illustrates a schematic diagram of a solenoid valve in accordance with one embodiment;
FIG. 2 illustrates an equation diagram depicting a flow when manipulating components of a solenoid valve according to one embodiment; and is
Fig. 3 shows a flow diagram of a method according to an embodiment.
In the following description of advantageous embodiments of the invention, identical or similar reference numerals are used for elements which are illustrated in different figures and function similarly, wherein repeated descriptions of these elements are omitted.
The solution described here is described by way of example with the aid of a solenoid valve according to the following figures.
Detailed Description
FIG. 1 illustrates a schematic diagram of a
According to the exemplary embodiment shown in fig. 1, the
In one exemplary embodiment, all
In another embodiment, all of the processes 110-118 are performed based on the period of the
According to the exemplary embodiment shown in fig. 1,
As can be seen from fig. 1, the
Fig. 2 shows a block diagram which is used to illustrate the process for controlling a
The
Connected to the
This
A
As already mentioned, the movement of the
and depicts the correlation between the coil current I and its time derivative and the voltage U across the
The intensity of the current tremor movement is determined from the thus calculated profile of the displacement or velocity with respect to time. If the intensity of the tremor motion is too large or too small, the superimposed periodic
If the dependence of the model equation not only on s but also on v is not negligibly small, the following fact is used, namely: for a specific current average and a known current average history, there is always a similar force and therefore always a similar lift in the solenoid valve, which enables the solution of v for the model equation. The accuracy that can be obtained in calculating v is in most cases sufficient for setting the desired wobbling motion of the
The
two-point adjustment, three-point adjustment or similar simple solutions, for example with dead zones and P-cycles (flutter motion is acceptable within certain limits and does not require adjustment);
a PID controller which uses the difference between the target characteristic variable and the actual characteristic variable of the fluttering motion as a control deviation; and is
-adjusting the parameters or characteristic curves in a (pre) control mechanism that adjusts the parameters of the dither signal in accordance with other environmental parameters.
The slow design of the adjusting element compared to the dynamics of the
The sampling of the
Fig. 3 shows a flow diagram of a
If an example includes an and/or association between a first feature and a second feature, this may be interpreted as having the example have both the first feature and the second feature according to one embodiment and having either only the first feature or only the second feature according to another embodiment.
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