CA2723610A1 - Method for determining dead zone of valve - Google Patents
Method for determining dead zone of valve Download PDFInfo
- Publication number
- CA2723610A1 CA2723610A1 CA2723610A CA2723610A CA2723610A1 CA 2723610 A1 CA2723610 A1 CA 2723610A1 CA 2723610 A CA2723610 A CA 2723610A CA 2723610 A CA2723610 A CA 2723610A CA 2723610 A1 CA2723610 A1 CA 2723610A1
- Authority
- CA
- Canada
- Prior art keywords
- value
- control valve
- actuator
- dead zone
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
Abstract
The invention relates to a method for determining the dead zone of a proportional control valve (8) used for controlling an actuator of a rock drilling device, the method comprising controlling the control valve (8) with an electric P controller (12) and measuring the position of the actuator in a coordinate system representing its movement with a separate position detector.
The dead zone is determined by means of a product of the P controller of the control valve (8) and the difference value.
The dead zone is determined by means of a product of the P controller of the control valve (8) and the difference value.
Claims (8)
1. A method for determining the dead zone of a proportional control valve (8) used for controlling an actuator of a rock drilling device, the method comprising controlling the control valve with an electric P controller and measuring the position of the actuator in a coordinate system representing its movement with a separate position detector, characterized by the method comprising the steps of:
(a) setting for the P controller, for controlling the control valve (8), the first value of the controller gain to be 0 or such a value that the actuator is not expected to move due to the effect thereof, and setting for the actuator a target value deviating from its current value, whereby the difference between the current value and the target value of the actuator determines the first difference value;
(b) adding to the value of the controller gain a value increment of the extent of a predetermined step for the P controller for controlling the control valve (8);
(c) waiting for a predetermined time to establish whether the position value given by the position detector of the actuator expresses that the actuator has begun to move;
(d) if, on the basis of the position value of the position detector, the actuator has begun to move, moving to step (f);
(e) repeating steps (b) to (c) until, on the basis of step (d), it is time to move to step (f);
(f) waiting until the movement of the actuator has, on the basis of the position detector of the actuator, stopped, and determining a second difference value as a difference value between the target position and the position of the moment of stopping;
(g) determining at least one offset value in accordance with steps (h) and/or (i) and storing it in memory to be used for compensating for the dead zone of the control valve (8) when controlling the control valve (8);
(h) determining a first offset value as a product of the P controller gain according to step (d) and the first difference value according to step (a);
(i) determining a second offset value as a product of the P controller gain according to step (d) and the second difference value according to step (f).
(a) setting for the P controller, for controlling the control valve (8), the first value of the controller gain to be 0 or such a value that the actuator is not expected to move due to the effect thereof, and setting for the actuator a target value deviating from its current value, whereby the difference between the current value and the target value of the actuator determines the first difference value;
(b) adding to the value of the controller gain a value increment of the extent of a predetermined step for the P controller for controlling the control valve (8);
(c) waiting for a predetermined time to establish whether the position value given by the position detector of the actuator expresses that the actuator has begun to move;
(d) if, on the basis of the position value of the position detector, the actuator has begun to move, moving to step (f);
(e) repeating steps (b) to (c) until, on the basis of step (d), it is time to move to step (f);
(f) waiting until the movement of the actuator has, on the basis of the position detector of the actuator, stopped, and determining a second difference value as a difference value between the target position and the position of the moment of stopping;
(g) determining at least one offset value in accordance with steps (h) and/or (i) and storing it in memory to be used for compensating for the dead zone of the control valve (8) when controlling the control valve (8);
(h) determining a first offset value as a product of the P controller gain according to step (d) and the first difference value according to step (a);
(i) determining a second offset value as a product of the P controller gain according to step (d) and the second difference value according to step (f).
2. A method according to claim 1, characterized by determining both the first and the second offset value in at least one direction of motion of the control valve (8) and storing them in memory to be used for compensating (8) for the dead zone when controlling the control valve (8).
3. A method according to claim 1 or 2, characterized by determining the offset values in both directions of motion of the control valve (8).
4. A method according to claim 3, characterized by using the offset values of both directions of motion to compensate for the dead zone of the control valve (8) only in that direction of motion in which it was measured.
5. A method according to claim 3, characterized by forming from the offset values a value which is between these offset values, preferably a value corresponding to the average, for compensating for the dead zone of the control valve (8) when controlling the control valve (8) in at least one of its directions of motion.
6. A method according to claim 5, characterized by this formed value between the offset values being used for compensating for the dead zone of the control valve (8) when controlling the control valve (8) in both of its directions of motion.
7. A method according to any one of claims 1 to 4, characterized by using the first offset value for compensating for the dead zone of the control valve (8).
8. A method according to any one of claims 1 to 4, characterized by using the second offset value for compensating for the dead zone of the control valve (8).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20085445A FI120918B (en) | 2008-05-13 | 2008-05-13 | A method for determining the dead area of a proportional control valve |
| FI20085445 | 2008-05-13 | ||
| PCT/FI2009/050379 WO2009138558A1 (en) | 2008-05-13 | 2009-05-11 | Method for determining dead zone of valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2723610A1 true CA2723610A1 (en) | 2009-11-19 |
| CA2723610C CA2723610C (en) | 2013-07-16 |
Family
ID=39523100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2723610A Expired - Fee Related CA2723610C (en) | 2008-05-13 | 2009-05-11 | Method for determining dead zone of valve |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP2310611A4 (en) |
| JP (1) | JP5319759B2 (en) |
| CN (1) | CN102027185B (en) |
| AU (1) | AU2009247995B2 (en) |
| CA (1) | CA2723610C (en) |
| FI (1) | FI120918B (en) |
| WO (1) | WO2009138558A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104763698B (en) * | 2014-01-08 | 2017-03-29 | 佛山市恒力泰机械有限公司 | A kind of automatic adjusting method of the dynamic beam ratio valve core zero-bit of ceramic brick press |
| JP6190297B2 (en) * | 2014-03-17 | 2017-08-30 | 川崎重工業株式会社 | Operating device |
| CN106661919B (en) * | 2014-08-01 | 2020-04-28 | 山特维克知识产权股份有限公司 | Underground drilling machine and drill boom thereof |
| WO2016015334A1 (en) * | 2014-08-01 | 2016-02-04 | Sandvik Intellectual Property Ab | Drilling machine, supporting mechanism and supporting method |
| CN108843852B (en) * | 2018-07-03 | 2020-04-14 | 中国科学院合肥物质科学研究院 | Automatic dead zone setting method for intelligent valve positioner |
| CN112861063B (en) * | 2021-01-14 | 2023-07-14 | 中国长江电力股份有限公司 | Method for calculating action dead zone of governor pressure distribution valve |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6415507A (en) * | 1987-07-07 | 1989-01-19 | Mitsubishi Electric Corp | Electronic controller for flow control valve |
| CN1054416C (en) * | 1996-09-20 | 2000-07-12 | 付如松 | Omnibearing hydraulic jumbolter |
| JPH10288203A (en) * | 1997-04-16 | 1998-10-27 | Sumitomo Heavy Ind Ltd | Control method for hydraulic drive system |
| CN2674064Y (en) * | 2003-11-03 | 2005-01-26 | 陈海文 | Remote control automatic drilling machine |
| US7266467B1 (en) * | 2006-02-25 | 2007-09-04 | Trimble Navigation, Limited | Method to calibrate hydraulic flow valves in situ |
| US7512460B2 (en) * | 2006-02-27 | 2009-03-31 | Cnh America Llc | Valve calibration routine |
| SE529667C2 (en) * | 2006-02-28 | 2007-10-16 | Atlas Copco Rock Drills Ab | Rock drilling apparatus and method for such |
-
2008
- 2008-05-13 FI FI20085445A patent/FI120918B/en not_active IP Right Cessation
-
2009
- 2009-05-11 CA CA2723610A patent/CA2723610C/en not_active Expired - Fee Related
- 2009-05-11 EP EP09745883.0A patent/EP2310611A4/en not_active Withdrawn
- 2009-05-11 WO PCT/FI2009/050379 patent/WO2009138558A1/en active Application Filing
- 2009-05-11 AU AU2009247995A patent/AU2009247995B2/en not_active Ceased
- 2009-05-11 JP JP2011508960A patent/JP5319759B2/en not_active Expired - Fee Related
- 2009-05-11 CN CN2009801173683A patent/CN102027185B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102027185A (en) | 2011-04-20 |
| JP5319759B2 (en) | 2013-10-16 |
| EP2310611A1 (en) | 2011-04-20 |
| EP2310611A4 (en) | 2014-03-26 |
| FI20085445A0 (en) | 2008-05-13 |
| FI20085445A (en) | 2009-11-14 |
| FI120918B (en) | 2010-04-30 |
| WO2009138558A1 (en) | 2009-11-19 |
| AU2009247995B2 (en) | 2011-12-22 |
| JP2011522174A (en) | 2011-07-28 |
| CA2723610C (en) | 2013-07-16 |
| CN102027185B (en) | 2013-09-18 |
| AU2009247995A1 (en) | 2009-11-19 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| MKLA | Lapsed |
Effective date: 20170511 |