CN100397262C - Self-adapting type intelligent electric actuator controller and method for realizing adaptive control thereof - Google Patents
Self-adapting type intelligent electric actuator controller and method for realizing adaptive control thereof Download PDFInfo
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- CN100397262C CN100397262C CNB03116711XA CN03116711A CN100397262C CN 100397262 C CN100397262 C CN 100397262C CN B03116711X A CNB03116711X A CN B03116711XA CN 03116711 A CN03116711 A CN 03116711A CN 100397262 C CN100397262 C CN 100397262C
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Abstract
The present invention belongs to the technical field of automation control, which particularly relates to a self-adaptive type intelligent electric actuation mechanism controller and a method for realizing self-adaptive control thereof. The self-adaptive type intelligent electric actuation mechanism controller comprises a servo amplification part and an electric actuation mechanism part. The present invention is characterized in that the servo amplification part is composed of a microprocessor, a multiplex switching circuit, an A/D converter, a photoelectric isolation circuit, an output driving circuit, a solid-state relay and a linkage protective circuit. A control method part comprises the steps of realizing a self-learning method for the characteristic parameters of an electric actuation mechanism and carrying out self-adaptive intelligent control. Due to the fact that a self-adaptive function is added to the servo amplification part of the present invention, various characteristic parameters of the electric actuation mechanism can be obtained when the manual state control of the electric actuation mechanism is switched to an automatic state, and an overshooting situation is avoided when automatic control is carried out. The stability, the security and the reliability of the work of the electric actuation mechanism controller are enhanced.
Description
Technical field
The invention belongs to the control technology field, particularly relate to a kind of self-adaptation type intelligent electric actuating mechanism controller and realize Method of Adaptive Control.
Background technology
Electric operator is widely used in the robotization control of industries such as electric power, metallurgy, chemical industry.Wherein, the servo amplifier section that electric operator is controlled normally is made up of input isolating amplifier circuit, comparison, trigger circuit and power output circuit, and input generally with the coil isolation, is amplified with magnetrol again; The general voltage comparator of forming by discrete component that adopts of comparator circuit, trigger circuit adopt the relaxation oscillations trigger circuit, and its stability, reliability are all relatively poor; Power output circuit is the controllable silicon output circuit of usefulness, and the servomotor rotating speed is fixed, and is difficult to regulate.Such electric operator can not obtain some characterisitic parameters of itself in control procedure, make control accuracy and reliability all not high, and can only carry out the sampling of single channel analog quantity usually, can gather input signal only for a kind of, as electric current or resistance, then detection signal and input signal are compared, thus obtained control signal is delivered to driving circuit, with the displacement output of control executing mechanism; Though be provided with warning circuit in some electric operator; but do not adopt the interlock protection measure; make under alarm condition, still to have insecurity, thereby the occasion that the electric operator of this type of servo amplifier section control is had relatively high expectations in some precision, reliability and stability can not be suitable for.
Summary of the invention
The present invention be directed to above the deficiencies in the prior art, and a kind of self-adaptation that can realize of design is prevented overshoot Based Intelligent Control, the switching of analog quantity multi-channel sampling, is reported to the police and import a kind of self-adaptation type intelligent electric actuating mechanism controller of the interlock protection function when detecting with detection and realize Method of Adaptive Control.
The technical scheme that the present invention takes is:
A kind of self-adaptation type intelligent electric actuating mechanism controller, it comprises servo amplifier section and electric operator, be characterized in that described servo amplifier section is made up of microprocessor, multi-channel sampling commutation circuit, A/D converter, first photoelectric isolating circuit, second photoelectric isolating circuit, the 3rd photoelectric isolating circuit, output driving circuit, solid-state relay and interlock protection circuit;
Described multi-channel sampling commutation circuit is used to receive analog signals to be switched through multi-channel sampling, and electric current or the resistance signal that each road collects simultaneously outputed to A/D converter; This multi-channel sampling commutation circuit also is used to receive the multichannel switch-over control signal by microprocessor output;
It is digital signal that described A/D converter is used for analog signal conversion;
Described first photoelectric isolating circuit is used for and will outputs to microprocessor after the digital signal isolation;
Described second photoelectric isolating circuit is used to receive the warning input signal, and will output to microprocessor and interlock protection circuit after this Signal Spacing respectively;
Described the 3rd photoelectric isolating circuit is used to receive after microprocessor data is handled and the signal of interlock protection circuit output outputs to output driving circuit after isolating;
Described output driving circuit is used for outputing to solid-state relay with after this signal amplification, the drive motor action.
Above-mentioned a kind of self-adaptation type intelligent electric actuating mechanism controller, wherein, described multi-channel sampling commutation circuit comprises multi-way switch circuit, switch chip select circuit, constant-current source circuit and reference voltage circuit; Each output terminal of described switch chip select circuit and reference voltage circuit is connected with the input end of multi-way switch circuit; The output terminal of described multi-way switch circuit is connected with the input end of constant-current source circuit; The output terminal of described constant-current source circuit is connected to the A/D change-over circuit.
Above-mentioned a kind of self-adaptation type intelligent electric actuating mechanism controller, wherein, described interlock protection circuit comprises two groups of extreme position warning circuits, every group of extreme position warning circuit comprises a Sheffer stroke gate, a resistance and an amplifying triode of serial connection successively.
A kind of method that realizes the control of self-adapting intelligent electric operator is characterized in, may further comprise the steps:
A, controller are finished the self study process of multi-channel electric topworks characteristic parameter automatically, obtain characteristic parameter threshold value E
n, valve position T stabilization time
Off, minimum movements stepping T
On, minimum movements step-length S
MinWith dead band Deadband, and preserve these characteristic parameters by microprocessor;
The characteristic parameter that b, intelligent electric actuating mechanism controller utilize step a to obtain carries out adaptive control to multi-channel electric topworks, may further comprise the steps:
B-1, at first by the user by peripheral control unit by the given valve position setting value of control signal input interface;
B-2, simultaneously microprocessor is constantly sampled to the analog quantity of the valve position actual value of a plurality of different electric operators, and each sampled signal is judged successively, to obtain the valve position actual value of each electric operator output;
B-3, then according to the difference P and the electric operator threshold value E of valve position measured value and valve position setting value
n, compare between the Deadband of dead band, output is driven controls: as P＞E
nThe time, the control of output long pulse; As Deadband＜P≤E
nThe time, the control of output short pulse; When P≤Deadband, promptly in the dead zone range, stop drive signal output.
Above-mentioned a kind of control method that realizes the self-adapting intelligent electric operator, wherein, the described characteristic parameter threshold value of step a E
n, valve position T stabilization time
Off, minimum movements stepping T
On, minimum movements step-length S
MinIn the Deadband of dead band:
Described threshold value E
nBe meant the modified value that valve position changes in the stabilization time of valve position;
Described valve position T stabilization time
OffBe meant that electric operator moves under long drive pulse signal drives after a period of time at full speed, its valve position changes when surpassing certain certain value A continuously, and controller blocks output, and picks up counting up to the stable time that is added up of valve position;
Described minimum movements stepping T
OnBe meant that electric operator under the definite value short pulse drives, can make the valve position of electric operator begin the required pulse signal width that changes;
Described minimum movements step-length S
MinBe meant the change amount of electric operator valve position when the pulse of output minimum movements stepping length;
The modified value that valve position changed when described dead band Deadband was meant the minimum movements stepping.
Above-mentioned a kind of method that realizes the control of self-adapting intelligent electric operator, wherein, in the self study of the described multi-channel electric of step a topworks characteristic parameter, the self-learning method on its each road may further comprise the steps:
A-1, the long drive pulse signal of microprocessor output, this long drive pulse signal is delivered to solid-state relay after amplifying, drive the running of electric operator then, makes electric operator reach motion at full speed;
After a-2, electric operator moved at full speed, the situation of change of looking valve position was determined valve position T stabilization time of electric operator
OffWith threshold value E
nConcrete grammar is: when valve position changes continuously when surpassing a certain value A, controller blocks makes a long driver the output that artery dashes, i.e. output control pulse signal no longer, and pick up counting and stablize up to valve position, the time that is added up is valve position T stabilization time
Off, T
OffThe modified value that the electric operator valve position changes in time promptly is the threshold value E of electric operator
n
A-3, then, microprocessor output definite value short pulse T
ShortSignal judges whether valve position changes: if do not have to change then output increases progressively the variation output short pulse signal of definite value T,, changes up to valve position with T step increments at interval, at this moment, the burst length length T that makes valve position begin to change
Short+ n*T is minimum movements stepping T
On, at minimum movements stepping T
OnPulse control down the change amount of electric operator valve position be minimum movements step-length S
Min, and to S
MinThe revised modified value of compensation be exactly electronic execution dead band Deadband.
Above-mentioned a kind of method that realizes the control of self-adapting intelligent electric operator, wherein, the described duration of pulse T of step a-1
LongWith the described duration of pulse T of step a-3
ShortSet when starting initialization by controller.
Above-mentioned a kind of method that realizes self-adapting intelligent electric operator control, wherein, the described valve position measured value of step b obtains like this: when sampling wherein one the tunnel when signal is arranged, will be in the microprocessor address bit set on this road of expression; , input to microprocessor and handle after A/D conversion and photoelectricity isolation from the output electric signal of this road valve opening sensor, what obtain is the valve opening value of unit with percentage, is exactly the valve position measured value of this road electric operator.
Above-mentioned a kind of method that realizes the control of self-adapting intelligent electric operator, wherein, step b-3 is described as follows to each road electric operator output methods of driving control:
Whether the valve position measured value of b-3-1, microprocessor judges electric operator and the difference P of valve position setting value be less than threshold value E
n:
If P＞E
nThen microprocessor is exported long pulse, after the photoelectricity isolation, driving amplification, driving solid relay open-minded, then control the rotation of electric operator, and continue to detect the poor of valve position measured value and valve position setting value, up to P during less than threshold value, microprocessor stops long pulse output, and changes step b-3-2 over to;
If P＜E
n, then directly change step b-3-2 over to;
B-3-2, when the difference P of valve position measured value and valve position setting value less than threshold value E
nAnd during greater than dead band Deadband, then microprocessor is exported short pulse, after the photoelectricity isolation, driving amplification, driving solid relay open-minded, then control the rotation of electric operator, and continue to detect the poor of valve position measured value and valve position setting value, up to P less than the dead band, microprocessor stops the output of short pulse, and changes step b-3-3 over to;
As P＜Deadband, then directly change step b-3-3 over to;
B-3-3, when the difference of valve position measured value and valve position setting value during less than threshold value and less than the dead band, in dead zone range, then microprocessor stops drive signal output, shows that the valve position actual value reaches the accuracy rating of valve position setting value, thereby has realized self-adapting intelligent control.
Above-mentioned a kind of method that realizes the control of self-adapting intelligent electric operator, wherein, the alerting signal treatment step c that also comprises electric operator, its process is: controller in the course of the work, when detecting electric operator and reach capacity the alerting signal that position or motor generation stall produce owing to valve position overshoot, to generation sound, visual alarm automatically, or output to other equipment by communication interface; Simultaneously, start the interlock protection circuit, its input end is changed to low level, end by the output triode of Sheffer stroke gate, thereby block the output of corresponding control signal, realize interlock protection electric operator with the control signal output driving circuit.
Because the present invention has adopted above technical scheme; servo amplifier section is made up of hardware components and software section; hardware components is by microprocessor; the multi-channel sampling commutation circuit; A/D converter; photoelectric isolating circuit; output driving circuit; solid-state relay and interlock protection circuit are formed; control section comprises the method that realizes electric operator characterisitic parameter self-learning method and carry out Based Intelligent Control; make electric operator when manual state control switches to auto state; can obtain all kinds of characterisitic parameters of electric operator; avoid the generation of overshoot condition when controlling automatically again, improved the stability of controller for electric actuating mechanism work; security and reliability.The output and the extreme position warning interlock protection circuit that adopt make when valve reaches the limit of position, motor generation stall, can cut off out-put supply immediately with the protection motor, prevent from that the motor feels hot to burn; The multi-channel sampling commutation circuit that adopts makes the analog quantity input can multi-channel sampling switch and every road can be gathered electric current or resistance signal simultaneously, reduces cost, simplifies circuit structure greatly.
Description of drawings
Concrete characteristic performance of the present invention is further described by following embodiment and accompanying drawing thereof.
Fig. 1 is an one-piece construction block scheme of the present invention.
Fig. 2 is the realization circuit block diagram of servo amplifier section of the present invention.
Fig. 3 is a simulated measurement input circuit schematic diagram of the present invention.
Fig. 4 is warning input of the present invention and output driving circuit schematic diagram.
Fig. 5 is microprocessor portion circuit theory diagrams of the present invention.
Fig. 6 is self-learning function realization flow figure of the present invention.
Fig. 7 is self-adapting intelligent controlling schemes figure of the present invention.
Embodiment
See also Fig. 1.The present invention includes servo amplifier section 1 and electric operator 2, the input of described servo amplifier section 1 connects electronic execution control input signals, servo amplifier section 1 links to each other with electric operator again, and entire circuit is finished the automatic control to electric operator 2.
See also Fig. 2, servo amplifier section 1 by multi-channel sampling commutation circuit 11, A/D converter 12, first photoelectric isolating circuit 13, microprocessor 14, the 3rd photoelectric isolating circuit 15, output driving circuit 16, solid-state relay 17, second photoelectric isolating circuit 18, and interlock protection circuit 19 form; Wherein:
Described multi-channel sampling commutation circuit 11 is used to receive analog signals to be switched through multi-channel sampling, and electric current or the resistance signal that each road collects simultaneously outputed to A/D converter 12; This multi-channel sampling commutation circuit also is used to receive the multichannel switch-over control signal by microprocessor 14 outputs; It is digital signal that described A/D converter 12 is used for analog signal conversion; Described first photoelectric isolating circuit 13 is used for and will outputs to microprocessor 14 after the digital signal isolation; Described second photoelectric isolating circuit 18 is used to receive the warning input signal, and will output to microprocessor 14 and interlock protection circuit 19 respectively after this signal amplification; The signal that described the 3rd photoelectric isolating circuit 15 is used to receive through exporting with interlock protection circuit 19 after microprocessor 14 data processing outputs to output driving circuit 16 after isolating; Described output driving circuit 16 is used for outputing to solid-state relay 17 with after this signal amplification, the drive motor action.
The input of input termination analog quantity, be used to introduce position feedback, its output is connected with the input of A/D converter 12, A/D converter 12 links to each other with first photoelectric isolating circuit 13 again, the output of first photoelectricity isolation 13 is connected to microprocessor 14, the output of microprocessor 14 is connected to output driving circuit 16 through photoelectric isolating circuit 15, output driving circuit 16 is the output of switching value, insert the input of solid-state relay 17, be used to control solid-state relay 17, the one road is a positive output, the control motor just changes, one the tunnel is negative output, the counter-rotating of control motor, and the output of solid-state relay 17 comes drive motor.The warning input signal exports microprocessor 14 to behind photoelectric isolating circuit 18; second photoelectric isolating circuit 18 is connected interlock protection circuit 19 with 15 of the 3rd photoelectric isolating circuits simultaneously; microprocessor 14 is set input with control signal again and is linked to each other, and the control end of its multichannel switch-over control signal also is connected to multi-way switch circuit 11.
See also Fig. 3, multi-channel sampling commutation circuit 11 comprises multi-way switch circuit, switch chip select circuit, constant-current source circuit and reference voltage circuit; Each output terminal of switch chip select circuit and reference voltage circuit is connected with the input end of multi-way switch circuit; The output terminal of multi-way switch circuit is connected with the input end of constant-current source circuit; The output terminal of constant-current source circuit is connected to the A/D change-over circuit.In the present embodiment, the switch plate of multi-channel sampling commutation circuit selects circuit U 16 to link to each other with multi-way switch circuit U1～U12, multi-way switch circuit links to each other with constant-current source circuit U13 and is connected to the analog quantity multi-channel sampling commutation circuit of A/D change-over circuit U14 and reference voltage circuit U15 formation again, makes the analog quantity input can realize that multi-channel sampling switches and every road can be gathered electric current or resistance signal simultaneously.
Wherein: switch plate selects circuit U 16 can adopt integrated package 74HC138, selects function by the sheet of the control of pin 1,2,3 being finished the photoelectric coupled circuit U1～U12 that links to each other with pin 4,5,6,7.By accurate wire-wound resistor R1～R4 and resistance R 5～R6, electrochemical capacitor CD1～CD4 and 12 tunnel photoelectric coupled circuit channeling commutation circuits.Simultaneously, the pin 1 of wire jumper JP1 links to each other with accurate wire-wound resistor R1, and pin 2 links to each other with resistance R 5, and pin 3 links to each other with photoelectric coupled circuit pin 4, uses the input that realizes current signal or resistance signal by the selection to the short-circuit block that matches with wire jumper JP1.Wire jumper JP2～JP4 is identical with wire jumper JP1 with the connection of resistance and photoelectric coupled circuit.Amplifier U13 and resistance R 10, capacitor C 1 are formed constant-current source circuit, constant-current source circuit is used to handle resistance signal, be converted into the required voltage signal of A/D converter, the positive pole of amplifier links to each other with the pin 3 of photoelectric coupled circuit U1, U4, U7, U10 respectively, and constant current source output connects the input pin 2 of A/D converter U14.A/D converter U14 can adopt TLC1549, and its pin 1 connects reference voltage, and pin 5, pin 6, pin 7 link to each other with microprocessor, finish sheet choosing, output, time clock feature.U15 is a reference voltage circuit, is made up of amplifier U15, resistance R 11, R12, R13 and reference source Z1, is used to provide the reference voltage of A/D converter U14 and photoelectric coupled circuit U3, U6, U9, U12.The reference voltage circuit of being made up of reference source Z2 and resistance R 14 also is used to provide the reference voltage of photoelectric coupled circuit U2, U5, U8, U11.
Among Fig. 4, the warning input circuit is made up of with resistance second optical coupling isolation circuit 18.Optical coupling isolation circuit 18 adopts two integrated package TLP521, its pin 2,4,6,8 links to each other with resistance R 1～R8 respectively and connects the positive and negative limit alerting signal of four-way again, pin 10,12,14,16 links to each other with exclusion RP1, RP2 respectively and exports as reporting to the police, when limiting alarm, it is that ALARM_IN is 0 level that the contact is in out state, microprocessor collects alarm signal A LARM, sends and the demonstration limiting alarm.
Be connected with interlock protection circuit 19 at the warning output terminal.Interlock protection circuit 19 is made up of Sheffer stroke gate U1A～U1D and U2A～U2D, resistance R 9～R16, triode Q1～Q8 and exclusion RP3, RP4.Sheffer stroke gate all adopts integrated chip 74HCOO, a pin connects reset signal in its input pin, and another pin links to each other with the warning output of optical coupling isolation circuit, and the output connecting resistance links to each other with triode again, the transistor emitter resistance of running in, collector links to each other with output driving circuit.When being in alarm condition, the ALARM end ends triode by Sheffer stroke gate for low level, thereby blocks corresponding OUT output, realizes the interlock protection function of hardware.
Output driving circuit is made up of the 3rd optical coupling isolation circuit, triode and exclusion, and the control wave of being exported by microprocessor amplifies through amplifying circuit behind the 3rd optical coupling isolation circuit again, is connected with solid-state relay then, is used for driving solid relay.The 3rd optical coupling isolation circuit also adopts two integrated package TLP521; its pin 2,4,6,8 is respectively the input control signal of microprocessor; pin 1,3,5,7 links to each other with transistor collector in the interlock protection circuit respectively; pin 9,11,13,15 links to each other with transistor base and exclusion respectively; pin 10,12,14,16 links to each other with transistor collector respectively; transistor emitter is the output pulse of driving circuit, is used for driving solid relay.Solid-state relay can adopt commercially available integrated chip SSP-380D10, drives the winding that rotates and reverse of electric operator then by forward and reverse (open and turn-off) of relay, thereby realizes the control to displacement output.Can be implemented in the function that plays when extreme position is reported to the police the interlock protection of hardware, make when valve reaches the limit of position, motor generation stall, can cut off out-put supply immediately with the protection motor, preventing that the motor feels hot burns.
See also Fig. 5, microprocessor 14 can adopt 8252 models, its pin 24～26 selects the pin 1～3 of circuit U 16 to link to each other with switch plate respectively, pin 42,43,2,3,4,5,6 relevant pins with the warning input circuit link to each other, and realize the processing to alerting signal, and pin 39,40,41 links to each other with A/D converter 12 respective pins, finish control to A/D converter, pin 14～19 is the output signal of microprocessor, links to each other with the output driving circuit respective pins, finishes the control that output is driven.
Please in conjunction with consulting Fig. 6.The present invention realizes that the method for self-adapting intelligent electric operator control is: during work, behind the controller electrifying startup, after finishing the initialization of characteristic parameter (promptly comprising control threshold value En, valve position Toff stabilization time, minimum movements stepping Ton, minimum movements step-length Smin and dead band Deadband) of electronic devices and components such as microprocessor, storer and multi-channel electric topworks, carry out then:
The first step: controller is finished the self study process of multi-channel electric topworks characteristic parameter automatically, and preserves these characteristic parameters by microprocessor, and concrete steps are:
1) microprocessor of intelligent electric actuating mechanism controller is at first to first via electric operator control Driver Circuit output one long drive pulse signal (duration of pulse T
LongSet when starting initialization by controller), make electric operator reach motion at full speed;
2) after electric operator moves a period of time at full speed, its valve position changes continuously when surpassing a certain value A, and controller blocks makes a long driver the output that artery dashes, i.e. output control pulse signal no longer, and opening entry stablizes the needed time to valve position at this moment, i.e. valve position T stabilization time
Off1, T
Off1The modified value that the electric operator valve position changes in time promptly is the threshold value E of electric operator
N1
3) microprocessor is to first via electric operator control Driver Circuit output definite value short pulse T
ShortSignal (duration of pulse T
ShortSet when starting initialization by controller), and judge whether valve position changes: do not export short pulse signal T if having to change then continue on this basis with the variation that increases progressively definite value T
Short+ T, T
Short+ 2T ..., change up to valve position.At this moment, the burst length length T that makes valve position begin to change
Short+ n*T is minimum movements stepping T
On1, at minimum movements stepping T
On1Pulse control down the change amount of electric operator valve position be minimum movements step-length S
Min1, and to S
Min1The revised modified value of compensation be exactly electronic execution dead band Deadband
1
4) according to 1)～3) step, the intelligent electric actuating mechanism controller can obtain second and third ... control threshold value E Deng multi-channel electric topworks
n, valve position T stabilization time
Off, minimum movements stepping T
On, minimum movements step-length S
MinWith parameters such as dead band Deadband.
5) the multi-channel electric topworks parameter that obtains more than the controller general is kept at nonvolatile memory E
2Among the PROM, and the foundation that anti-overshoot is controlled as self-adaptation.
Second step: the characterisitic parameter that the intelligent electric actuating mechanism controller obtains by self study according to the first step, carry out the anti-overshoot control of self-adaptation (please in conjunction with consulting Fig. 7) to multi-channel electric topworks.Concrete steps are as follows:
1) microprocessor in the intelligent electric actuating mechanism controller is exported control signal to multi-way switch circuit, the input of A/D converter is linked to each other with the valve position circuit of sampling input of first via electric operator, and sampled by A/D converter;
2) the difference P of the valve position measured value of the microprocessor judges first via electric operator in the intelligent electric actuating mechanism controller and valve position setting value (being the control signal setting input among Fig. 2)
1Whether less than threshold value E
N1: as P
1＞E
N1, then microprocessor is exported a long pulse T to first via electric operator control Driver Circuit
Long, through photoelectricity isolate, drive amplify after, driving solid relay open-minded controlled the rotation of electric operator motor then, and continues to detect the poor of valve position measured value and valve position setting value, up to it less than threshold value E
N1The time, microprocessor stops long pulse output, and changes 3 over to); As P
1＜E
N1, then directly change 3 over to);
3) as the difference P of valve position actual value and valve position setting value
1Less than threshold value E
N1And greater than dead band Deadband
1The time, microprocessor is to first via electric operator control Driver Circuit output short pulse T
Short, through photoelectricity isolate, drive amplify after, driving solid relay open-minded controlled the rotation of electric operator motor then, and continues to detect the poor of valve position measured value and valve position setting value, up to it less than dead band Deadband
1, microprocessor stops short pulse output, and changes 4 over to); As P
1＜Deadband
1, then directly change 4 over to);
4) when the difference of valve position measured value and valve position setting value less than E
N1Threshold value and less than dead band Deadband
1The time, microprocessor stops drive signal output, shows that the valve position actual value reaches the accuracy rating of valve position setting value, thereby has realized the purpose of self-adapting intelligent control.
5) microprocessor continues to multi-way switch circuit output control signal, make the input of A/D converter and second and third ... link to each other Deng the valve position circuit of sampling input of multi-channel electric topworks, according to 1)～4) step finish second and third ... control Deng the valve position of multi-channel electric topworks.
6) repeat 1)～5) step, the electric operator in a plurality of loops is carried out cycle control go down.
7), just can realize the anti-overshoot control of characterisitic parameter self study, self-adaptation, and prevent that control wave is long and the generation of the overshoot condition that causes multi-channel electric topworks by above step.
A kind of method that realizes the control of self-adapting intelligent electric operator of the present invention, wherein, the alerting signal treatment step that also comprises electric operator, its process is: controller in the course of the work, when detecting electric operator and reach capacity the alerting signal that position or motor generation stall produce owing to valve position overshoot, to generation sound, visual alarm automatically, or output to other equipment by RS-232 or RS-485 communication interface; Simultaneously, start the interlock protection circuit, its input end is changed to low level, end by the output triode of Sheffer stroke gate, thereby block the output of corresponding control signal, realize interlock protection electric operator with the control signal output driving circuit.
The present invention can make electric operator when manual state control switches to auto state, can obtain all kinds of characterisitic parameters of electric operator, avoid the generation of overshoot condition when controlling automatically again, improved stability, security and the reliability of controller for electric actuating mechanism work.
Claims (10)
1. self-adaptation type intelligent electric actuating mechanism controller, it comprises servo amplifier section and electric operator, it is characterized in that described servo amplifier section is made up of microprocessor, multi-channel sampling commutation circuit, A/D converter, first photoelectric isolating circuit, second photoelectric isolating circuit, the 3rd photoelectric isolating circuit, output driving circuit, solid-state relay and interlock protection circuit;
Described multi-channel sampling commutation circuit is used to receive analog signals to be switched through multi-channel sampling, and electric current or the resistance signal that each road collects simultaneously outputed to A/D converter; This multi-channel sampling commutation circuit also is used to receive the multichannel switch-over control signal by microprocessor output;
It is digital signal that described A/D converter is used for analog signal conversion;
Described first photoelectric isolating circuit is used for and will outputs to microprocessor after the digital signal isolation;
Described second photoelectric isolating circuit is used to receive the warning input signal, and will output to microprocessor and interlock protection circuit after this Signal Spacing respectively;
Described the 3rd photoelectric isolating circuit is used to receive after microprocessor data is handled and the signal of interlock protection circuit output outputs to output driving circuit after isolating;
Described output driving circuit is used for outputing to solid-state relay with after this signal amplification, the drive motor action.
2. a kind of self-adaptation type intelligent electric actuating mechanism controller according to claim 1, it is characterized in that: described multi-channel sampling commutation circuit comprises multi-way switch circuit, switch chip select circuit, constant-current source circuit and reference voltage circuit; Each output terminal of described switch chip select circuit and reference voltage circuit is connected with the input end of multi-way switch circuit; The output terminal of described multi-way switch circuit is connected with the input end of constant-current source circuit; The output terminal of described constant-current source circuit is connected to the A/D change-over circuit.
3. a kind of self-adaptation type intelligent electric actuating mechanism controller according to claim 1; it is characterized in that: described interlock protection circuit comprises two groups of extreme position warning circuits, and every group of extreme position warning circuit comprises a Sheffer stroke gate, a resistance and an amplifying triode of serial connection successively.
4. the control method of an adaptive control intelligent electric actuating mechanism controller as claimed in claim 1 is characterized in that, may further comprise the steps:
A, controller are finished the self study process of multi-channel electric topworks characteristic parameter automatically, obtain characteristic parameter threshold value E
n, valve position T stabilization time
Off, minimum movements stepping T
On, minimum movements step-length S
MinWith dead band Deadband, and preserve these characteristic parameters by microprocessor;
The characteristic parameter that b, intelligent electric actuating mechanism controller utilize step a to obtain carries out adaptive control to multi-channel electric topworks, may further comprise the steps:
B-1, at first by the user by peripheral control unit by the given valve position setting value of control signal input interface;
B-2, simultaneously microprocessor is constantly sampled to the analog quantity of the valve position actual value of a plurality of different electric operators, and each sampled signal is judged successively, to obtain the valve position actual value of each electric operator output;
B-3, then according to the difference P and the electric operator threshold value E of valve position measured value and valve position setting value
n, compare between the Deadband of dead band, output is driven controls: as P＞E
nThe time, the control of output long pulse; As Deadband＜P≤E
nThe time, the control of output short pulse; When P≤Deadband, promptly in the dead zone range, stop drive signal output.
5. control method according to claim 4 is characterized in that, the described characteristic parameter threshold value of step a E
n, valve position T stabilization time
Off, minimum movements stepping T
On, minimum movements step-length S
MinIn the Deadband of dead band:
Described threshold value E
nBe meant the modified value that valve position changes in the stabilization time of valve position;
Described valve position T stabilization time
OffBe meant that electric operator moves under long drive pulse signal drives after a period of time at full speed, its valve position changes when surpassing certain certain value A continuously, and controller blocks output, and picks up counting up to the stable time that is added up of valve position;
Described minimum movements stepping T
OnBe meant that electric operator under the definite value short pulse drives, can make the valve position of electric operator begin the required pulse signal width that changes;
Described minimum movements step-length S
MinBe meant the change amount of electric operator valve position when the pulse of output minimum movements stepping length;
The modified value that valve position changed when described dead band Deadband was meant the minimum movements stepping.
6. control method according to claim 4 is characterized in that, in the self study of the described multi-channel electric of step a topworks characteristic parameter, the self-learning method on its each road may further comprise the steps:
A-1, the long drive pulse signal of microprocessor output, this long drive pulse signal is delivered to solid-state relay after amplifying, drive the running of electric operator then, makes electric operator reach motion at full speed;
After a-2, electric operator moved at full speed, the situation of change of looking valve position was determined valve position T stabilization time of electric operator
OffWith threshold value E
nConcrete grammar is: when valve position changes continuously when surpassing a certain value A, controller blocks makes a long driver the output that artery dashes, i.e. output control pulse signal no longer, and pick up counting and stablize up to valve position, the time that is added up is valve position T stabilization time
Off, T
OffThe modified value that the electric operator valve position changes in time promptly is the threshold value E of electric operator
n
A-3, then, microprocessor output definite value short pulse T
ShortSignal judges whether valve position changes: if do not have to change then output increases progressively the variation output short pulse signal of definite value T,, changes up to valve position with T step increments at interval, at this moment, the burst length length T that makes valve position begin to change
Short+ n*T is minimum movements stepping T
On, at minimum movements stepping T
OnPulse control down the change amount of electric operator valve position be minimum movements step-length S
Min, and to S
MinThe revised modified value of compensation be exactly electronic execution dead band Deadband.
7. control method according to claim 6 is characterized in that, the described duration of pulse T of step a-1
LongWith the described duration of pulse T of step a-3
ShortSet when starting initialization by controller.
8. control method according to claim 4 is characterized in that, the described valve position measured value of step b obtains like this: when sampling wherein one the tunnel when signal is arranged, will be in the microprocessor address bit set on this road of expression; , input to microprocessor and handle after A/D conversion and photoelectricity isolation from the output electric signal of this road valve opening sensor, what obtain is the valve opening value of unit with percentage, is exactly the valve position measured value of this road electric operator.
9. control method according to claim 4 is characterized in that, step b-3 is described as follows to each road electric operator output methods of driving control:
Whether the valve position measured value of b-3-1, microprocessor judges electric operator and the difference P of valve position setting value be less than threshold value E
n:
If P＞E
nThen microprocessor is exported long pulse, after the photoelectricity isolation, driving amplification, driving solid relay open-minded, then control the rotation of electric operator, and continue to detect the poor of valve position measured value and valve position setting value, up to P during less than threshold value, microprocessor stops long pulse output, and changes step b-3-2 over to;
If P＜E
n, then directly change step b-3-2 over to;
B-3-2, when the difference P of valve position measured value and valve position setting value less than threshold value E
nAnd during greater than dead band Deadband, then microprocessor is exported short pulse, after the photoelectricity isolation, driving amplification, driving solid relay open-minded, then control the rotation of electric operator, and continue to detect the poor of valve position measured value and valve position setting value, up to P less than the dead band, microprocessor stops the output of short pulse, and changes step b-3-3 over to;
As P＜Deadband, then directly change step b-3-3 over to;
B-3-3, when the difference of valve position measured value and valve position setting value during less than threshold value and less than the dead band, in dead zone range, then microprocessor stops drive signal output, shows that the valve position actual value reaches the accuracy rating of valve position setting value, thereby has realized self-adapting intelligent control.
10. control method according to claim 4, it is characterized in that, the alerting signal treatment step c that also comprises electric operator, its process is: controller in the course of the work, when detecting electric operator and reach capacity the alerting signal that position or motor generation stall produce owing to valve position overshoot, to generation sound, visual alarm automatically, or output to other equipment by communication interface; Simultaneously, start the interlock protection circuit, its input end is changed to low level, end by the output triode of Sheffer stroke gate, thereby block the output of corresponding control signal, realize interlock protection electric operator with the control signal output driving circuit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103116054A (en) * | 2013-01-25 | 2013-05-22 | 天津市松正电动汽车技术股份有限公司 | Isolation voltage acquisition circuit |
| CN105955134B (en) * | 2016-06-15 | 2018-07-27 | 南通航海机械集团有限公司 | Electric machine actuating mechanism controller based on Parameter Self-learning and Parameter Self-learning method |
| CN106802569B (en) * | 2017-03-24 | 2019-12-03 | 哈尔滨理工大学 | A kind of adaptive state feedback control method compensating executing agency's dead-time voltage |
| CN108254645B (en) * | 2018-03-16 | 2023-09-29 | 昆明理工大学 | Device for detecting resistance of discharge |
| CN109595377B (en) * | 2019-01-18 | 2020-10-30 | 扬州电力设备修造厂有限公司 | Adjustment control method for remote split electric actuating mechanism |
| CN111930032B (en) * | 2020-07-01 | 2022-02-11 | 浙江中控技术股份有限公司 | Control method based on periodic expert controller |
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