CN101725754B - Device for valve micro-step adjustment by using AC asynchronous motor and realization method thereof - Google Patents
Device for valve micro-step adjustment by using AC asynchronous motor and realization method thereof Download PDFInfo
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- CN101725754B CN101725754B CN2009102653035A CN200910265303A CN101725754B CN 101725754 B CN101725754 B CN 101725754B CN 2009102653035 A CN2009102653035 A CN 2009102653035A CN 200910265303 A CN200910265303 A CN 200910265303A CN 101725754 B CN101725754 B CN 101725754B
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Abstract
The invention relates to a device for valve micro-step adjustment by using an AC asynchronous motor and a realization method thereof. The device comprises the AC asynchronous motor, an electrically operated valve controller, a speed reducer and a valve, wherein a shaft of the AC asynchronous motor is connected with the speed reducer through a flange; the speed reducer is connected with the valve through the flange; and the electrically operated valve controller consists of a controller DSP control part and a driving power amplifying part and is connected with the speed reducer and the AC asynchronous motor at the same time. Compared with the prior art, the device of the invention adopts the AC asynchronous motor as a power source motor, takes a rotor current of the motor as a direct control target, uses a fully digital controller to realize the precise positioning precision of an electric valve actuating device, guarantees the rapidity of a response, eliminates a complex mechanical transmission device because of a micro-step action characteristic of the motor, can realize the fine adjustment and positioning of the valve by directly substituting the multi-grade complex transmission system with simple and easy reducing transmission through the output of the motor shaft, and has the advantages of simple structure, quick response, strong contamination resistance and high reliability.
Description
Technical field:
The present invention relates to a kind of AC induction motor of utilizing and carry out device and its implementation that valve micro-step is regulated.
Technical background:
Along with the progress of expanding economy, industrial automation, electric valve has been the important component part of process automation chain, and its energy is taken more convenient than other driving mode, is widely used at industrial departments such as electric power, metallurgy, oil, mines.Must have higher reliability and Security at the industrial occasions electric valve, and the combination property of electric valve depends primarily on the reliability and security of electric actuator, so every performance of actuator and controlling level thereof are determining the technical merit of electric valve complete machine to a great extent.For making electric valve bring into play maximum performance, in its design process, not only to pay attention to selecting the parameter of valve, more want the specific requirement of clear and definite actuator.In order to avoid in installation, debugging, using process, bring unnecessary trouble and may produce serious consequence.
China's electric valve industry development is backward relatively, the electric valve product that present domestic research and development are produced require highi degree of accuracy, reliability high aspect using effect not good.Mechanical structure part is too complicated, is not easy to install, debugging, and easy-maintaining not.
Summary of the invention:
The invention provides a kind of AC induction motor of utilizing and carry out device and its implementation that valve micro-step is regulated, adopt the power source motor of AC induction motor as electric valve, stator current with AC induction motor is direct controlling object, the motion control pattern of analog stepping motor, obtain small motor Location accuracy, replace the multistage complex transmission of prior art to realize the fine setting of valve with easy gear transmission.The present invention is electric valve motor, electric valve controller, valve three-in-one device, can not only stablize the accurate micro-stepping control of realization to valve, also has advantage simple in structure, that response is fast, contamination resistance is strong, reliability is high.
The device that utilizes AC induction motor to carry out the valve micro-step adjusting provided by the invention mainly comprises: AC induction motor, electric valve controller, retarder, valve; The AC induction motor axle is by the flange connection reducer, and retarder connects valve by flange; Electric valve controller is made up of DSP control section and driving power enlarged portion; The electric valve controller connection reducer, electric valve controller connects AC induction motor simultaneously.
Described driving power enlarged portion comprises drive circuit, signal isolation drive power supply, voltage sampling circuit, current sample, protective circuit.Protective circuit comprises braking protective circuit, overvoltage crowbar, under-voltage protecting circuit.
Described signal isolated drive circuit connects dsp chip; The signal isolated drive circuit connects drive circuit (IPM).
Described voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.
Described current sample uses Hall current sensor, and motor windings is passed Hall current sensor.
Described protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
Described DSP control section comprises dsp chip, the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
Described DSP peripheral circuit is the chip external memory that connects user's expansion by the external memory interface module EMIF of dsp chip, and connects external emulator by the jtag interface of dsp chip.
The testing circuit of described current signal is that Hall current sensor connects resistance, is connected to the A/D ALT-CH alternate channel of DSP again with motor windings process Hall current sensor.
Described position detecting circuit comprises rotary transformer, function generator, high frequency power amplification chip, quantizer.
Described AC induction motor connects rotary transformer as position transducer; Function generator is connected to high frequency power and amplifies chip; High frequency power is amplified chip connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer.
Described dsp chip connects control LED nixie tube display unit by the SPI interface.
Described dsp chip detects pin by the I/O port as button and connects the keyboard input unit.
The step that a kind of implementation method of utilizing AC induction motor to carry out the valve micro-step adjusting provided by the invention comprises:
Stator current with AC induction motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, forms the electric valve device that highi degree of accuracy simple in structure, superior performance is finely tuned.
It is staircase waveform that the step pitches such as sine-wave current that feed the AC induction motor winding are dispersed;
The stray currents vector that motor windings feeds is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple.
The concrete value of b is according to the number of poles of used AC induction motor and user the fine motion required precision of valve to be chosen, and the accessible precision of the per step fine motion of AC induction motor is: 360 °/(the motor number of pole-pairs * b).With four utmost point AC induction motor is example, and getting b is 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
Stator current is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement.The every micro-step movement of motor once, the electric current in the formula just changes once.By moving the given of step number x, realize the micro-stepping operation of motor.
Add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current.The control system structured flowchart as shown in Figure 1.
The motor shaft connection reducer of AC induction motor, the retarder output terminal connects valve, realizes electric valve device micro-stepping regulatory function.
The AC induction motor of utilizing provided by the invention is carried out device that valve micro-step regulates and its implementation compared with prior art, adopt AC induction motor as power source motor, stator current with motor is direct controlling object, make per step operation of motor can realize the fine adjustments action, and utilize total digital controller to realize the accurate Location accuracy of electric device for valve, guaranteed the rapidity that responds; The micro-stepping acting characteristic of this motor has been saved the complicated mechanical transmission device, directly just can replace the fine setting and the location of the multistage complex transmission realization valve of prior art with easy gearing down via motor shaft output.Actual motion shows, but micro-stepping provided by the invention adjusting electric valve device has advantage simple in structure, that response is fast, contamination resistance is strong, reliability is high.
Description of drawings
Fig. 1 is the directed control system structural drawing of AC induction motor stator current.
Fig. 2 is based on the micro-stepping of AC induction motor and regulates electric valve device.
Fig. 3 is an electric valve device control system structured flowchart.
Specific embodiments
As shown in Figure 2, the micro-stepping adjusting electric valve device based on AC induction motor provided by the invention mainly comprises: AC induction motor 1, controller 2, retarder 3, valve 4, flange 5.
AC induction motor 1 is by flange 5 connection reducers 2, and retarder 2 connects valve 4 by flange 5; Electric valve controller 2 is made up of DSP control section and driving power enlarged portion; Electric valve controller 2 connection reducers 3, electric valve controller 2 connects AC induction motor 1 simultaneously.
Controller is made up of DSP control section and driving power enlarged portion.The control system structure as shown in Figure 3.
The driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sample, protective circuit.
DSP connects the signal isolated drive circuit; The signal isolated drive circuit connects drive circuit (IPM), and the on state of switching signal decision motor windings is provided for drive circuit.
Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.
Current sample uses Hall current sensor, and motor windings is passed Hall current sensor.
Protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
The DSP control section comprises DSP (TMS320F240, TI company), the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
The DSP peripheral circuit is the chip external memory that connects user's expansion by the external memory interface module EMIF of DSP; Jtag interface by DSP connects external emulator.
The testing circuit of current signal is that Hall current sensor connects resistance, is connected to the A/D ALT-CH alternate channel of DSP again with motor windings process Hall current sensor.
Position detecting circuit comprise rotary transformer, function generator (ICL8083, Intersil), high frequency power amplifies chip (OPA547), quantizer (AD2S90).
AC induction motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP again.DSP obtains rotor-position according to detection, by the Current Vector Control device trigger signal of drive circuit is controlled, and regulates each phase winding electric current.
DSP connects control LED nixie tube (MAX7219, MAXIM) display unit by the SPI interface.
DSP detects pin by the I/O port as button and connects the keyboard input unit.
The step that the implementation method of utilizing AC induction motor to carry out the valve micro-step adjusting comprises:
Stator current with AC induction motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, realizes electric valve device micro-stepping regulatory function.
It is staircase waveform that the step pitches such as sine-wave current that feed the AC induction motor winding are dispersed; The stray currents vector that motor windings feeds is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple.
The concrete value of b is according to the number of poles of used AC induction motor and user the fine motion required precision of valve to be chosen, and the accessible precision of the per step fine motion of AC induction motor is: 360 °/(the motor number of pole-pairs * b).With four utmost point AC induction motor is example, and getting b is 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
Stator current is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement.The every micro-step movement of motor once, the electric current in the formula just changes once.By moving the given of step number x, realize the micro-stepping operation of motor.
Add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current.
The motor shaft connection reducer of AC induction motor, the retarder output terminal connects valve, realizes electric valve device micro-stepping regulatory function; AC induction motor is controlled by electric valve controller; Electric valve controller is made up of DSP control section and driving power enlarged portion.The driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sample, protective circuit.The DSP control section comprises DSP (TMS320F240, TI company), the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit.
DSP sends pwm pulse signal, with pwm signal input signal isolated drive circuit; The signal isolated drive circuit connects drive circuit (IPM), and the on state of switching signal decision motor windings is provided for drive circuit.Simultaneously, break down as drive circuit, trouble signal will be sent to DSP by the signal isolation drive, and DSP detects trouble signal and in time interrupts the motor windings electric current.
Protective circuit comprises braking circuit, overvoltage circuit, under-voltage circuit.Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.Braking circuit consumes the energy of motor feedback on braking resistor; Overvoltage circuit is to stop inverter output when the VDC of direct-flow intermediate circuit surpasses the overvoltage specified value, avoids burning of components and parts; Under-voltage circuit quits work system when brownout phenomenon more than the stipulated time appears in the VDC that detects direct-flow intermediate circuit, avoids occurring the misoperation that causes because of the control circuit undertension.
Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously.Its effect is that the drive circuit neutral voltage is sampled, and with overvoltage or under-voltage signal input DSP, as detects overvoltage or under-voltage signal sends brake signal, and the input signal isolated drive circuit in time turn-offs the motor windings electric current.Current sample uses Hall current sensor, and motor windings is passed Hall current sensor.
The DSP peripheral circuit connects the chip external memory of user's expansion by the external memory interface module EMIF of DSP; Jtag interface by DSP connects external emulator.
The testing circuit of current signal is with motor windings electric current process Hall current sensor, connects resistance and is converted to voltage signal, inputs to the A/D ALT-CH alternate channel of DSP, the maintenance of sampling.
Position detecting circuit comprise rotary transformer, function generator (ICL8083, Intersil), high frequency power amplifies chip (OPA547), quantizer (AD2S90).
AC induction motor adopts rotary transformer as position transducer; Function generator produces sinusoidal signal and is connected to high frequency power amplification chip; High frequency power is amplified chip output sinusoidal signal connection rotary transformer provides excitation for it; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP again.DSP obtains rotor-position according to detection, by the Current Vector Control device trigger signal of drive circuit is controlled, and regulates each phase winding electric current.
DSP connects control LED nixie tube (MAX7219, MAXIM) display unit by the SPI interface.
DSP detects pin by the I/O port as button and connects the keyboard input unit.
Claims (7)
1. one kind is utilized AC induction motor to carry out the device that valve micro-step is regulated, and it is characterized in that it mainly comprises: AC induction motor, electric valve controller, retarder, valve; The AC induction motor axle is by the flange connection reducer, and retarder connects valve by flange; Electric valve controller is made up of controller DSP control section and driving power enlarged portion, the electric valve controller connection reducer, and electric valve controller connects AC induction motor simultaneously;
Described driving power enlarged portion comprises drive circuit, signal isolated drive circuit, voltage sampling circuit, current sampling circuit, and protective circuit, protective circuit comprise braking protective circuit, overvoltage crowbar, under-voltage protecting circuit; DSP connects the signal isolated drive circuit; The signal isolated drive circuit connects drive circuit, and the on state of switching signal decision motor windings is provided for drive circuit; Voltage sampling circuit connects drive circuit, and voltage sampling circuit connects DSP simultaneously; Braking circuit, overvoltage circuit, under-voltage circuit are connected to form protective circuit successively.
2. device according to claim 1 is characterized in that described DSP control section comprises dsp chip, the DSP peripheral circuit, and the testing circuit of current signal, position detecting circuit shows and the button drive circuit; Described DSP peripheral circuit is the chip external memory that connects user's expansion by the external memory interface module of DSP, and connects external emulator by the jtag interface of DSP.
3. device according to claim 2, the testing circuit that it is characterized in that described current signal are motor windings process Hall current sensors, and Hall current sensor connects the A/D ALT-CH alternate channel that resistance is connected to DSP again.
4. device according to claim 2 is characterized in that described position detecting circuit comprises rotary transformer, function generator, high frequency power amplification chip, quantizer.
5. device according to claim 4 is characterized in that AC induction motor connects rotary transformer as position transducer; Function generator is connected to high frequency power and amplifies chip; High frequency power is amplified chip and is connected rotary transformer; It is the digital type angle value with the signal conversion that rotary transformer produces that quantizer connects rotary transformer, and quantizer connects DSP simultaneously; Described DSP connects control LED nixie tube display unit by the SPI interface; Described DSP detects pin by the I/O port as button and connects the keyboard input unit.
6. one kind is utilized AC induction motor to carry out the implementation method that valve micro-step is regulated, and it is characterized in that the step that comprises:
Stator current with AC induction motor is direct controlling object, motor adopts current phasor incremental motion pattern, and the motion control pattern of analog stepping motor is discrete with current phasor, advancing in the position of rotor follow current vector, obtains small motor Location accuracy with this; According to the requirement of user to the valve fine setting, the step number and the step pitch of electric current discretization is set, connect single reduction gear for motor on this basis; Single reduction gear connects valve, concrete step:
1) will feed that the step pitches such as sine-wave current of AC induction motor winding are discrete to be staircase waveform;
2) the stray currents vector of motor windings feeding is the staircase waveform that the one-period of electric current is divided into b part, and b is 6 multiple;
3) the concrete value of b is that number of poles and user according to used AC induction motor chooses the fine motion required precision of valve, and the precision that the per step fine motion of AC induction motor can reach is: 360 °/(the motor number of pole-pairs * b), the stator current formula is:
X represents the step number in the micro-step movement, is the arbitrary integer between 0 to b-1; When x gets zero, be that motor begins the initial stator current value of micro-step movement.The every micro-step movement of motor once, the electric current in the described stator current formula just changes once, given by operation step number x realized the micro-stepping operation of motor;
4) add the control of Current Vector Control device realization in the controller of electric device for valve, make rotor always follow the position of stator current vector, form the motion control of micro-stepping stator current;
5) the motor shaft connection reducer of AC induction motor, the retarder output terminal connects valve, realizes electric device for valve micro-stepping regulatory function.
7. method according to claim 6 is characterized in that b is at 12 o'clock, and the precision that per step of motor fine motion reaches is 15 °; B is 24 o'clock, and the precision that per step of motor fine motion reaches is 7.5 °.
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