CN101876829B - Method for improving control accuracy of locator - Google Patents
Method for improving control accuracy of locator Download PDFInfo
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- CN101876829B CN101876829B CN2009101037341A CN200910103734A CN101876829B CN 101876829 B CN101876829 B CN 101876829B CN 2009101037341 A CN2009101037341 A CN 2009101037341A CN 200910103734 A CN200910103734 A CN 200910103734A CN 101876829 B CN101876829 B CN 101876829B
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Abstract
The invention discloses a method for improving the control accuracy of a locator. The method comprises the following steps of: 1, selecting an intermediate code value of a rotary position sensor as a reference code value; 2, setting a current percentage as zero when a pneumatic control valve performs an upper limit movement of a physical position, setting a current percentage as 100 percent when the pneumatic control valve performs a lower limit movement of the physical position, driving the pneumatic control valve to perform the upper limit movement and the lower limit movement of the physical position to rotate the rotary position sensor, acquiring an upper limit angle and a lower limit angle of the rotary position sensor, and consequently acquiring an upper limit stroke and a lower limit stroke; 3, according to the current percentages, the upper limit stroke and the lower limit stroke, calculating a target code value to which the rotary position sensor is to rotate; and 4, driving the pneumatic control valve to move and driving the rotary position sensor to rotate to the target code value. The method for improving the control accuracy of the locator corrects errors existing in the prior art and greatly improves the control accuracy of the pneumatic control valve.
Description
Technical field
The present invention relates to intelligent valve positioner control field, particularly relate to a kind of method that improves the intelligent valve positioner control accuracy.
Background technology
The analogue type electropneumatic valve positioner is used to control the pneumatic control valve action, thereby comes Control Flow to finish system's adjusting control by the action of pneumatic control valve.This steady arm adopts the lever force equilibrium principle to carry out Balance Control, its valve location value S balances each other by cam mode and controlling value P, utilization cam curved surface increment compensate rotatablely move and straight-line displacement between error, thereby obtain comparatively accurate valve location control.But the precision of cam curved surface processing is not easy to guarantee that the compensation increment is subjected to the influence of factors such as cam installation, curved surface wearing and tearing, and its compensation rate error is bigger, and mechanical footprint is big, precision is not high, can not satisfy the requirement of 5 ‰ High Accuracy Control.
HVP type intelligent valve positioner picks up the actual aperture signal of valve by rotational position sensor, by A/D conversion becoming digitally encoded signal, compares in CPU with the numerical coding of input (setting) signal of steady arm, calculates the two deviate.Exceed bearing accuracy as deviate, then the CPU output order makes corresponding ON/OFF piezo electric valve action, is to regulate the size of exporting bleed pressure by CPU control piezo electric valve to make input signal and valve position reach new balance.The input of this steady arm (setting) signal is the current signal of 4～20mA linearity of sending of controller, and the valve position signal of feedback then is to be provided by rotary-type position transducer.Because valve is straight-line displacement and rotary-type position transducer is the radian displacement, therefore there is error all the time in valve location value and the actual value that is read by rotary-type position transducer, and it is very difficult to adopt traditional compensation way to eliminate this error.
Summary of the invention
At the defective of prior art, the objective of the invention is to propose a kind of method to improve the method for valve positioner control accuracy.
In order to reach above-mentioned purpose of the present invention, the present invention proposes a kind of method that improves the intelligent valve positioner control accuracy, may further comprise the steps:
Step 1: code value is as the benchmark code value in the middle of the selected rotational position sensor one;
Step 2: the percentage of current when setting pneumatic control valve and doing the upper and lower bound motion of physics position is respectively 0 and 100, the upper and lower bound motion that the driving pneumatic control valve is done the physics position is rotated rotational position sensor, obtain the upper limit angle and the lower limit angle of rotational position sensor, and then obtain upper limit Direct Travel and lower limit Direct Travel;
Step 3: calculate rotational position sensor with the target code value that turns to according to current percentage of current, upper limit Direct Travel and lower limit Direct Travel;
Step 4: drive pneumatic control valve motion and driven rotary position transducer and turn to the target code value.
Preferred as technique scheme, described step 1 is specially: the fixed proportion arm on rotational position sensor, rotational position sensor during the ratio arms level, in the middle of selected one code value as the benchmark code value after locking ratio arms and rotational position sensor.
Preferred as technique scheme, described step 2 is specially: drive the upper and lower bound motion that pneumatic control valve is done the physics position, the driven rotary position transducer turns to upper limit code value and lower limit code value respectively, draw upper limit angle and lower limit angle according to angle function again, calculate upper limit Direct Travel and lower limit Direct Travel according to sine function at last.
Preferred as technique scheme, described angle function are to be deducted by the sampling code value to multiply by 360 degree again divided by total code value behind the benchmark code value and try to achieve angle value.
Preferred as technique scheme, step 3 is specially: according to current percentage of current, upper limit Direct Travel and lower limit Direct Travel, calculate rotational position sensor with the target code value that turns to arcsin function:
H1 in the formula, h2 represent upper limit Direct Travel and lower limit Direct Travel respectively.
Preferred as technique scheme, current percentage of current is by formula
Draw, χ represents by the sample rate current value of switching time to the control power supply signal 4mA～20mA of system in the formula.
Preferred as technique scheme, output control unit output current percentage is recently controlled I/P electric conversion unit, drives pneumatic adjustment movement then.
Preferred as technique scheme, the difference of place code value and target code value was less than the setting accuracy code value when rotational position sensor turned to the target code value.
The present invention adopts sinusoidal backoff algorithm mode, and circular motion is changed into rectilinear motion, and the error that exists in the prior art is revised, and has improved the control accuracy to pneumatic control valve greatly.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail, for the person of ordinary skill in the field, from detailed description of the invention, above-mentioned and other purposes of the present invention, feature and advantage will be apparent.
Description of drawings
Fig. 1 is a FB(flow block) of the present invention;
Fig. 2 is installed on the synoptic diagram of rotational position sensor for ratio arms of the present invention;
Fig. 3 is that the derivation of equation of the present invention position concerns synoptic diagram;
Fig. 4 is the composition frame chart that is applied to a kind of device of the inventive method;
Fig. 5 is a control flow synoptic diagram of the present invention.
Embodiment
For making the above-mentioned purpose of the present invention, feature and advantage can more obvious easy understanding,, be described in detail below below in conjunction with one embodiment of the present invention:
The following is one embodiment of the present invention, intelligent valve positioner is installed on the pneumatic control valve of Direct Travel, and a kind of control method that improves the steady arm precision of the present invention may further comprise the steps:
Step 1: code value is as the benchmark code value in the middle of the selected rotational position sensor one;
Step 2: the percentage of current when setting pneumatic control valve and doing the upper and lower bound motion of physics position is respectively minimum value 0 and maximal value 100, drive pneumatic control valve and do the upper and lower bound motion of physics position, pneumatic control valve move up and down respectively that the driven rotary position transducer turns to upper limit code value and lower limit code value, draw upper limit angle and lower limit angle according to angle function again, calculate upper limit Direct Travel and lower limit Direct Travel according to sine function at last.
Step 3: calculate rotational position sensor with the target code value that turns to according to current percentage of current, upper limit Direct Travel and lower limit Direct Travel;
Step 4: drive pneumatic control valve motion and driven rotary position transducer and turn to the target code value.
Another preferred embodiment according to the present invention, a kind of control method that improves the steady arm precision of the present invention may further comprise the steps, process flow diagram as shown in Figure 1:
Step 1: fix a ratio arms (as shown in Figure 2) on rotational position sensor, rotational position sensor when the ratio arms level, code value in the middle of selecting one is locked ratio arms and rotational position sensor as 0x800 as benchmark code value (promptly this moment, angle was 0 degree) back.
Step 2: the percentage of current when setting pneumatic control valve and doing the upper and lower bound motion of physics position is respectively 0 and 100, drive pneumatic control valve and do the upper and lower bound motion of physics position, as shown in Figure 3, the driven rotary position transducer turns to upper limit code value vMax and lower limit code value vMin respectively, draw upper limit angle [alpha] and lower limit angle beta according to angle function again, angle value is to represent with radian value, can certainly the expenditure numeric representation:
In the following formula, 0xFFF is total code value, calculates upper limit Direct Travel h1 and lower limit Direct Travel h2 according to sine function at last:
h1＝sinα*r
h2＝sinβ*r
R represents that the arm of force is long in the formula.
Step 3: calculate rotational position sensor with the target code value that turns to according to current percentage of current, upper limit Direct Travel h1 and lower limit Direct Travel h2;
Step 4: drive pneumatic control valve motion and driven rotary position transducer and turn to the target code value.
Another preferred embodiment according to the present invention, the target code value can be calculated as follows by arcsin function in the above-mentioned steps 3:
Percentage of current is by formula in the following formula
Draw, (4mA～20mA), x is the sample rate current that obtains switching time by importing to intelligent valve positioner connecting system control power supply signal.
In the following formula, when rotational position sensor was wanted rotational angle greater than benchmark code value (promptly greater than 0 degree), percentage of current added h2.Otherwise, then deduct h2.
Be to be applied to device of the present invention as shown in Figure 3, this steady arm is made up of parts such as microprocessor (CPU), A/D, D/A converter and piezoelectricity operation valve, position transducers, this steady arm and actuator are formed a backfeed loop, the input power supply unit accepts the current signal of 4～20mA of self-controller, sending input signal that signal therewith is directly proportional simultaneously, send can drive circuit works power supply.The throttle position feedback signal that is recorded by position transducer is as controlled variable, make comparisons in microprocessor with given signal value, these two deviations are by the delivery outlet of master control borad, the pulse of sending different length, the output pressure of control I/P converting unit, thus drive the variable valve action.
Output control unit output current percentage is recently controlled I/P electric conversion unit, drives pneumatic adjustment movement then.
Allow less error when rotational position sensor turns to the target code value among the present invention, promptly the difference E of place code value and target code value is less than setting accuracy code value δ.
Fig. 5 is the control flow chart of the inventive method.
By above compensation control flow, circular motion is changed into rectilinear motion with respect to horizontal level, this is just corresponding with the rectilinear motion of variable valve.Just finished the High Accuracy Control of steady arm by sinusoidal backoff algorithm.Precision can reach 5 ‰, and table 1 is the table of comparisons of the forward and backward control accuracy of compensation.
Table 1
| Current controling signal | 4mA | 8mA | 12mA | 16mA | 20mA |
| The standard stroke | 0 | 3.57 | 7.15 | 10.72 | 14.30 |
| Sinusoidal compensation | 0.01 | 3.52 | 7.16 | 10.68 | 14.29 |
| Precision | 1‰ | 3.5‰ | 1‰ | 2.8‰ | 1‰ |
| Mechanical compensation | 0.09 | 3.47 | 7.24 | 10.60 | 14.22 |
| Precision | 6.3‰ | 7‰ | 6.3‰ | 8.4‰ | 5.6‰ |
Its employing two-wire system transmission (being power supply, 4～20mA simulating signal) of intelligent valve positioner with backoff algorithm.It and traditional electrical one pneumatic valve positioner are completely different, intelligent valve positioner and pneumatic actuator are formed a feedback control loop, in this control loop, the throttle position feedback signal that shows is as controlled variable, make comparisons in microprocessor with given signal value, the deviation of these two signals is by output unit, the pulse of sending different length, the pressure output of control I/P converting unit pressure output, thus drive the variable valve action.HVP intelligent valve positioner on the pneumatic control valve band, the out-of-balance force on overcome friction and the spool well improves the response speed of variable valve, makes its location rapider, accurate, is particularly suitable for vibrating frequent place.Solved the user well and changed because of control system, brought the worry of changing variable valve therefrom, the user only needs the correlation parameter of intelligent valve positioner is reset and adjusts, and can meet the demands.Therefore, it extensively applies to the automatic control system in fields such as oil, chemical industry, electric power, metallurgy, light industry.
Certainly; the present invention also can have other embodiment; under the situation of spirit that does not deviate from the present invention and essence, the person of ordinary skill in the field works as can make various corresponding changes according to the present invention, but these corresponding changes all should belong to the protection domain of claim of the present invention.
Claims (8)
1. a method that improves control accuracy of locator is characterized in that, may further comprise the steps:
Step 1: code value is as the benchmark code value in the middle of the selected rotational position sensor one;
Step 2: the percentage of current when setting pneumatic control valve and doing the upper and lower bound motion of physics position is respectively 0% and 100%, the upper and lower bound motion that the driving pneumatic control valve is done the physics position is rotated rotational position sensor, obtain the upper limit angle and the lower limit angle of rotational position sensor, and then obtain upper limit Direct Travel and lower limit Direct Travel;
Step 3: calculate rotational position sensor with the target code value that turns to according to current percentage of current, upper limit Direct Travel and lower limit Direct Travel;
Step 4: drive pneumatic control valve motion and driven rotary position transducer and turn to the target code value.
2. a kind of method that improves control accuracy of locator according to claim 1, it is characterized in that, described step 1 is specially: the fixed proportion arm is on rotational position sensor, rotational position sensor during the ratio arms level, in the middle of selected one code value as the benchmark code value after locking ratio arms and rotational position sensor.
3. a kind of method that improves control accuracy of locator according to claim 1, it is characterized in that, described step 2 further comprises: drive the upper and lower bound motion that pneumatic control valve is done the physics position, the driven rotary position transducer turns to upper limit code value and lower limit code value respectively, draw upper limit angle and lower limit angle according to angle function again, calculate upper limit Direct Travel and lower limit Direct Travel according to sine function at last.
4. a kind of method that improves control accuracy of locator according to claim 3 is characterized in that, described angle function is to be deducted by the sampling code value to multiply by 360 degree again divided by total code value behind the benchmark code value and try to achieve angle value.
5. a kind of method that improves control accuracy of locator according to claim 1, it is characterized in that, described step 3 is specially: according to current percentage of current, upper limit Direct Travel and lower limit Direct Travel, calculate rotational position sensor with the target code value that turns to arcsin function:
In the formula, α represents upper limit angle; Percentage of current ± h2 represents that when rotational position sensor wanted rotational angle to spend greater than benchmark code value 0, percentage of current added h2, otherwise, then deduct h2; H1, h2 represent upper limit Direct Travel and lower limit Direct Travel respectively.
6. a kind of method that improves control accuracy of locator according to claim 1 is characterized in that percentage of current is by formula
Draw, χ represents by the sample rate current value of switching time to the control power supply signal 4mA～20mA of system in the formula.
7. a kind of method that improves control accuracy of locator according to claim 1 is characterized in that output control unit output current percentage is recently controlled I/P electric conversion unit, drives the pneumatic control valve motion then.
8. a kind of method that improves control accuracy of locator according to claim 1 is characterized in that the difference of place code value and target code value was less than the setting accuracy code value when rotational position sensor turned to the target code value.
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| CN2009101037341A CN101876829B (en) | 2009-04-29 | 2009-04-29 | Method for improving control accuracy of locator |
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| CN2009101037341A CN101876829B (en) | 2009-04-29 | 2009-04-29 | Method for improving control accuracy of locator |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999005576A2 (en) * | 1997-07-23 | 1999-02-04 | Dresser Industries, Inc. | Valve positioner system |
| DE102004051094A1 (en) * | 2004-10-19 | 2006-04-27 | Hartmann & König Stromzuführungs AG | Hydraulic drive arrangement for driving cable reel has servo unit which has electrically controlled proportion valve whereby rotation angle position of cable reel is recorded by rotary input type encoder |
| JP4047308B2 (en) * | 2004-08-06 | 2008-02-13 | キヤノン株式会社 | Layout processing method, information processing apparatus, and computer program |
| CN101245871A (en) * | 2008-01-31 | 2008-08-20 | 浙江大学 | Digital positioner for electric controlled valve and method thereof |
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2009
- 2009-04-29 CN CN2009101037341A patent/CN101876829B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999005576A2 (en) * | 1997-07-23 | 1999-02-04 | Dresser Industries, Inc. | Valve positioner system |
| JP4047308B2 (en) * | 2004-08-06 | 2008-02-13 | キヤノン株式会社 | Layout processing method, information processing apparatus, and computer program |
| DE102004051094A1 (en) * | 2004-10-19 | 2006-04-27 | Hartmann & König Stromzuführungs AG | Hydraulic drive arrangement for driving cable reel has servo unit which has electrically controlled proportion valve whereby rotation angle position of cable reel is recorded by rotary input type encoder |
| CN101245871A (en) * | 2008-01-31 | 2008-08-20 | 浙江大学 | Digital positioner for electric controlled valve and method thereof |
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Effective date of registration: 20220415 Address after: 400711 Longfeng 1st Village, Beibei District, Chongqing Patentee after: CHONGQING CHUANYI CONTROL VALVE CO.,LTD. Patentee after: Chongqing Sichuan automation Limited by Share Ltd Address before: 400700 No. 1, people's village, Beibei District, Chongqing Patentee before: CHONGQING CHUANYI AUTOMATION Co.,Ltd. |