CN102435364A - Instantaneous energy-based soft sensing method of electric actuator torque - Google Patents
Instantaneous energy-based soft sensing method of electric actuator torque Download PDFInfo
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- CN102435364A CN102435364A CN2011102770110A CN201110277011A CN102435364A CN 102435364 A CN102435364 A CN 102435364A CN 2011102770110 A CN2011102770110 A CN 2011102770110A CN 201110277011 A CN201110277011 A CN 201110277011A CN 102435364 A CN102435364 A CN 102435364A
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Abstract
The invention relates to an instantaneous energy-based soft sensing method of the electric actuator torque, which takes a digital signal processing (DSP) chip and a CS5460A electric energy chip as a core, and the output torque of the electric actuator is detected by an instantaneous energy soft sensing method; the voltage signals and the current signals of an electric motor are measured in a non-contact way through a current mode voltage transformer and a Hall sensor; the voltage signals and the current signals of the electric motor are input into a CS5460A voltage channel and a CS5460A current channel through a voltage conversion circuit and a filter circuit, so the 24-bit energy signal is obtained through calculation; and the serial peripheral interface (SPI) like mode with a photoisolator is adopted to acquire the instantaneous energy, so the control precision, the instantaneity, the antijamming capability and the like of the output torque detection of the electric motor are ensured.
Description
Technical field
The present invention relates to a kind of measuring technique, particularly a kind of electric operator moment of torsion flexible measurement method based on instantaneous energy.
Background technology
Increasing factory has adopted robotization control; Manually-operated is substituted by machinery or automation equipment; People require topworks can play the interface interaction between control system and the valve mechanical motion, more require topworks to strengthen work safety and environmental protection performance.In the occasion of certain dangerous property, the actuator devices of robotization can reduce personnel's injury.The output torque of electric operator is an important parameter of topworks, is to guarantee mechanism controls precision and the normal key technical index of moving.When operating at the scene, put in place, in order to ensure the normal operation of motor, need to detect in real time the output torque of motor simultaneously in order to guarantee mechanism's open and close.Document " research of electric valve executing mechanism fault diagnosis " is pointed out traditional torque sensor; Like JCZ intelligence torque rotary speed sensor, the digital torque sensor of JN338 Series Intelligent etc.; The suitable narrow and small electric operator inside, space that is installed in; And need often check and correction, unfavorable to the sealing of electric operator.Document " based on the design and the realization of the electric operator of DSP " is to monitor output torque through the electric current that detects motor; This method has been ignored the influence of power factor COS Ф; Detected motor output torque will produce time-delay, and it is not enough to measure real-time.
Summary of the invention
The present invention be directed to the problem of the output torque test environment bad adaptability of present electric operator, proposed a kind of electric operator moment of torsion flexible measurement method, demarcate the output torque of motor through the soft metering system of instantaneous energy based on instantaneous energy; Gather the electric current and the voltage signal of motor through contactless method, strengthened the stability and the antijamming capability of torque measurement; Adopt a type SPI type collection instantaneous energy, wherein the SPI passage has photoisolator, has guaranteed control accuracy that the motor output torque detects, real-time etc.
Technical scheme of the present invention is: a kind of electric operator moment of torsion flexible measurement method based on instantaneous energy; Current mode voltage transformer (VT) and Hall element are gathered the voltage and current signal of motor through the noncontact mode; Through change-over circuit and filtering circuit; Be linked into the voltage channel and the current channel of CS5460A electric energy chip; Obtain the instantaneous power signal, the elapsed time adds up, collect 24 instantaneous energy signals after; With class SPI pattern; Input to the DSPIC30F6014A digital signal processing chip through photoisolator, through calculating the output torque of electric operator, said DSPIC30F6014A digital signal processing chip; 7,13 pins are received the output of SDO data, the INT look-at-me pin of CS5460A respectively through the PS2501-2 photoisolator, and 10,14,16,76 pins are respectively through receiving DSI order input, RESET reset signal, CS chip selection signal, the SCLK clock signal pin of CS5460A after PS2501-4 photoisolator and the MC14106BG shaping circuit; Described voltage transformer (VT) is the miniature precision current type of a TYPT31D voltage transformer (VT); Its 3 pin is received the U phase of three-phase supply; 2 pins are received V, the W phase of three-phase supply respectively through resistance; 1 pin is received 10 pins of CS5460A electric energy chip through current-limiting resistance, and 4 pins are received 9 pins of CS5460A through current-limiting resistance; Described Hall element is 20A/20mA, converts voltage signal into through resistance, receives 15,16 pins of CS5460A respectively.
Data transmission between said CS5460A electric energy chip and the DSPIC30F6014A digital signal processing chip adopts a type SPI pattern, and request of data is promptly arranged, and the SPI signal has; The no datat request, the SPI signal does not have.
Said voltage channel Acquisition Circuit; The phase angle relation of U, V, W three-phase supply; Convert the single line voltage of motor into through conversion; The process transformer converts the current signal of 0-20mA into, converts voltage signal into behind the precision resistance R through parallel connection and transformer secondary output, exports through the RC low-pass filter.
Said current channel Acquisition Circuit, Hall element is gathered the output current of electric operator motor, transfers voltage signal to through parallel resistance, exports through wave filter.
Beneficial effect of the present invention is: the electric operator moment of torsion flexible measurement method that the present invention is based on instantaneous energy; Detect the output of electric operator moment of torsion through the soft metering system of instantaneous energy; Employing has the class SPI pattern of photoisolator, has guaranteed the antijamming capability of system; Adopt the core of high-speed dsp chip, guarantee the real-time and the high speed property of system as signal Processing; Because CS5460A adopts mould/number conversion module can avoid the error that the analog chip temperature is floated, the electronic impulse counting is brought, guaranteed the accuracy of system's control; Simultaneously because this method is to add up through the time of instantaneous power to obtain for the collection of energy, and instantaneous power is that (U is an instantaneous voltage according to formula Ps=U*I*COS Ф; I is a current instantaneous value; COS Ф is a power factor) obtain, guaranteed the real-time and the accuracy of torque signal.
Description of drawings
Fig. 1 is the soft measuring system structural drawing of electric operator moment of torsion that the present invention is based on instantaneous energy;
Fig. 2 the present invention is based on voltage channel Acquisition Circuit schematic diagram in the electric operator moment of torsion flexible measurement method of instantaneous energy;
Fig. 3 the present invention is based on voltage channel principle calculating chart in the electric operator moment of torsion flexible measurement method of instantaneous energy;
Fig. 4 the present invention is based on current channel Acquisition Circuit schematic diagram in the electric operator moment of torsion flexible measurement method of instantaneous energy;
Fig. 5 the present invention is based on energy acquisition process flow diagram in the electric operator moment of torsion flexible measurement method of instantaneous energy;
Fig. 6 the present invention is based on hardware control circuit connection layout in the electric operator moment of torsion flexible measurement method of instantaneous energy.
Embodiment
The soft measuring system structural drawing of electric operator moment of torsion based on instantaneous energy as shown in Figure 1; Current mode voltage transformer (VT) and Hall element are gathered the voltage and current signal of motor; After precision resistance, filter capacitor, be input to voltage, the current channel of CS5460A electric energy chip, through calculating the instantaneous power signal; Adding up of elapsed time obtains 24 instantaneous energy signals.Input to the dsPIC30F6014A digital signal processing chip through photoisolator,, calculate the output torque of electric operator through DSP digital information processing chip according to the formula in the database.Wherein the output torque of motor and the relation between the power are T=9550P/n, and the relation of CS5460A instantaneous energy and power, (E representes the electric degree number in the t time can be expressed as E=Pa*t; T representes Measuring Time; Pa is the average active power in the t time), the computing formula of instantaneous power is Ps=U*I*COS Ф, and active power Pa to be progressive mean through instantaneous power obtain.So the relation of electric operator moment of torsion and instantaneous energy can be expressed as T=9550E/ (n*t), has special corresponding relation between them.
Shown in Figure 2 is voltage channel Acquisition Circuit schematic diagram of the present invention; Because the phase angle of U, V, W three-phase supply relation; Convert the single line voltage of motor into through conversion; Process transformer U1 converts the current signal of 0-20mA into, converts voltage signal into through precision resistance R23, inputs to CS5460A.R25 mainly contains two effects: one is to constitute low-pass filter with C21, and this wave filter can be removed the very wide band noise of required frequency outward, also is an anti-aliasing filter simultaneously, prevents that the A/D converter reception is higher than the half the input signal of SF; Second purposes is to pin current-limiting protection to be provided.Pin VIN-also needs a protective resistance, and for guaranteeing symmetry, R27 should equal R25.C2, C3 master increase circuit RF I antijamming capability with being to be used for importing the filtering protection.
Fig. 3 is a voltage channel circuit theory calculating chart of the present invention, and owing to U, V, W three-phase electricity, amplitude equates between them, and phase place differs 120 ° successively, and according to being got by the cosine law, (a, b, c represent three limits of △ ABC respectively to c=a*COSB+ b*COSA; A, B, C represent pairing angle); | UV|=|U|*COS30 °+| V|*COS30 °=| U|; Again because the P vector be UV, VW two vectorial vectors and, can get | P|=|UV|*COS30 °+| UW|*COS30 °=3|U|, according to shown in Figure 2; The voltage at C12 two ends is the * R23 of UC12=|P|/(510*103), so the voltage at C12 two ends is 154mV.Because the scope of CS5460A voltage input channel is ± 250mv alternating voltage effective value V1=250*0.707=176mV>154mV, satisfy the input requirement of voltage channel.
Shown in Figure 4 is current channel acquisition principle figure of the present invention, and the output current through Hall element (20A/20mA) collection electric operator motor converts voltage signal into through the R20 precision resistance, inputs to CS5460A.Wherein R26, R28 effect mainly play filtering and protection usefulness as R25, R27 in the voltage channel.
Shown in Figure 5 is energy acquisition process flow diagram of the present invention, and at first each register of initialization CS5460A checks that whether initialization is successful, if the initialization success is then proceeded, if initialization is unsuccessful, then continues initialization; Judge whether CS5460A has the new data request to produce, if request of data is arranged, then carries out next step, if there is not request of data, then waits for the generation of new data; If there is request of data to produce, then make the SCLK pin put 0, and preset the SDO data, make the SCLK pin put 1 then, realize that the SDO data are read on the limit, the limit writes the SDI data simultaneously; Judging whether 32 message data sends finishes, and finishes if send, and then copies to the data of SPI buffer zone in the database, does not finish if fruit is sent, and waits for then that 32 messages send to finish; Last clock signal stops, and the buffer data zero clearing continues to wait for whether CS5460A has request of data to produce.
Shown in Figure 6 is hardware control circuit connection layout of the present invention, and 7,10,13,14,16,76 of DSP receives the output of SDO data, DSI order input, INT look-at-me, RESET reset signal, CS chip selection signal, the SCLK clock signal pin of CS5460A respectively.In order to guarantee the real-time detection of system, guarantee that master routine does not have time-delay, system has adopted Timer4 to interrupt realizing the SPI clock signal, and the cardinal rule of its SPI clock signal tissue is: request of data is arranged, and the SPI signal has; The no datat request, the SPI signal does not have.When having guaranteed like this to have only CS5460A that request of data is arranged, just produce clock signal, take the space of DSP, improved the utilization factor of DSP.Because system has adopted photoisolator, when increasing system's antijamming capability, the time-lag action of photoisolator; Therefore make the SPI signal of system produce the climbing phenomenon, the dutycycle of the square-wave signal through shaping circuit output will be freeed variation, reduce the stability and the accuracy of system like this; In order to overcome the appearance of climbing phenomenon; Must increase the resistance of pull-up resistor, reducing the climbing time, but excessive pull-up resistor; Cause the conducting electric current of photoisolator to diminish again, confirm that through testing resistance is chosen as 3.3K for the selection of pull-up resistor.
Claims (4)
1. electric operator moment of torsion flexible measurement method based on instantaneous energy; It is characterized in that; Current mode voltage transformer (VT) and Hall element are gathered the voltage and current signal of motor through the noncontact mode, are linked into the voltage channel and the current channel of CS5460A electric energy chip, obtain the instantaneous power signal; Elapsed time adds up; After collecting 24 instantaneous energy signals,, input to the DSPIC30F6014A digital signal processing chip through photoisolator with class SPI pattern; Through calculating the output torque of electric operator; Said DSPIC30F6014A digital signal processing chip, 7,13 pins are received the output of SDO data, the INT look-at-me pin of CS5460A respectively through the PS2501-2 photoisolator, and 10,14,16,76 pins are respectively through receiving DSI order input, RESET reset signal, CS chip selection signal, the SCLK clock signal pin of CS5460A after PS2501-4 photoisolator and the MC14106BG shaping circuit; Described voltage transformer (VT) is the miniature precision current type of a TYPT31D voltage transformer (VT); Its 3 pin is received the U phase of three-phase supply; 2 pins are received V, the W phase of three-phase supply respectively through resistance; 1 pin is received 10 pins of CS5460A electric energy chip through current-limiting resistance, and 4 pins are received 9 pins of CS5460A through current-limiting resistance; Described Hall element is 20A/20mA, converts voltage signal into through resistance, receives 15,16 pins of CS5460A respectively.
2. according to the said electric operator moment of torsion flexible measurement method of claim 1 based on instantaneous energy; It is characterized in that the data transmission between said CS5460A electric energy chip and the dsPIC30F6014A digital signal processing chip adopts a type SPI pattern; Request of data is promptly arranged, and the SPI signal has; The no datat request, the SPI signal does not have.
3. according to the said electric operator moment of torsion flexible measurement method of claim 1 based on instantaneous energy; It is characterized in that said voltage channel Acquisition Circuit, the phase angle relation of U, V, W three-phase supply; Convert the single line voltage of motor into through conversion; The process transformer converts the current signal of 0-20mA into, converts voltage signal into behind the precision resistance R through parallel connection and transformer secondary output, exports through the RC low-pass filter.
4. according to the said electric operator moment of torsion flexible measurement method of claim 1 based on instantaneous energy; It is characterized in that, said current channel Acquisition Circuit, Hall element is gathered the output current of electric operator motor; Transfer voltage signal to through parallel resistance, export through wave filter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110277011 CN102435364B (en) | 2011-09-19 | 2011-09-19 | Instantaneous energy-based soft sensing method of electric actuator torque |
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| CN 201110277011 CN102435364B (en) | 2011-09-19 | 2011-09-19 | Instantaneous energy-based soft sensing method of electric actuator torque |
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| CN102435364A true CN102435364A (en) | 2012-05-02 |
| CN102435364B CN102435364B (en) | 2013-10-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592065A (en) * | 2013-10-08 | 2014-02-19 | 中国北车集团大连机车车辆有限公司 | Method for detecting instantaneous output torque of diesel engine |
| CN105021333A (en) * | 2015-07-09 | 2015-11-04 | 江苏省电力公司连云港供电公司 | Device and method for testing torque of mechanical arm for maintenance of power distribution network |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996001522A1 (en) * | 1994-07-04 | 1996-01-18 | Luossavaara Kiirunavaara Ab | Method for determining torque requirements |
| JP2001186794A (en) * | 1999-12-27 | 2001-07-06 | Kaneo Takaku | High-accuracy instantaneous produced torque detector for three-phase alternating-current motor |
| CN201583368U (en) * | 2010-01-07 | 2010-09-15 | 南京科远自动化集团股份有限公司 | Torque measuring device of electric actuator |
| CN201876333U (en) * | 2010-12-02 | 2011-06-22 | 核动力运行研究所 | Torque testing device of valve electric actuating mechanism |
| CN201926533U (en) * | 2010-10-29 | 2011-08-10 | 西安科瑞自动化有限责任公司 | Device for detection of output torque of electric actuator |
-
2011
- 2011-09-19 CN CN 201110277011 patent/CN102435364B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996001522A1 (en) * | 1994-07-04 | 1996-01-18 | Luossavaara Kiirunavaara Ab | Method for determining torque requirements |
| JP2001186794A (en) * | 1999-12-27 | 2001-07-06 | Kaneo Takaku | High-accuracy instantaneous produced torque detector for three-phase alternating-current motor |
| CN201583368U (en) * | 2010-01-07 | 2010-09-15 | 南京科远自动化集团股份有限公司 | Torque measuring device of electric actuator |
| CN201926533U (en) * | 2010-10-29 | 2011-08-10 | 西安科瑞自动化有限责任公司 | Device for detection of output torque of electric actuator |
| CN201876333U (en) * | 2010-12-02 | 2011-06-22 | 核动力运行研究所 | Torque testing device of valve electric actuating mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592065A (en) * | 2013-10-08 | 2014-02-19 | 中国北车集团大连机车车辆有限公司 | Method for detecting instantaneous output torque of diesel engine |
| CN105021333A (en) * | 2015-07-09 | 2015-11-04 | 江苏省电力公司连云港供电公司 | Device and method for testing torque of mechanical arm for maintenance of power distribution network |
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Application publication date: 20120502 Assignee: Wuhan Dynamic Technology Co., Ltd. Assignor: University of Shanghai for Science and Technology Contract record no.: 2014420000135 Denomination of invention: Instantaneous energy-based soft sensing method of electric actuator torque Granted publication date: 20131030 License type: Exclusive License Record date: 20140711 |
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Granted publication date: 20131030 Termination date: 20190919 |