CN102435364B

CN102435364B - Instantaneous energy-based soft sensing method of electric actuator torque

Info

Publication number: CN102435364B
Application number: CN 201110277011
Authority: CN
Inventors: 林献坤; 于垂顺; 张保东
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2011-09-19
Filing date: 2011-09-19
Publication date: 2013-10-30
Anticipated expiration: 2031-09-19
Also published as: CN102435364A

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

A kind of electric actuator torque flexible measurement method based on instantaneous energy

Technical field

The present invention relates to a kind of measuring technique, particularly a kind of electric actuator torque 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 interface interaction between control system and the valve mechanical motion, more require topworks to strengthen work safety and environmental protection performance.In some dangerous occasions, 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 guarantee mechanism's open and close, in order to ensure the normal operation of motor, need to detect in real time the output torque of motor simultaneously.Document " fault-diagnosing for electric actuator of valve research " is pointed out traditional torque sensor, such as JCZ intelligence torque rotary speed sensor, JN338 Series Intelligent digital torque sensor etc., be not suitable for being installed in the electric operator inside of narrow space, and need often check and correction, unfavorable to the sealing of electric operator.Document " based on design and the realization of the electric operator of DSP " is to monitor output torque by the electric current that detects motor, this method has been ignored the impact 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 actuator torque flexible measurement method based on instantaneous energy, demarcate the output torque of motor by the soft metering system of instantaneous energy; Gather electric current and the voltage signal of motor by non-contact method, strengthened stability and the antijamming capability of torque measurement; Adopt class SPI type collection instantaneous energy, wherein the SPI passage is with photoisolator, guaranteed control accuracy that the motor output torque detects, real-time etc.

Technical scheme of the present invention is: a kind of electric actuator torque flexible measurement method based on instantaneous energy, current mode voltage transformer (VT) and Hall element gather the voltage and current signal of motor by cordless, through change-over circuit and filtering circuit, be linked into voltage channel and the current channel of CS5460A electric energy chip, obtain the instantaneous power signal, elapsed time is cumulative, after collecting 24 instantaneous energy signals, with class SPI pattern, input to the DSPIC30F6014A digital signal processing chip through photoisolator, through calculating the output torque of electric operator, described DSPIC30F6014A digital signal processing chip, they are 7 years old, 13 pins are received respectively the SDO data output of CS5460A by the PS2501-2 photoisolator, INT look-at-me pin, they are 10 years old, 14,16,76 pins are respectively by receiving the DSI order input of CS5460A after PS2501-4 photoisolator and the MC14106BG shaping circuit, the RESET reset signal, the CS chip selection signal, SCLK clock signal pin; Described voltage transformer (VT) is TYPT31D Miniature precision current mode voltage transformer (VT), its 3 pin is received the U phase of three-phase supply, 2 pins are received respectively V, the W phase of three-phase supply through resistance, 1 pin is received 10 pins of CS5460A electric energy chip by current-limiting resistance, and 4 pins are received 9 pins of CS5460A by current-limiting resistance; Described Hall element is 20A/20mA, is converted to voltage signal by resistance, receives respectively 15,16 pins of CS5460A.

Data transmission between described CS5460A electric energy chip and the DSPIC30F6014A digital signal processing chip adopts class SPI pattern, and request of data is namely arranged, and the SPI signal has; Countless according to request, the SPI signal without.

Described voltage channel Acquisition Circuit, the phase angle relation of U, V, W three-phase supply, be converted to the single line voltage of motor through conversion, be converted to the current signal of 0-20mA through transformer, be converted to voltage signal behind the precision resistance R through in parallel and transformer secondary output, through the output of RC low-pass filter.

Described current channel Acquisition Circuit, Hall element gathers the output current of electric operator motor, transfers voltage signal to through parallel resistance, through wave filter output.

Beneficial effect of the present invention is: the electric actuator torque flexible measurement method that the present invention is based on instantaneous energy, detect the output of electric actuator torque by the soft metering system of instantaneous energy, employing has guaranteed the antijamming capability of system with the class SPI pattern of photoisolator; The core of adopting the high-speed dsp chip to process as signal, real-time and the high speed of assurance system; Because CS5460A adopts mould/number conversion module can avoid the error that the analog chip temperature is floated, the electronic impulse counting brings, guaranteed the accuracy of system's control; Simultaneously because the method is by cumulative obtaining of the time of instantaneous power for the collection of energy, and instantaneous power is that (U is instantaneous voltage according to formula Ps=U*I*COS Ф; I is current instantaneous value; COS Ф is power factor) obtain, guaranteed real-time and the accuracy of torque signal.

Description of drawings

Fig. 1 is the soft measuring system structural drawing of electric actuator torque 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 actuator torque flexible measurement method of instantaneous energy;

Fig. 3 the present invention is based on voltage channel principle calculating chart in the electric actuator torque flexible measurement method of instantaneous energy;

Fig. 4 the present invention is based on current channel Acquisition Circuit schematic diagram in the electric actuator torque flexible measurement method of instantaneous energy;

Fig. 5 the present invention is based on energy acquisition process flow diagram in the electric actuator torque flexible measurement method of instantaneous energy;

Fig. 6 the present invention is based on hardware control circuit connection layout in the electric actuator torque flexible measurement method of instantaneous energy.

Embodiment

As shown in Figure 1 based on the soft measuring system structural drawing of electric actuator torque of instantaneous energy, current mode voltage transformer (VT) and Hall element gather the voltage and current signal of motor, after precision resistance, filter capacitor, be input to voltage, the current channel of CS5460A electric energy chip, by 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, according to the formula in the database, calculate the output torque of electric operator through DSP digital information processing chip.Wherein the output torque of motor and the pass between the power are T=9550P/n, and the relation of CS5460A instantaneous energy and power, (E represents the electric degree number in the t time can be expressed as E=Pa*t; T represents 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 P a to be progressive mean by instantaneous power obtain.So the relation of electric actuator torque and instantaneous energy can be expressed as T=9550E/ (n*t), has special corresponding relation between them.

Figure 2 shows that voltage channel Acquisition Circuit schematic diagram of the present invention, because the phase angle of U, V, W three-phase supply relation, be converted to the single line voltage of motor through conversion, be converted to the current signal of 0-20mA through transformer U1, be converted to voltage signal through precision resistance R23, input to CS5460A.R25 mainly contains two effects: one is and C21 consists of low-pass filter, and this wave filter can be removed required frequency very wide band noise outward, also is an anti-aliasing filter simultaneously, prevents from that A/D converter from receiving to be higher than half input signal of sample frequency; Second purposes is to provide current-limiting protection to pin.Pin VIN-also needs a protective resistance, and for guaranteeing symmetry, R27 should equal R25.C2, C3 are primary to be the input filter protection, increases circuit RF I antijamming capability.

Fig. 3 is 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 respectively three limits of △ ABC to c=a*COSB+ b*COSA; A, B, C represent corresponding 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 requirements of voltage channel.

Figure 4 shows that current channel acquisition principle figure of the present invention, the output current by Hall element (20A/20mA) collection electric operator motor is converted to voltage signal by the R20 precision resistance, inputs to CS5460A.Wherein R26, R28 effect mainly play filtering and protection usefulness as R25, R27 in the voltage channel.

Figure 5 shows that energy acquisition process flow diagram of the present invention, 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, the SCLK pin is set to 0, and preset the SDO data, then make the SCLK pin put 1, realize that the SDO data are read on the limit, the limit writes the SDI data simultaneously; Whether the message data of judging 32 is sent, if be sent, then the data Replica of SPI buffer zone in database, if the fruit be not sent, wait for that then 32 messages are sent; Last clock signal stops, and the buffer data zero clearing continues to wait for whether CS5460A has request of data to produce.

Figure 6 shows that hardware control circuit connection layout of the present invention, 7,10,13,14,16,76 of DSP receives respectively 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.In order to guarantee the real-time detection of system, guarantee master routine without 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; Countless according to request, the SPI signal without.When having guaranteed like this to only have 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 the system rejection to disturbance ability, the time-lag action of photoisolator, make the SPI signal of system produce the climbing phenomenon, therefore the dutycycle of the square-wave signal by shaping circuit output will be freeed variation, Systems balanth and accuracy have been reduced like this, in order to overcome the appearance of climbing phenomenon, must increase the resistance of pull-up resistor, to reduce the climbing time, but excessive pull-up resistor causes again the On current of photoisolator to diminish, and being determined by experiment resistance selection for the selection of pull-up resistor is 3.3K.

Claims

1. electric actuator torque flexible measurement method based on instantaneous energy, it is characterized in that, current mode voltage transformer (VT) and Hall element gather the voltage and current signal of motor by cordless, be linked into voltage channel and the current channel of CS5460A electric energy chip, obtain the instantaneous power signal, elapsed time is cumulative, after collecting 24 instantaneous energy signals, with class SPI pattern, input to the DSPIC30F6014A digital signal processing chip through photoisolator, through calculating the output torque of electric operator, described DSPIC30F6014A digital signal processing chip, they are 7 years old, 13 pins are received respectively the SDO data output of CS5460A by the PS2501-2 photoisolator, INT look-at-me pin, they are 10 years old, 14,16,76 pins are respectively by receiving the DSI order input of CS5460A after PS2501-4 photoisolator and the MC14106BG shaping circuit, the RESET reset signal, the CS chip selection signal, SCLK clock signal pin; Described voltage transformer (VT) is TYPT31D Miniature precision current mode voltage transformer (VT), its 3 pin is received the U phase of three-phase supply, 2 pins are received respectively V, the W phase of three-phase supply through resistance, 1 pin is received 10 pins of CS5460A electric energy chip by current-limiting resistance, and 4 pins are received 9 pins of CS5460A by current-limiting resistance; Described Hall element is 20A/20mA, is converted to voltage signal by resistance, receives respectively 15,16 pins of CS5460A.

2. described electric actuator torque flexible measurement method based on instantaneous energy according to claim 1, it is characterized in that, data transmission between described CS5460A electric energy chip and the DSPIC30F6014A digital signal processing chip, adopt class SPI pattern, class SPI interrupts the control clock signal by clock, and selects the pull-up resistor of 3.3K to overcome the climbing phenomenon of class SPI signal.