CN103185161B - variable speed actuator - Google Patents
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- CN103185161B CN103185161B CN201310062669.9A CN201310062669A CN103185161B CN 103185161 B CN103185161 B CN 103185161B CN 201310062669 A CN201310062669 A CN 201310062669A CN 103185161 B CN103185161 B CN 103185161B
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Abstract
<b>the present invention relates to</b>a kind of variable speed actuator or valve actuator, including: can with the solid state motor controller of the speed manipulation motor of change；And itself realizes the gear train of braking.The speed of optional valve actuator and torque.Speed and torque that valve bears can change in the whole length of stroke of valve.Valve actuator can include the logic being enough to play process controller effect.
Description
The application is divisional application, and the application number of original application is 200880130412.X(international application no is PCT/US2008/070545), international filing date is on July 18th, 2008, and denomination of invention is " variable speed actuator ".
Technical field
This patent disclosure relates generally to a kind of valve actuator including electro-motor, and relate more specifically to the control of this valve actuator.
Background technology
Valve actuator is widely used in much industry, for instance, all types of generatings, oil and petroleum chemicals, weaving, papermaking and food preparation.Running speed and the torque produced by valve actuator are critically important parameters.Generally, fixed speed motor is attached to gear train the speed and torque combination that are suitable for are provided for valve really.Motor and gear train must be linked by manufacturer accurately.If manufacturer wants the quick turnover realizing that client is ordered goods, then manufacturer must store various motor and gear train.Know even the professional staff of assemblings of sometimes hundreds of different changes of a kind of simple common valve actuator design further it is necessary to employ.
And, even if multiple client wants the valve actuator with identical speed and torque characteristics, these clients generally also have different power available.One client may wish to the single phase poaer supply using the three phase mains of the 480VAC of 60Hz, another user to may wish to use the 110VAC of 50Hz, and another client is likely to the power available of only 24VDC.Previously known system do not provide a kind of with ready-made article supply thus meeting the valve actuator of demand of the client with different power available.
At present, if user wants the torque and the speed characteristics that change valve actuator, then actuator must be made to quit work, dismantle actuator, subsequently actuator re-assemblied together from different gear trains and/or motor.A kind of method needing quantity reducing and must storing motor and the gear train met customer need.Also need to reduce the quantity of the model that must train employee to build.In addition, it is necessary to allow when not requiring to dismantle to regulate speed and the torque that actuator transmits.
It addition, fixed speed valve actuator has limited purposes as process controller, because valve operates with constant speed all the time.The method needing to allow valve actuator to operate as process controller.
A kind of method solving these problems is by using commutator and breaker control to be sent to the electric current of DC motor.Thus, it is allowed to use the high pressure of single-phase or three-phase or low voltage AC currents and allow to control speed and the torque of motor.The modification of this method is in that AC rectification, utilizes inverter control AC motor afterwards.But, these methods need to use torque limit switch.Operator mechanically regulates the speed and torque that are transmitted by valve actuator, but operator at most only can set torque capacity or the speed that valve actuator is not to be exceeded.When not using limit switch, operator can not be set in the whole length of stroke of valve the speed changed or torque profile.Valve actuator includes gear train and gear train is arranged in the housing of valve actuator.
Method in the past needs user governing speed and torque potentiometer, and does not allow operator to be set in the whole length of stroke of valve the speed changed or torque profile.These methods do not provide and set the speed of valve actuator and the method for torque when not using big machinery switch and torque limit switch, do not provide the mechanism that valve actuator can operate as process controller yet.
Other method solving the problems referred to above uses switched reluctance motor and DC motor to provide variable velocity.But, in such cases, valve actuator needs independent arrestment mechanism to prevent motor from rotating when there is power loss.Need the valve actuator that could alter that speed inherently with stopping power.
Summary of the invention
One embodiment of the present of invention is a kind of valve actuator, including: variable speed motor；It is operably connected to variable speed motor and may be configured as the solid state motor controller handling variable speed motor；And it is operably connected to the worm screw/worm gear of variable speed motor.
Another embodiment of the present invention is a kind of valve actuator, including: general magnetic field contiguous block；Can operate and receive the power supply changeover device of power supply；Variable speed motor；Solid state motor controller and this motor controller of being operably connected to power supply changeover device may be configured as manipulation variable speed motor；And it is operably connected to the braking equipment of variable speed motor；Braking equipment includes gear train.
Another embodiment of the present invention is a kind of valve actuator, including: housing；Motor controller；Having the variable speed motor of output shaft, wherein, variable speed motor is set to by motor controller control；And it is integrated into the motor controller in housing and variable speed motor；And it is outer at housing and be operatively coupled to the gear train of output shaft.
The specific embodiment of the present invention includes a kind of method handling valve actuator, and the method includes: providing and include being operably connected to the valve actuator of the solid state motor controller of variable speed motor, wherein, gear train is operably connected to variable speed motor；Setting the speed on solid state motor controller, when valve actuator operates, solid state motor controller drives variable speed motor with this speed；And when there is power failure, lock variable speed motor with the opposing of this gear train to rear drive load.
The method that another embodiment of the present invention includes activating electric drive valve actuator, the method includes: receive command signal at the solid-state valve actuator place being operably connected to the electric drive valve actuator including gear train, wherein, electric drive valve actuator could alter that speed, feedback signal is received, it is judged that whether there are differences between command signal and feedback signal at solid-state valve actuator controller place；And make any difference between command signal and feedback signal minimize by activating electric drive valve actuator.
Another embodiment of the present invention is the system for activating valve, and this system includes: valve actuator, and wherein, valve actuator includes: motor, and wherein motor includes output shaft；It is operably connected to motor can with the solid state motor controller of transformable speed and torque operated motor；And it is attached to the worm screw/worm gear of the output shaft of motor.
Accompanying drawing explanation
Although description regards as the claim of present disclosure summarize to specifically note and which is distinctly claimed in, but those of ordinary skill in the art can be more easily understood by reading the description of this invention below in conjunction with accompanying drawing and understand the present invention, in the accompanying drawings:
Fig. 1 is the schematic diagram of the embodiment of the valve actuator of the variable-ratio including motor controller and variable speed motor；
Fig. 2 illustrates and power supply changeover device and gear train is added in the embodiment shown in Fig. 1；
Fig. 3 illustrates and merges power supply changeover device and motor controller according to embodiments of the invention；
Fig. 4 illustrates the embodiments of the invention of non-transformer transducer；
Fig. 5 illustrates that the magnetic field including the part as valve actuator according to an embodiment of the invention connects terminal；
Fig. 6 illustrates the embodiment of the power supply changeover device of anodontia wheels；
Fig. 7 illustrates an embodiment of valve actuator, and wherein, motor controller and variable speed motor are positioned at independent housing and gear train is positioned at outside housing.
Fig. 8 illustrates the valve brake monitor of the embodiment included according to valve actuator of the present invention；
Fig. 9 illustrates one embodiment of the present of invention, and wherein, power supply changeover device is integrated into a part for the motor controller with valve actuator controller communication；
Figure 10 illustrates one embodiment of the present of invention, and wherein, motor controller is integrated into a part for the valve actuator controller receiving input from power supply changeover device；
Figure 11 illustrates and power supply changeover device, motor controller and valve actuator controller is merged into according to an embodiment of the invention in individual equipment.
Figure 12 illustrates the example of the different feedback signal that can be received by motor controller；And
Figure 13 illustrates the embodiment that valve actuator operates as process controller.
Detailed description of the invention
Disclose a kind of valve actuator including electro-motor, including: the solid state motor controller of motor can be manipulated with variable velocity and prevent loading force to returning the gear train driving output shaft.Can the speed of selector valve actuator and torque.The present invention can eliminate and install the torque master and independent arrestment mechanism that torque limit switchs or other torque is special in valve actuator.
For the ease of illustrating, accompanying drawing labelling identical in the accompanying drawings represents identical element.Referring now to Fig. 1, the specific embodiment of valve actuator 100 includes motor controller 20 and variable speed motor 10.Motor controller 20 receives electric power input from the input from power supply 90.Motor controller 20 controls electric energy and exports to variable speed motor 10.Variable speed motor 10 can be attached to valve 80.Alternatively, motor 10 can be attached to actuator gear box (rotate output or linear convergent rate), actuator gear box can and then be attached to valve 80 or other from dynamic loading.
Variable speed motor 10 can be any applicable motor well known in the art.The present invention can use multiple variable speed motor.Substantially any AC motor can be worked with variable velocity by controller and the transducer being suitable for.Variable speed motor 10 includes single-phase and polyphase induction motor.Polyphase induction motor includes design A and B, C, D and F tetra-total group and subsidiary subgroup.Variable speed driver 10 can be other AC motor, for instance, rotor windings motor, many speed motor, constant torque and variable torque motor and general motor.The syncmotor including reaction equation syncmotor (hysteresis synchronous motor and Reluctance synchronous motor) and DC excitation syncmotor can be used.Variable speed motor 10 can be also servo motor, brushless servo motor and linear motor.
Variable speed motor 10 can be also DC motor.The DC motor being suitable for includes such as shunt excitation DC motor, series excitation DC motor, compound excitation DC motor and brushless DC motor.Variable speed motor 10 also can for having brush or brushless DC linear motor or core free motor.Variable speed motor 10 can have any number of pole, for instance when using ring motor or short spindle-type motor.Variable speed motor 10 can be limited angle torque motor or brushless DC motor that wiring is limited angle torque motor.Adjustable engine 10 can include permanent magnetism stepper motor (such as, disc type motor), without the brushless stepper motor of magnetic (such as, variable reluctance motor) and switching magnetic-resistance brushless DC motor (also referred to as hybrid permanent magnet type motor).Variable speed motor 10 can include stepper motor, for instance, biphase motor, three-phase motor, four-phase motor or five phase motors and DC servo motor.
Motor list above is not intended to limit, and is directed to the example of the various motors that can use as variable speed motor 10.All can be used as adjustable engine 10 by any motor of any control method variable speed drives.Although it addition, servo motor is described as certain types of motor, it is understood that, motor position feedback can be integrated with any one in said motor.
Motor controller 20 can for can control the speed of variable speed motor 10 and any controller of torque.In one embodiment, motor controller 20 can be solid-state controller.Term " controller " represents controller and driver as used herein.Can according to the type change motor controller 20 of the motor used.Brush DC motor is had mainly to be made up of with the wound rotor being called " armature " the wound stator being called " magnetic field ".Term " winding " or " coiling " not only represent solderless wrapped connection as used herein, are also represented by metal level and winding frame (generally including ferrous metal lamination).Such as, for series excitation DC motor, armature and magnetic field are connected in series.Motor speed is similar to the electric current being directly proportional to be supplied to motor.Therefore, the speed of motor is controlled by controlling to be supplied to the voltage of motor.Motor torque is controlled by controlling electric current.Motor controller 20 can include rheostat, for instance potentiometer or rheostat.Such as, it be also possible to use triacs and thyristor (SCRs).Any applicable technology mated with variable speed motor 10 can be used.
Shunt excitation DC motor has independent magnetic field and armature power supply.Accordingly, it would be desirable to different types of control.When magnetic field has fixed power source and during armature power source change, it is called armature voltage control.Armature voltage controls to make in whole velocity interval constant torque.When armature power supply is fixing when magnetic field power supply change, it is called shunt field control.Shunt field controls offer constant horsepower in whole velocity interval.Compound excitation DC motor uses series excitation magnetic field winding and shunt field winding.Motor controller 20 can provide armature voltage control, shunt field to control or compound excitation motor control.
Brushless DC motor does not have wound armature, and uses permanent magnet as rotor.Replacing brush, the electric current in magnetic field winding (stacked metal level) switches when needed repeatedly, makes p-m rotor rotate to produce required magnetic field alternately.PWM is commonly used control switch speed；But, motor controller 20 may utilize any applicable method to control speed and/or torque.
AC induction motor has wound stator, and can have the winding with being wound around or the rotor of conduction " bar " (mouse cage), but electric power is only supplied to stator.The most at large by changing the speed of supply frequency and Control of Voltage AC motor.In the specific embodiment of the present invention, motor controller 20 can be frequency conversion drive (VFD).AC is mainly converted to DC by VFD, subsequently DC electric current is converted back AC.The voltage of inverter control AC output wave and frequency.Output frequency determines the speed of AC motor.Output voltage determines motor torque.Can be used for the device being suitable for of AC to DC conversion and include such as diode, commutator, thyristor and SCRs.Such as the quasiconductor of igbt (also referred to as IGBT) (IGBTs) can be used for DC electric current is converted to AC electric current.Alternatively, it be also possible to use bipolar transistor, FET, MOSFET and transistor transformator.Syncmotor is controlled in the way of similar with induction motor.Motor controller 20 can for can control the speed of AC motor well known in the art and/or any applicable controller of torque.
Fig. 2 illustrates that valve actuator 100 also includes power supply changeover device 30 and the embodiments of the invention of gear train 40.Power supply changeover device 30 receives electric power input from power supply 90 and applicable power supply is exported motor controller 20.Gear train 40 is attached to the output shaft of variable speed motor 10.Gear train 40 and then be attached to valve 80.
In an alternative embodiment as shown in figure 3, power supply changeover device 30 can be integrated in the same housing of motor controller 20.The part of functions of power supply changeover device 30 or all of function also can be realized by motor controller 20.Such as, when VFD uses as motor controller 20, VFD can also carry out the function that single-phase AC is converted to three-phase AC.Therefore, there is no need to independent phase converter.However, it may be desirable to use the independent phase converter being built in Universal power converters 30 rather than VFD to realize this purpose.VFDs can also carry out the conversion of AC to DC and changing to revolution to AC.Therefore, when motor controller 20 includes VFD, these aspects of Power convert can be performed by motor controller 20.
It addition, as shown in the embodiment depicted in fig. 4, it is possible to there is the situation not needing power supply changeover device 30.Power supply changeover device 30 can for can make power supply 90 change to the transformator of another voltage (such as, adjustable transformer) from a voltage.Power supply changeover device 30 can be also AC to DC transducer, DC to AC transducer, DC to AC inverter or phase converter.Power supply changeover device 30 can also be designed as general power supply changeover device.Therefore, power supply changeover device can be taked any voltage type commonly used and current type and be converted into the spendable form of motor controller 20.In alternative embodiments, power supply changeover device can produce low pressure ac and/or dc electric power, low pressure ac and/or dc electric power can supply electricity on plate position or process controller and be alternatively arranged as power supply and power to drive external device (ED) (such as, switch, indicator and status signal).Power supply 90 can be any available power supply.Some examples of power supply 90 include: 208 to 609VAC three phase mains, and 50 or 60Hz；120 or 230VAC single phase poaer supply；12VDC power supply；24VDC power supply；And 48VDC power supply.Embodiments of the invention possibility can accept any voltage from 24VDC to 690VAC in scope.
Power supply changeover device 30 can be individual equipment or multiple equipment.Such as, power supply changeover device 30 can include aforesaid DC transducer, AC step-down transformer or booster transformer or phase converter.
With reference to the embodiment of Fig. 5, magnetic field contiguous block (fieldconnectionblock) 60 can also be incorporated in valve actuator 100.Can adopt and power supply 90 is connected to any mode necessary to power supply changeover device 30 or motor controller 20 design magnetic field contiguous block 60.Magnetic field contiguous block 60 also can be integrated in individual equipment with power supply changeover device 30 and/or motor controller 20.Magnetic field contiguous block 60 may be designed as the general contiguous block used together with Universal power converters 30.In this specific embodiment, magnetic field contiguous block 60 may be designed as any voltage or the current intensity that have applicable rod member, lug, cam lock, pin and sleeve connector or other connection equipment to locate reason power supply 90 supply.Magnetic field contiguous block 60 also can have single bindiny mechanism or multiple bindiny mechanism.Such as, magnetic field contiguous block 60 can have single one group of rod member being fixed on for AC electric wire and the lug of DC electric wire, and alternatively, magnetic field contiguous block 60 can have one group of rod member for DC electric wire and/or lug and one group of rod member for AC electric wire and/or lug.Magnetic field contiguous block 60 also can have many group AC and DC bindiny mechanisms.
Magnetic field contiguous block 60 may be designed as: prevents operator from magnetic field contiguous block 60 carrying out wiring mistakenly for a kind of type of electrical power, but actually supplies different types of electric power.Such as, if operator expects to use 480VAC three phase mains, but unexpectedly two 480VAC conductors are connected to one group of DC lug, are then likely to initiation problem.Magnetic field contiguous block 60 may be designed as the type automatically detecting electric current and the voltage supplied and takes adequate measures, or can arrange the mechanism allowing user to recognize will supply which kind of electric current and voltage.Sensor well known in the art can be passed through and realize sensing automatically.Therefore, the controller in magnetic field contiguous block 60 can make the switching device being suitable for engage, thus the power supply of operator is electrically connected to the position being suitable for of power supply changeover device 30.Electric adjustment module can receive broad range of any possible input voltage, and allow motor running (if in safety range) or stop motor running.Circuit protection can be increased to avoid attempting when electric current flows through contact changing switching device.
And, when variable speed motor 10 is AC motor and power supply 90 is D/C power, then it may be desirable to D/C power to be directly fed motor controller 20, as the part controlling variable speed motor 10, motor controller 20 and then D/C power is converted to AC power supplies.
The magnetic field contiguous block 60 of valve actuator 100 or other part any can include any necessary electric current and voltage protection, for instance, adopt the form of chopper and surge voltage protector.
The described all of 26S Proteasome Structure and Function about magnetic field contiguous block 60 can also be integrated in a housing with power supply changeover device 30, motor controller 20 and/or valve actuator controller 50.This housing may then serve as a part for valve actuator 100 and is incorporated in valve actuator.It addition, magnetic field contiguous block 60 and power supply changeover device 30 can fully integrate.
By using Universal power converters 30, valve actuator manufacturer can manufacture single valve actuator 100 within the scope of specified size, and any power supply 90 being likely to be of with client is matched and as ready-made finished product by this valve actuator 100.It addition, by utilizing variable speed motor 10, valve actuator 100 can match with broad range of valve 80.Solid state motor controller 20 allows optimum speed and the torque configuration of given valve 80.Speed and moment of torsion can be set by operator, manufacturer, agent or whole seller.Therefore, the valve actuator 100 of little scope disclosure satisfy that the needs of valve application on a large scale.The valve actuator 100 of little scope can be mass produced, thus the scale cost that can not be realized by other valve actuator before realizing.
Valve actuator 100 optionally can include gear train 40.Gear train 40 can as a part for valve actuator 100 or can be attached to the independent component of valve actuator 100 and be included in valve actuator.In one embodiment, gear train 40 can be worm screw/worm gear, and wherein worm shaft is joined directly to the output shaft of variable speed motor 10 and is integrated into a part for valve actuator 100.Worm gear/worm gear itself prevents valve from changing position when motor is not powered on for braking or lock-up valve actuator 100.But, gear train 40 can be other gear of such as planetary gearsets.Fig. 6 illustrates the embodiment not having gear train 40.In this embodiment, the output shaft of variable speed motor 10 can be joined directly to valve 80.
It should be understood that in the particular embodiment, quill shaft, Duo Geji, big torque, low speed " disc type " motor can be used for holding valve rod direct drive valve without gear-box.For the quill shaft actuator directly driven, when actuator stops, it is still necessary to by actuator " locking " in suitable position.Actuator can be positively retained in this position by motor controller is sent zero-speed instruction controller.Alternatively, quill shaft design may utilize three motor/handwheel clutch systems and by the brake of solenoid-activated.Primary importance includes in the d/d situation of solenoid brake motor operation or out of service when being engaged by the brake of solenoid-activated.The second position includes motor and departs from and brake engages (that is, make solenoid invalid).3rd position includes that motor departs from, brake departs from (make solenoid invalid) and handwheel engages.For hand wheel, stick moves to the 3rd position, and hand wheel rotating is to desired valve position, and stick moves to primary importance or the second position to keep valve position afterwards.
Fig. 7 illustrates have gear train 40 in valve actuator 100 but variable speed motor 10 and motor controller 20 are placed in the embodiment in independent housing 70.Power supply changeover device 30 also can be placed in housing 70.In one embodiment, housing 70 is motor shell.Such as, motor controller 20 and power supply changeover device 30 are placed in motor shell.Alternatively, motor controller 20 and power supply changeover device 30 are placed on motor shell 70.In such an embodiment, motor controller 20 and power supply changeover device 30 can run wires to variable speed motor 10 via the hole in housing 70.Motor controller 20 and power supply changeover device 30 can suitably be hidden, in order to housing 70 has any desired NEMA grade, for instance NEMA4.It addition, in the embodiment of Fig. 7, may not include power supply changeover device 30, or power supply changeover device 30 can be integrated into individual equipment with motor controller 20.Valve actuator controller 50 is also placed in housing 70.Motor controller 20 also can be integrated in valve actuator controller 50.
Valve 80 can be many revolving valves or 90 degree of revolving valves.Valve 80 can be ball valve, sluice valve, gate valve, butterfly valve, plug valve, ball gate valve or multiposition valve.Valve 80 includes any load driven by valve or other actuator, can be handled this load by the variable speed motor 10 of with or without gear train 40.
With reference to Fig. 8, valve actuator 100 may also include valve actuator controller 50.In the particular embodiment, valve actuator controller 50 is placed in the actuator casing 70 of valve actuator 100.Alternatively however, valve actuator controller 50 is placed in the outside of actuator casing 70.Such as, valve actuator controller 50 may be mounted to that, in the supporting construction near valve actuator 100, wherein valve actuator controller 50 is connected to valve actuator 100 by electrical lead.
In one embodiment, as shown in Figure 8, valve actuator controller 50 controls motor controller 20.Motor controller 20 can separate with power supply changeover device 30 as shown in Figure 8, or power supply changeover device 30 can be integrated in motor controller 20 as shown in Figure 9.Fig. 8 illustrates the valve actuator controller 50 separated with motor controller 20.Alternatively, valve actuator controller 50 can directly receive electric power from power supply 90, and output signal and state instruction can be sent to power supply 90 by valve actuator controller 50.But, as shown in Figure 10, motor controller 20 can be integrated into individual equipment with valve actuator controller 50.Figure 11 illustrates that power supply changeover device 30 can also be integrated into individual equipment with valve actuator controller 50 and motor controller 20.
Although it should be understood that there is shown, motor controller 20 is integrated in valve actuator controller 50, but also may be regarded as being integrated in motor controller 20 valve actuator controller 50.Similarly, the function that motor controller 20 and/or valve actuator controller 50 perform also can be performed by power supply changeover device 30.
Valve actuator controller 50 is able to receive that and exports signal.Valve actuator controller 50 can receive process instruction signal, process feedback signal, valve position command signal, valve position feedback signal and motor position signal.Valve actuator controller 50 or motor controller 20 can receive any number of feedback signal.Such as, as shown in figure 12, variable speed motor 10 can produce the feedback signal 15 of such as one or more rotors (or armature) position signalling, spinner velocity signal, motor current signal or motor torque signal.Feedback signal 15 can be used for delivery valve actuator 100 and exports torque, output speed and position.Similarly, feedback signal 15 can be used for calculating the torque of valve 80, speed and position.Gear train 40 may be configured as generation feedback signal 16.Feedback signal 16 can show the output torque of valve actuator 100, speed and/or position.Feedback signal 16 may also include any portion of data about gear train, for instance, the speed of worm shaft or worm gear and/or torque.It addition, valve 80 may be configured as generation feedback signal 17.Feedback signal 17 can be used for directly displaying the torque of valve 80, speed and position.Figure 12 illustrates that motor controller 12 receives feedback signal 15,16 and 17.But, valve actuator controller 50 also can receive these signals.
The example of the signal that can be sent by valve actuator controller 50 includes the request signal to other system outside sensor, behaviour's manipulator, motor controller 20, variable speed motor 10 and valve actuator 100.
Valve actuator controller 50 can be used as positioner or process controller.Being used as in the embodiment of positioner at valve actuator controller, valve actuator controller 50 may be configured as reception position command signal.Position command signal can show the desired position of valve.Command signal can be produced by any standard set-up, for instance, process controller, manipulator, switch, potentiometer, process function module, signal generator or positioner.Therefore, valve actuator controller 50 may utilize the rotor-position of the variable speed motor 10 that motor controller 20 is known by feedback signal, thus determining the position of valve 80.Feedback signal 15 can be mainly used as the signal source of position feed back signal.Then valve actuator controller 50 can determine whether whether there is error (difference) between position command signal and position feed back signal.If be detected that error, then valve actuator controller 50 adjustable valve actuator 100 makes error minimize.Adjusting performance (such as, response time, license toning, set up time and/or permissible error) can be arranged by user or be preset to default value by manufacturer.
Being used as in the embodiment of process controller at valve actuator controller, valve actuator controller 50 is set to receive process instruction signal and process feedback signal.Process instruction signal shows desired change in process set point.The virtual condition of process feedback signal display process variable.Therefore, valve actuator controller 50 judges whether there is error between two signals, and regulates valve and error be reduced in the receivable scope of setting.Valve actuator controller 50 can comprise any kind of control and respond, for instance, ratio controls, proportional-plus-integral controls, proportional-plus-integral adds differential control or proportional-plus-derivative controls.
Valve actuator 100 may be configured as handles valve 80 with constant speed or variable velocity.In the embodiment of constant speed, the valve actuator 100 of the present invention can improve scale manufacturing cost.Alternatively, valve actuator 100 may be configured as and drives valve with variable velocity.
Valve actuator 100 can be arranged by operator and drive valve with variable velocity.Operator can control the speed of valve 80 operating almost limitlessly.Operator can select setting speed to make it operate under setting speed or can input rate curve for valve actuator 100.Rate curve allows operator that the different piece of valve 80 stroke is specified different valve speed.Operator also can set at various speeds and the torque of the transferable permission of diverse location at valve 80 stroke.Therefore, can before valve 80 is opened, when being initially opened valve 80, valve 80 close torque that is front or that close valve closing 80 limit valve 80 first and speed.In the particular embodiment, valve actuator controller 50 and/or motor controller 20 are solid-state controllers, eliminate the need for torque limit switch and identify when to change speed or torque.Replace, the motor position obtained by feedback signal 15 of motor controller 20 and torque can be used to determine when restriction or change torque and/or the speed of valve 80.Such as, can by the information inference torque of motor current, voltage, temperature, counter electromotive force (EMF), leakage magnetic flux or above-mentioned every combination in any.Therefore, when valve actuator controller 50 is solid-state controller, operator can change the position of the speed reduction along stroke of valve or increase, without regulating mechanical switch.
Owing to operator can change constant speed or the rate curve of valve 80, so overall system gain can be determined by realize greater flexibility.Such as, higher valve speed is equal to higher system gain, on the contrary, relatively low valve speed is equal to relatively low system gain.Being additionally, since the relation between valve speed and system gain, the ability of the variable-ratio of valve actuator 100 is the instrument that operator provides accurate adjustment control system.This is likely to advantageous particularly in the sensitive control system be difficult to find that tuning constant that permission system is steadily got off.
It addition, once selected tuning constant, operator can change the speed of valve 80, and does not change tuning constant.This have operator limited group tuning constant process in be especially advantageous, thus avoid the occurrence of the PID controller of problem, for instance, integration saturation problem well known in the art and other problem.In this scheme, regulate valve speed and be likely to more favourable than changing controller tuning constant.
Such as, many operators attempt not closing process and perform the maintenance to valve.Replacing, operator makes valve fully operate until the annual appointment time by attempting, and now whole process will be fully closed and once complete any required maintenance.Therefore, when valve starts viscous, the tuning constant of regulable control device is attempted compensating the valve of viscous by certain operations person.Substantially, in order to close to the actual result similar with the valve process status before viscous, operator can change controller tuning constant and change position as early as possible or to a greater degree to attempt order valve.Alternatively, motor voltage can be adjusted to full voltage (maximum tq) to attempt reaching command speed by the closed loop location controller of the present invention as needed always.Operator can regulate the action of actuator when valve becomes increasingly viscous by the Ki constant in the timing parameters of adjustment intervalometer or controller.
But, for complicated or sensitivity system, it is possible to have the tuning constant actually realizing stable process of limited group.Changing the speed at valve 80 place by governor valve actuator controller 50 rather than only change fixing speed, valve has any problem all scalable or produces valve rate curve to adapt to.If valve is the viscous when opening only, then can supply bigger torque when valve is initially opened.If valve is in the middle viscous of stroke of valve, then can gather way or torque in the scope of valve viscous.
Valve actuator 100 may be designed as and is provided with applicable logic in valve actuator controller 50 to determine the speed driving valve 80.When valve actuator controller 50 is used as process controller, this logic can be integrated in valve actuator controller 50.In this embodiment, valve actuator controller 50 can determine that variable speed motor 10 just can make gear train 40 rotate with the operating of much speed and and then activate valve 80.Such as, valve actuator controller 50 may be designed as and at full speed activates valve 80 when differing greatly between process variable set point and process variable feed back.Similarly, when error (difference) between process signal is less, then activate valve 80 with low velocity.Valve actuator controller 50 can be provided with the previously selected speed corresponding to assigned error magnitude of limited group.Alternatively, valve actuator controller 50 substantially can have infinite number of speed, can activate valve 80 according to corresponding error with these speed.
Valve actuator controller 50 may also be configured to so that the first response that process variable set point is changed promotes valve 80 to activated at a high speed, and the change of valve 80 position afterwards occurs with increasingly lower speed.This method is advantageously possible for avoiding integration saturated (integralwind-up).The various ways that valve actuator controller 50 may be designed as will be apparent to those skilled in the art responds.Programmable controller and controller hardware are known in the art.Therefore, the concrete software used in valve actuator controller 50, hardware and/or firmware are not illustrated herein.
Describe valve actuator controller 50 with reference to Figure 13 and be used as an example of temperature process control device.Reaction vessel 200 has in its side periphery and adds hot jacket 210.The input of not shown reaction vessel 200 and output.Pipeline 220 by hot water supply to adding hot jacket 210.The heat carrying out the hot water in self-heating set 210 is delivered to reaction vessel 200.Flowing into the flow velocity newly entering hot water adding hot jacket 210 more fast, the temperature of reaction vessel 200 is more high.The flow velocity of hot water is controlled by valve 80.The entrance of valve 80 is connected to pipeline 260.Discharge from pipeline 270 via the hot water adding hot jacket 210 circulation.Valve 80 is made to rotate by valve actuator 100.Signal 240 is sent to the process instruction signal of the temperature set-point of the Indicator Reaction container 200 of valve actuator controller 50.Not shown signal source in Figure 13.Signal 240 and 250 can be: the form of 0-20 or 5-20mA signal；The form of 0-10 or 0-50mV signal；The form of 0-5,1-5 or 1-10Vdc signal；Or at digital communication bus (network communication protocol (Modbus), field bus technique (FoundationFieldbus), fieldbus (Profibus), ASi, facility network (DeviceNet), the Internet (Internet), Ethernet (Ethernet) etc.) digital information；Or other controller signals form any.Signal 250 is the process feedback signal being sent to valve actuator controller 50 from temperature sensor 230.
To put it more simply, in this example, it is assumed that the position of valve 80 is calibrated to different flow rate of hot water.In practice, at least one hot water flow-sensint unit and other sensor also can pass the signal to valve actuator controller 50.It addition, any number of temperature sensor 230 can be used.
When temperature sensor 230 detects the minor variations of temperature, valve actuator controller 50 can respond the position making valve 80 and the change of corresponding small quantity occurs with relatively low speed.Alternatively, if temperature sensor detects that very big temperature declines, then valve actuator controller 50 can make valve 80 open to a greater degree with relatively high speed.Valve actuator controller 50 can have the speed of given group, for instance, low-down speed, low speed, middling speed, high speed and very high speed, thus the difference degree between basis signal 240 and signal 250 determines which speed to activate valve 80 by.Valve actuator controller 50 also can have almost limitless many speed, it is possible to these speed activates valve 80.Valve actuator controller 50 may be configured as the not only difference detected between signal 240 and 250 and also detects the change of signal 240 itself.Such as, if operator is significantly increased temperature set-point, then valve actuator controller 50 can be opened valve 80 lentamente and make the temperature of reaction vessel 200 gradually rise.But, if the change of signal 250 is the root of the difference between signal 250 and 240, then valve actuator controller 50 can promote valve 80 promptly to change position.
Valve actuator controller 50 can be mainly software, hardware, firmware or their compositions.Valve actuator controller 50 may be designed as the control hardware and software coupling with PC or being designed as with other and couples.As is known in the art, motor controller 20 and valve actuator controller 50 can obtain electric power from power supply 90 or independent power supply.
Present invention additionally comprises following specific embodiment and conception:
1. a valve actuator, including:
Variable speed motor；
It is operably connected to described variable speed motor and may be configured as the solid state motor controller handling described variable speed motor；And
It is operably connected to the gear train of described variable speed motor.
2. valve actuator as claimed in claim 1, wherein, described variable speed motor selects the AC synchronous reluctance motor that free strip motor position feeds back, the group formed without the AC synchronous reluctance motor of motor position feedback, the DC brushless motor with motor position feedback and the DC brushless motor with motor position feedback.
3. valve actuator as claimed in claim 1, wherein, described variable speed motor is AC motor, and this AC motor selects free single-phase induction motor, polyphase induction motor, wound rotor motor, many speed motor, constant torque motor, variable torque motor, general motor, synchronization hysteresis motor, DC to encourage the group of syncmotor, servo motor, brushless servo motor and linear motor composition.
4. valve actuator as claimed in claim 1, wherein, variable speed motor is DC motor, and this DC motor selects the group of free shunt excitation DC motor, series excitation DC motor, compound excitation DC motor, brushless DC motor, linear motor, brushless linear motor, core free motor, ring motor, short spindle-type motor, finite angle torque motor, permanent magnetism stepper motor, variable reluctance motor, switched reluctance motor and servo motor composition.
5. valve actuator as claimed in claim 1, also includes power supply changeover device.
6. valve actuator as claimed in claim 5, wherein, described power supply changeover device is operable and performs the one or more of following function: AC to AC conversion, DC to DC conversion, AC to DC conversion；DC to AC changes；And phase transition.
7. valve actuator as claimed in claim 5, wherein, described power supply changeover device and described solid state motor controller are integrated into individual equipment.
8. valve actuator as claimed in claim 1, also includes operable and controls the valve actuator controller of described motor controller.
9. valve actuator as claimed in claim 1, wherein, described solid state motor controller is operable and changes speed and the torque of described variable speed motor.
10. valve actuator as claimed in claim 1, wherein, described solid state motor controller has one group of previously selected speed and torque, with variable speed motor described in these speed and torque operation.
11. valve actuator as claimed in claim 1, wherein, described solid state motor controller has the previously selected torque limited by user.
12. valve actuator as claimed in claim 1, wherein, speed during variable speed motor operating described in operator's scalable and torque.
13. valve actuator as claimed in claim 1, wherein, described solid state motor controller has one group of previously selected speed and torque curve, operates described variable speed motor with these speed and torque curve.
14. valve actuator as claimed in claim 1, wherein, described gear train is integrated into described valve actuator.
15. valve actuator as claimed in claim 1, wherein, described gear train is holding the hull outside of described solid state motor controller.
16. valve actuator as claimed in claim 1, wherein, described gear train is operable directly to be coordinated with the valve rod with valve.
17. valve actuator as claimed in claim 1, wherein, described gear train operable with can be joined directly to valve or the quill shaft of load driven from actuator or linear motor directly with.
18. valve actuator as claimed in claim 1, wherein, described gear train operable with have three motors/handwheel clutch system and from the quill shaft of the brake of solenoid-activated directly with.
19. valve actuator as claimed in claim 1, also include valve actuator controller.
20. valve actuator as claimed in claim 19, wherein, described valve actuator controller is integrated into described valve actuator.
21. valve actuator as claimed in claim 19, wherein, described valve actuation control is operable to send and to receive signal.
22. valve actuator as claimed in claim 21, wherein, the signal of reception includes: command signal, feedback signal, process variable set point signal, position signalling, process variable feedback signal and motor position signal.
23. valve actuator as claimed in claim 19, wherein, described valve actuator controller can the ratio of the actuating execution process of valve controls, proportional-plus-integral controls, proportional-plus-derivative controls or proportional-plus-integral adds differential control by controlling.
24. valve actuator as claimed in claim 19, wherein, described valve actuator controller includes for determining the logic of speed and torque for activating valve.
25. valve actuator as claimed in claim 19, wherein, described motor controller is integrated into inside described valve actuator controller.
26. valve actuator as claimed in claim 1, also include the magnetic field contiguous block being operatively coupled to described motor controller.
27. valve actuator as claimed in claim 26, wherein, described magnetic field contiguous block is operatively coupled to power supply changeover device, and described power supply changeover device is operatively coupled to described motor controller.
28. valve actuator as claimed in claim 26, wherein, described magnetic field contiguous block is general magnetic field contiguous block.
29. a valve actuator, including:
General magnetic field contiguous block；
Operable to receive the power supply changeover device of power supply；
Variable speed motor；
It is operably connected to the solid state motor controller of described power supply changeover device and may be configured as the described motor controller handling described variable speed motor；And
It is operably connected to the braking equipment of described variable speed motor；Described braking equipment includes gear train.
30. a valve actuator, including:
Housing；
Motor controller；
Having the variable speed motor of output shaft, wherein, described variable speed motor is set to be controlled by described motor controller；And
Described motor controller and described variable speed motor are integrated in described housing；And
Outer at described housing and be operatively coupled to the gear train of described output shaft.
31. valve actuator as claimed in claim 30, also include the power supply changeover device being operatively coupled to described motor controller.
32. valve actuator as claimed in claim 30, wherein, described housing is motor shell.
33. valve actuator as claimed in claim 32, wherein, described motor shell is in actuator casing.
34. for the system activating valve, described system includes:
Valve actuator, wherein, described valve actuator includes:
Motor, wherein, described motor includes output shaft；And
It is operably connected to described motor and the solid state motor controller of described motor can be handled with transformable speed and torque；And
It is attached to the gear train of the described output shaft of described motor.
35. the method handling valve actuator, described method includes:
Thering is provided and include being operably connected to the valve actuator of the solid state motor controller of variable speed motor, wherein, gear train is operably connected to described variable speed motor；
Setting the speed on described solid state motor controller, when described valve actuator operates, solid state motor controller will drive described variable speed motor with this speed；
When there is power failure, resist to variable speed motor described in rear drive load lock with described gear train.
36. method according to claim 35, also include setting the torque on described solid state motor controller, produced this torque when described valve actuator operates by described variable speed motor.
37. the method activating electric drive valve actuator, described method includes:
Receiving command signal at the solid-state valve actuator controller place being operably connected to the electric drive valve actuator including gear train, wherein, described electric drive valve actuator could alter that speed；
Feedback signal is received at described solid-state valve actuator controller place；
Judge whether there are differences between described command signal and described feedback signal；And
The difference between described command signal and described feedback signal is made to minimize by activating described electric drive valve actuator.
38. the method according to claim 37, wherein, described command signal includes process variable set point signal, and described feedback signal includes process variable feedback signal.
39. the method according to claim 38, wherein, include activating described electric drive valve actuator with constant speed by driving described electric drive valve actuator to make the difference between described command signal and described feedback signal minimize.
40. the method according to claim 39, wherein, described constant speed is determined by described valve actuator controller.
41. the method according to claim 39, wherein, described constant speed is set by operator.
42. the method according to claim 38, wherein, by activate described electric drive valve actuator make the difference between described command signal and described feedback signal minimize include with constant torque activate described electric drive valve actuator.
43. the method according to claim 38, wherein, the difference between described command signal and described feedback signal is made to minimize the whole length included in stroke of valve with electric drive valve actuator described in shift actuation by activating described electric drive valve actuator.
44. method according to claim 43, wherein, speed change or maximum permission speed are determined by user.
45. method according to claim 43, wherein, speed change is determined by described valve actuator controller.
46. the method according to claim 37, wherein, described command signal includes position command signal, and described feedback signal includes motor position signal.
47. method according to claim 46, wherein, send described motor position signal from motor controller.
48. method according to claim 46, wherein, described motor position signal originates from the result of the inquiry of described valve actuator controller.
49. the method according to claim 37, wherein, described valve actuator controller is able to carry out ratio control, proportional-plus-integral controls, proportional-plus-derivative controls or proportional-plus-integral adds differential control.
50. the method according to claim 37, wherein, described valve actuator controller is integrated in the housing of described electric drive valve actuator.
51. the method according to claim 37, wherein, described feedback signal includes the signal that can determine speed, torque or position according to this.
Although more fully elaborating the present invention with reference to concrete preceding method and embodiment, but the present invention being defined by the below claims.It will be apparent to those skilled in the art that, when without departing substantially from the principle and scope of the present invention, aforesaid method and embodiment can be carried out many different modification.Therefore, present invention is only defined by the following claims.
Claims (12)
1. a valve actuator, including:
Housing；
Motor controller；
Having the variable speed motor of output shaft, wherein, described variable speed motor is set to be controlled by described motor controller；And
Described motor controller and described variable speed motor are integrated in described housing；And
It is outer at described housing and be operatively coupled to the gear train of described output shaft,
Wherein said variable speed motor, described gear train and at least one in described valve are set to produce feedback signal, and described feedback signal is received by described motor controller, at least one in command torque and speed；
Described motor controller is configured to receive process variable set point signal and process variable feedback signal, judge whether there are differences between described process variable set point signal and process variable feedback signal, and make the difference between described process variable set point signal and process variable feedback signal minimize by activating electrically driven (operated) described valve actuator.
2. valve actuator as claimed in claim 1, also includes the power supply changeover device being operatively coupled to described motor controller.
3. valve actuator as claimed in claim 1, wherein, described variable speed motor selects the AC synchronous reluctance motor that free strip motor position feeds back, the group formed without the AC synchronous reluctance motor of motor position feedback, the DC brushless motor with motor position feedback and the DC brushless motor without motor position feedback.
4. valve actuator as claimed in claim 1, wherein, described variable speed motor is AC motor, and this AC motor selects free single-phase induction motor, polyphase induction motor, wound rotor motor, many speed motor, constant torque motor, variable torque motor, general motor, synchronization hysteresis motor, DC to encourage the group of syncmotor, servo motor and linear motor composition.
5. valve actuator as claimed in claim 4, wherein, described variable speed motor is AC brushless servo motor.
6. valve actuator as claimed in claim 1, wherein, variable speed motor is DC motor, and this DC motor selects the group of free shunt excitation DC motor, series excitation DC motor, compound excitation DC motor, brushless DC motor, linear motor, core free motor, ring motor, short spindle-type motor, finite angle torque motor, permanent magnetism stepper motor, variable reluctance motor, switched reluctance motor and servo motor composition.
7. valve actuator as claimed in claim 6, wherein, variable speed motor is DC brushless linear motor.
8. valve actuator as claimed in claim 1, also includes valve actuator controller.
9. valve actuator as claimed in claim 8, wherein, described valve actuator controller is integrated into described valve actuator.
10. valve actuator as claimed in claim 8, wherein, described motor controller is integrated in described valve actuator controller.
11. valve actuator as claimed in claim 1, also include the magnetic field contiguous block being operatively coupled to described motor controller.
12. the method handling valve actuator, described method includes:
Valve actuator described in claim 1 is provided；
Setting the speed on described motor controller, when described valve actuator is operated, motor controller drives described variable speed motor with this speed；And
When there is power failure, described gear train is resisted to variable speed motor described in rear drive load lock.
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| CN201310062669.9A CN103185161B (en) | 2008-07-18 | 2008-07-18 | variable speed actuator |
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| CN201310062669.9A CN103185161B (en) | 2008-07-18 | 2008-07-18 | variable speed actuator |
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| CN200880130412.XA Division CN102099607B (en) | 2008-07-18 | 2008-07-18 | Variable speed actuator |
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| CN103185161B true CN103185161B (en) | 2016-07-06 |
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| CN2793483Y (en) * | 2005-05-31 | 2006-07-05 | 浙江科达阀门有限公司 | Intelligent electric executing mechanism with variable frequency |
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| CN101061339A (en) * | 2004-11-12 | 2007-10-24 | 美格特克系统公司 | Electric gear motor drive for switching valve |
| CN101113793A (en) * | 2007-07-20 | 2008-01-30 | 孙力 | Frequency conversion type intelligent type valve actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7337758B2 (en) * | 2004-03-25 | 2008-03-04 | Sturdy Corporation | Charge motion control valve actuator |
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Patent Citations (4)
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| CN101061339A (en) * | 2004-11-12 | 2007-10-24 | 美格特克系统公司 | Electric gear motor drive for switching valve |
| CN2793483Y (en) * | 2005-05-31 | 2006-07-05 | 浙江科达阀门有限公司 | Intelligent electric executing mechanism with variable frequency |
| CN1877983A (en) * | 2005-06-09 | 2006-12-13 | 西部电机株式会社 | Frequency conversion controller controlled by electronic control unit |
| CN101113793A (en) * | 2007-07-20 | 2008-01-30 | 孙力 | Frequency conversion type intelligent type valve actuator |
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Effective date of registration: 20240523 Address after: Singapore City Patentee after: Furo Services Private Ltd. Country or region after: Singapore Address before: American Texas Patentee before: FLOWSERVE MANAGEMENT Co. Country or region before: U.S.A. |