CN104568260A - Method and device for detecting torque of electric actuating mechanism - Google Patents
Method and device for detecting torque of electric actuating mechanism Download PDFInfo
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- CN104568260A CN104568260A CN201510046335.1A CN201510046335A CN104568260A CN 104568260 A CN104568260 A CN 104568260A CN 201510046335 A CN201510046335 A CN 201510046335A CN 104568260 A CN104568260 A CN 104568260A
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Abstract
The invention discloses a method and a device for detecting the torque of an electric actuating mechanism. The method comprises the following steps of determining the initial torque of the electric actuating mechanism to be detected according to the existing technology; measuring a real-time given voltage value of the electric actuating mechanism to be detected; determining a linear correction formula for calculating correction torque according to the real-time given voltage value, a nominal given voltage value and the initial torque; determining a correction factor in the linear correction formula by curve fitting; and calculating correction torque by using the linear correction formula. The initial torque is obtained by the existing technology, the correction torque is obtained through the linear correction formula according to the real-time given voltage value of the electric actuating mechanism to be detected, the technical problem that a torque detection result of the electric actuating mechanism has large errors easily due to fluctuation of given voltage is solved, a supervision and protection effect is high when the electric actuating mechanism drives a valve, and optimization of an automatic control system of a whole factory is facilitated effectively.
Description
Technical field
The present invention relates to electric operator Torque test field, especially, relate to a kind of electric operator torque sensing approach and device.
Background technology
Along with the development of science and technology and the progress of society, automated control technology has been widely used in whole industrial circle, and valve is one of elementary cell of automatic control system, electric operator is again the main drive unit of valve simultaneously, so the security performance of electric operator work and fiduciary level directly have influence on the final usefulness of whole factory automation control system.By the detection to electric operator torque, the operation conditions of whole control system can be gone out by accurate analysis, thus the monitoring realized whole control system and protection.Traditionally, people measure the parameters such as real-time given magnitude of voltage, current value and main flux respectively, the torque value of electric operator to be measured is obtained again according to torque calculation formula existing in Electrical Motor, but because real-time given voltage often exists fluctuation, make measured torque value error comparatively large, and when the load of electric operator exceedes maximum load, motor just enter locked rotor condition, and final stall, and stall is the operating mode that motor runs murther.
Summary of the invention
The invention provides a kind of electric operator torque sensing approach and device, with the result solving electric operator Torque test because real-time given voltage fluctuation can produce technical matters compared with big error.
The technical solution used in the present invention is as follows:
Provide a kind of electric operator torque sensing approach, comprising:
The initial moment of electric operator to be measured is determined according to prior art;
Measure the real-time given magnitude of voltage of electric operator to be measured;
According to real-time given magnitude of voltage, the given magnitude of voltage of nominal and initial moment, determine in order to calculate the linear revise formula revising torque;
By the correction factor in curve determination linear revise formula;
Linear revise formulae discovery is used to go out to revise torque.
Further, correction factor comprises the first correction factor and the second correction factor;
Comprised by the step of the correction factor in curve determination linear revise formula:
Drive the operating mode of valve open at electric operator to be measured under, the first correction factor is determined in matching;
Drive the operating mode of valve closing at electric operator to be measured under, the second correction factor is determined in matching.
Further, the step using linear revise formulae discovery to go out to revise torque comprises:
Drive the operating mode of valve open at electric operator to be measured under, calculate first according to the first correction factor and revise torque;
Drive the operating mode of valve closing at electric operator to be measured under, calculate second according to the second correction factor and revise torque.
Further, specifically comprised by the step of the correction factor in curve determination linear revise formula:
According to the given magnitude of voltage of multiple different nominals, determine given magnitude of voltage multiple correction factor one to one with nominal by curve, and make form by often organizing after the given magnitude of voltage of the nominal correction factor corresponding with it stores in pairs;
According to the given magnitude of voltage of nominal of actual measurement, table lookup is used to select corresponding correction factor.
Further, this electric operator torque sensing approach also comprises:
Measure the real-time rotate speed rate of change K of the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Whether the calculated value judging described initial moment is effective value:
If real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to critical rotary speed rate of change | K
c| condition, then judge that the calculated value of initial moment is invalid value, electric operator to be measured is in stall duty;
Otherwise judge that initial moment is effective value, electric operator to be measured is working properly.
According to a further aspect in the invention, additionally provide a kind of electric operator torque master, comprising:
Initial moment computing module, for determining the initial moment of electric operator to be measured according to prior art;
Real-time given magnitude of voltage measurement module, for measuring the real-time given magnitude of voltage of electric operator to be measured;
Linear revise formula determination module, for according to real-time given magnitude of voltage, the given magnitude of voltage of nominal and initial moment, determine in order to calculate the linear revise formula revising torque:
Correction factor determination module, for by the correction factor in curve determination linear revise formula;
Revising torque calculation module, going out to revise torque for using linear revise formulae discovery.
Further, correction factor comprises the first correction factor and the second correction factor;
Correction factor determination module comprises:
First correction factor matching subelement, under the operating mode of electric operator driving valve open to be measured, the first correction factor is determined in matching;
Second correction factor matching subelement, under the operating mode of electric operator driving valve closing to be measured, the second correction factor is determined in matching.
Further, revise torque calculation module to comprise:
First revises torque calculation subelement, under the operating mode of electric operator driving valve open to be measured, calculates first revise torque according to the first correction factor;
Second revises torque calculation subelement, under the operating mode of electric operator driving valve closing to be measured, calculates second revise torque according to the second correction factor.
Further, correction factor determination module comprises:
Memory module, for according to the given magnitude of voltage of multiple different nominals, determines given magnitude of voltage multiple correction factor one to one with nominal by curve, and will often organize the given magnitude of voltage of nominal and the correction factor corresponding with it stores in pairs and make form;
Enquiry module, for the given magnitude of voltage of nominal according to actual measurement, uses table lookup to select corresponding correction factor.
Further, this electric operator torque master also comprises:
Relative speed variation measurement module, for measuring the real-time rotate speed rate of change K of the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Torque identification module, for judging whether the calculated value of initial moment is effective value:
If real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to critical rotary speed rate of change | K
c| condition, then judge initial moment be invalid value, electronic execution to be measured is in stall duty;
Otherwise judge that initial moment is effective value, electric operator to be measured is working properly.
The present invention has following beneficial effect:
Electric operator torque sensing approach of the present invention and device, conventional motors torque calculation formula is used to obtain initial moment, according to the real-time given magnitude of voltage of measured electric operator to be measured, obtain after making corresponding correction by correction formula to initial moment revising torque, the technical matters that the Torque test result solving electric operator easily produces compared with big error because of real-time given voltage fluctuation, and then make to drive supervision effect during valve better to electric operator, effectively promote the optimization of whole factory automation control system.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of a kind of electric operator torque sensing approach that the preferred embodiment of the present invention provides;
Fig. 2 is the structural drawing of a kind of electric operator torque master that the preferred embodiment of the present invention provides;
Fig. 3 is the mechanical property figure of electric operator in the preferred embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
The method that current producer calculates motor torque is according to conventional motors formula, then is realized by time division multiplier, and Electrical Motor torque calculation formula is as follows:
T＝k×I×Φ×cosθ (1)
In formula, T is motor torque, and k is torque constant, and I is current of electric, and Φ is main flux, and cos θ is power factor (PF);
Or T=(9550 × U × I × cos θ)/N (2)
In formula, T is motor torque, and U is real-time given voltage, and I is current of electric, and cos θ is power factor (PF), and N is motor speed.In practical work, often there is fluctuation in real-time given voltage, and real-time given voltage is the major parameter affecting motor torque, so the torque error calculated by above-mentioned detection method is larger, therefore, the present invention obtains on initial moment basis at utilization conventional motors torque calculation formula, measure the real-time given magnitude of voltage of electric operator to be measured, then obtain after making corresponding correction by correction formula to initial moment revising torque, greatly improve the measuring accuracy of electric operator torque to be measured.
With reference to Fig. 1, the preferred embodiments of the present invention provide a kind of electric operator torque sensing approach, comprising:
Step S101, determines the initial moment of electric operator to be measured according to prior art;
Step S102, measures the real-time given magnitude of voltage of electric operator to be measured;
Step S103, according to real-time given magnitude of voltage, the given magnitude of voltage of nominal and initial moment, determines in order to calculate the linear revise formula revising torque;
Step S104, by the correction factor in curve determination linear revise formula;
Step S105, uses linear revise formulae discovery to go out to revise torque T
r.
When revising, by the impact of given voltage fluctuation, the torque value measured according to classic method by the error of generation 10%, even 20%, and uses electric operator torque sensing approach provided by the invention, the measuring error of torque effectively can be controlled within 5%.
Alternatively, step S103, according to real-time given magnitude of voltage, the given magnitude of voltage of nominal and initial moment, determines in order to calculate the linear revise formula revising torque as follows:
T
r＝T
0+a(U-U
g) (3)
In formula, T
rbe revise torque, a is correction factor, and U is real-time given magnitude of voltage, U
git is the given magnitude of voltage of nominal.
Alternatively, step S104, by using least square method or method of interpolation etc. to realize curve in the step of the correction factor a in curve determination linear revise formula.
Alternatively, correction factor comprises the first correction factor and the second correction factor;
Step S104, is comprised by the step of the correction factor in curve determination linear revise formula:
Drive the operating mode of valve open at electric operator to be measured under, the first correction factor is determined in matching;
Drive the operating mode of valve closing at electric operator to be measured under, the second correction factor is determined in matching.
Alternatively, step S105, the step using linear revise formulae discovery to go out to revise torque comprises:
Drive the operating mode of valve open at electric operator to be measured under, calculate first according to the first correction factor and revise torque;
Drive the operating mode of valve closing at electric operator to be measured under, calculate second according to the second correction factor and revise torque.
The factors such as the flow velocity of the medium in pipeline or pressure all can affect the complexity of electric operator driver's valve door switch, thus can electric operator be had influence on, and then cause the given voltage of electric operator to produce fluctuation, and by driving valve to open and close the in-depth analysis of two kinds of operating modes to electric operator, find under these two kinds of operating modes, the given voltage fluctuation situation of electric operator has obvious difference.Electric operator detection method provided by the invention, under two kinds of operating modes, the first correction factor and the second correction factor are determined in matching respectively, and calculate the first correction torque according to the first correction factor, calculate second according to the second correction factor and revise torque, greatly improve the measuring accuracy of electric operator torque to be measured.
Alternatively, step S104, is comprised by the step of the correction factor in curve determination linear revise formula:
According to the given magnitude of voltage of multiple different nominals, determine given magnitude of voltage multiple correction factor one to one with nominal by curve, and will often organize the given magnitude of voltage of nominal and the correction factor corresponding with it stores in pairs and make form;
According to the given magnitude of voltage of nominal of actual measurement, table lookup is used to select corresponding correction factor.
The line voltage standard in current every country and area is not completely the same, and domestic to generator regulation have 115V, 230V, 400V, 1.05KV, 3.15KV, multiple electric pressure such as 6.3KV and 10.5KV, but the requirement of all supply network voltage to fluctuation deviation range is consistent, given for nominal under different electric pressure magnitude of voltage and the correction factor corresponding with it store and make form by electric operator torque sensing approach provided by the invention in advance in pairs, when reality uses, can inquire about rapidly and choose corresponding correction factor by given magnitude of voltage according to different nominals.By this kind of method, have greatly expanded the range of application of the embodiment of the present invention, improve the recycling rate of waterused of the product utilizing the present invention to manufacture.
Alternatively, electric operator torque sensing approach provided by the invention, also comprises the steps:
Measure the real-time rotate speed rate of change K of the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Whether the calculated value judging described initial moment is effective value:
If real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to critical rotary speed rate of change | K
c| condition, then judge that the calculated value of initial moment is invalid value, electric operator to be measured is in stall duty;
Otherwise judge that initial moment is effective value, electric operator to be measured is working properly.
With reference to T in Fig. 3, figure
nfor nominal torque, T
sfor locked-rotor torque, T
maxfor torque capacity, T
lfor load torque, n is rotating speed, and s is revolutional slip, s
mrevolutional slip corresponding when being electric operator output torque capacity.Electric operator load torque to be measured is between zero to torque capacity T
maxbetween time, in electric operator to be measured, the mechanical property of motor is in DC section, and once electric operator load torque to be measured is greater than T
maxthe mechanical property of motor is in CF section, namely motor enters locked rotor condition, and relative speed variation obviously increases and rotating speed can be reduced to zero rapidly, and current of electric increases sharply simultaneously, thus motor is burned because of overheated, even if motor is not burned, also make motor run under locked rotor condition, and then cause motor to be in high temperature height Warm status for a long time, cause the hydraulic performance decline of motor, serviceable life reduces.
In practical work, when monitoring and protecting and optimal design are carried out to automatic control system of valve, we only close electrocardiograph duty at D point to B point again to the torque value on C point this section of curve, reference Fig. 3, when recording load torque values T by traditional torque measuring method
ltime, effectively can not distinguish that electric operator is operated in B point or B' point, electric operator can not be protected timely and effectively after entering stall duty, and the electric operator torque value recorded at B' point to the monitoring and protecting of automatic control system of valve and the Research Significance of optimal design little, and by detection method of the present invention, both invalid torque value can be screened out, can judge again whether electric operator enters locked rotor condition, and then safeguard measure can be taked in time, effective prevention electric operator is at dangerous working condition continuous service, ensure that control system reliability of operation, indirect saving production cost.
According to another aspect of the present invention, corresponding to aforementioned detection method embodiment, the invention also discloses a kind of electric operator torque master, with reference to Fig. 2, comprising:
Initial moment computing module 101, for determining the initial moment of electric operator to be measured according to prior art;
Real-time given magnitude of voltage measurement module 102, for measuring the real-time given magnitude of voltage of electric operator to be measured;
Linear revise formula determination module 103, for according to real-time given magnitude of voltage, the given magnitude of voltage of nominal and initial moment, determines in order to calculate the linear revise formula revising torque;
Correction factor determination module 104, for by the correction factor in curve determination linear revise formula;
Revising torque calculation module 105, going out to revise torque for using linear revise formulae discovery.
Alternatively, the linear revise formula determined in linear revise formula determination module 103 is as above-mentioned formula (3).
Alternatively, correction factor comprises the first correction factor and the second correction factor;
Correction factor determination module 104 comprises:
First correction factor matching subelement, under the operating mode of electric operator driving valve open to be measured, the first correction factor is determined in matching;
Second correction factor matching subelement, under the operating mode of electric operator driving valve closing to be measured, the second correction factor is determined in matching.
Alternatively, revise torque calculation module 105 to comprise:
First revises torque calculation subelement, under the operating mode of electric operator driving valve open to be measured, calculates first revise torque according to the first correction factor;
Second revises torque calculation subelement, under the operating mode of electric operator driving valve closing to be measured, calculates second revise torque according to the second correction factor.
Alternatively, correction factor determination module comprises:
Memory module, for according to the given magnitude of voltage of multiple different nominals, determines given magnitude of voltage multiple correction factor one to one with nominal by curve, and will often organize the given magnitude of voltage of nominal and the correction factor corresponding with it stores in pairs and make form;
Enquiry module, for the given magnitude of voltage of nominal according to actual measurement, uses table lookup to select corresponding correction factor.
Alternatively, this electric operator torque master also comprises:
Relative speed variation measurement module, for measuring the real-time rotate speed rate of change K of the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Torque identification module, for judging whether the calculated value of initial moment is effective value:
If real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to critical rotary speed rate of change | K
c| condition, then judge initial moment be invalid value, electric operator to be measured enters stall duty;
Otherwise judge that initial moment is effective value, electric operator to be measured is working properly.
For device embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an electric operator torque sensing approach, is characterized in that, comprising:
The initial moment of electric operator to be measured is determined according to prior art;
Measure the real-time given magnitude of voltage of described electric operator to be measured;
According to described real-time given magnitude of voltage, the given magnitude of voltage of nominal and described initial moment, determine in order to calculate the linear revise formula revising torque;
The correction factor in described linear revise formula is determined by curve;
Described linear revise formulae discovery is used to go out described correction torque.
2. electric operator torque sensing approach according to claim 1, is characterized in that,
Described correction factor comprises the first correction factor and the second correction factor;
The step of the described correction factor determined in described linear revise formula by curve is comprised:
Under described electric operator to be measured drives the operating mode of valve open, described first correction factor is determined in matching;
Under described electric operator to be measured drives the operating mode of valve closing, described second correction factor is determined in matching.
3. electric operator torque sensing approach according to claim 2, is characterized in that, the step that described utilization described linear revise formulae discovery goes out described correction torque comprises:
Under described electric operator to be measured drives the operating mode of valve open, calculate first according to described first correction factor and revise torque;
Under described electric operator to be measured drives the operating mode of valve closing, calculate second according to described second correction factor and revise torque.
4. electric operator torque sensing approach according to claim 1, is characterized in that, the step of the described correction factor determined in described linear revise formula by curve is comprised:
According to multiple different given magnitude of voltage of described nominal, determined and the given magnitude of voltage of described nominal multiple described correction factor one to one by curve, and will often organize the given magnitude of voltage of described nominal and the described correction factor corresponding with it stores in pairs and make form;
According to the given magnitude of voltage of described nominal of actual measurement, described table lookup is used to select corresponding described correction factor.
5., according to the arbitrary described electric operator torque sensing approach of Claims 1-4, it is characterized in that, also comprise:
Measure the real-time rotate speed rate of change K of described the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Whether the calculated value judging described initial moment is effective value:
If described real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to described critical rotary speed rate of change | K
c| condition, then judge that the calculated value of described initial moment is invalid value, described electric operator to be measured is in stall duty;
Otherwise judge that described initial moment is effective value, described electric operator to be measured is working properly.
6. an electric operator torque master, is characterized in that, comprising:
Initial moment computing module, for determining the initial moment of electric operator to be measured according to prior art;
Real-time given magnitude of voltage measurement module, for measuring the real-time given magnitude of voltage of described electric operator to be measured;
Linear revise formula determination module, for according to described real-time given magnitude of voltage, the given magnitude of voltage of nominal and described initial moment, determine in order to calculate the linear revise formula revising torque:
Correction factor determination module, for determining the correction factor in described linear revise formula by curve;
Revising torque calculation module, going out described correction torque for using described linear revise formulae discovery.
7. electric operator torque master according to claim 6, is characterized in that,
Described correction factor comprises the first correction factor and the second correction factor;
Described correction factor determination module comprises:
First correction factor matching subelement, under driving the operating mode of valve open at described electric operator to be measured, described first correction factor is determined in matching;
Second correction factor matching subelement, under driving the operating mode of valve closing at described electric operator to be measured, described second correction factor is determined in matching.
8. electric operator torque master according to claim 7, is characterized in that, described correction torque calculation module comprises:
First revises torque calculation subelement, under driving the operating mode of valve open at described electric operator to be measured, calculates first revise torque according to described first correction factor;
Second revises torque calculation subelement, under driving the operating mode of valve closing at described electric operator to be measured, calculates second revise torque according to described second correction factor.
9. electric operator torque master according to claim 1, is characterized in that, described correction factor determination module comprises:
Memory module, for according to multiple different given magnitude of voltage of described nominal, determined and the given magnitude of voltage of described nominal multiple described correction factor one to one by curve, and will often organize the given magnitude of voltage of described nominal and the described correction factor corresponding with it stores in pairs and make form;
Enquiry module, for the given magnitude of voltage of described nominal according to actual measurement, uses described table lookup to select corresponding described correction factor.
10., according to the arbitrary described electric operator torque master of claim 6 to 9, it is characterized in that, also comprise:
Relative speed variation measurement module, for measuring the real-time rotate speed rate of change K of described the electric operator to be measured and critical rotary speed rate of change K under torque capacity operating mode
c;
Torque identification module, for judging whether the calculated value of described initial moment is effective value:
If described real-time rotate speed rate of change K is negative value, and meeting | K| is more than or equal to described critical rotary speed rate of change | K
c| condition, then judge that described initial moment is invalid value, described electric operator to be measured is in stall duty;
Otherwise judge that described initial moment is effective value, described electric operator to be measured is working properly.
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| CN201510046335.1A CN104568260A (en) | 2015-01-29 | 2015-01-29 | Method and device for detecting torque of electric actuating mechanism |
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|---|---|---|---|
| CN201510046335.1A CN104568260A (en) | 2015-01-29 | 2015-01-29 | Method and device for detecting torque of electric actuating mechanism |
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| CN112072979A (en) * | 2020-09-09 | 2020-12-11 | 扬州电力设备修造厂有限公司 | Electromagnetic type torque testing method and system for electric actuator |
| CN112751520A (en) * | 2019-10-31 | 2021-05-04 | 杭州三花研究院有限公司 | Computer equipment, storage medium, and method, device and system for detecting state of servo motor |
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Application publication date: 20150429 |