CN104596774A - Rotary encoder frequency analysis - Google Patents

Rotary encoder frequency analysis Download PDF

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Publication number
CN104596774A
CN104596774A CN201510022973.XA CN201510022973A CN104596774A CN 104596774 A CN104596774 A CN 104596774A CN 201510022973 A CN201510022973 A CN 201510022973A CN 104596774 A CN104596774 A CN 104596774A
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China
Prior art keywords
wheel
data
sensor
valve
speed
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CN201510022973.XA
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CN104596774B (en
Inventor
W.T.多伦蒂
B.弗洛伊里
D.J.莫里斯
W.C.霍斯
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Furo Services Private Ltd
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Flowserve Management Co
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Priority to CN201510022973.XA priority Critical patent/CN104596774B/en
Priority claimed from CN200680055060.7A external-priority patent/CN101473312A/en
Publication of CN104596774A publication Critical patent/CN104596774A/en
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Abstract

The invention designs a rotary encoder frequency analysis, and a novel method for diagnosing problem of a valve actuator and other rotating devices. According to the rotary encoder frequency analysis,, the speed, position, torque, thrust or vibration data are subjected to frequency analysis; the speed or position data can be obtained from the rotary encoder.

Description

Rotary encoder frequency analysis
The application be on April 21st, 2006 submit to the PCT patented claim entering National Phase in China (China national application number is 200680055060.7, international application no is PCT/US2006/015416, denomination of invention " rotary encoder frequency analysis ") divisional application.
Technical field
The present invention relates generally to the analysis of valve actuator and rotary position encoder, and relates more specifically to perform frequency analysis and the rotary position encoder with built-in self-test to valve actuator.
Background technology
In numerous applications, the position of the turning axle measuring whirligig is needed.But whirligig is usually complicated and has inaccessible part.And whirligig is usually integrated in specific industrial process, wherein stop this process to keep in repair the cost of whirligig usually considerably beyond the cost of whirligig.Such as, rotary valve is usually vital for industrial process, and the maintenance of some parts of valve needs this process is stopped.There are the needs for the position of the object of the such as valve rod accurately identifying turning axle and driven by this turning axle.Also there are the needs of any wearing terrain identified in the whirligig of such as valve, to perform preventative maintenance when predetermined shutdown, or to operate whirligig thus to keep this device to carry out operating until predetermined shutdown next time.Exist for can determining the position of turning axle and identifying the needs of the seriousness of problem in the whirligig that connects of turning axle and the device of position.
A method of diagnosis whirligig adopts frequency analysis.Fourier transform (FT) algorithm can be utilized to carry out analysis cycle data, so that data are transformed into frequency domain from time domain.A trial is to motorized valve application Fourier transform, comprises the electric current measured and flow to motor, and to motor data application Fourier transform, the peak value then in use frequency spectrum diagnoses the problem in the power train of valve actuator.But this method does not measure the rotational speed of axle, the also position of uncertain turning axle.Current of electric measurement mechanism is not integrated into yet can be determined in the device of rotary shaft position.
A kind of method measuring the position of rotary part relates to rotary encoder.Rotary encoder comprises incremental encoder and absolute encoder.Incremental encoder is for measuring the rotation change of axle.Basic incremental encoder comprises the dish with substantial radial setting-out (painted line).As long as photodiode or other sensor detect that setting-out just produces electric pulse.Computing machine or other processor follow the trail of pulse to determine the position of this dish, and determine the position of the axle attached by this dish.Utilize incremental encoder, if computer circuit breaking, then when power recovery, positional information will be lost.Previous incremental encoder for valve actuator comprises speed pickup, but speed pickup and the data that produce be not used in and carry out frequency analysis.
Absolute encoder does not need power supply to maintain positional information.Absolute encoder produces each different angle that unique numerical code is used for turning axle.Absolute encoder can be single wheel, and it has the complex pattern be worked on wheel.Single wheel is attached on reference axis, and many different Angle Position identify by the pattern of taking turns at this.But this wheel is only applicable to the situation that axle only experiences single rotation.
Another form of absolute encoder utilizes multiple wheel, and it has the concentric ring on each wheel, and wherein each ring provides the position data of 1 bit.Beam warp measured by multiple form of taking turns allows is gone through multiple rotary and still follows the trail of position and the number of revolutions of axle.There is more wheel allow to follow the trail of the rotation of more multiaxis or determine the more multiposition of single rotation.But pleiotaxy absolute encoder is usually fragile and reliability is poor.Need reliable and by operating the speed data produced for frequency analysis pleiotaxy absolute encoder.
The trial addressed this problem utilizes 6 to take turns or 7 wheels.Each wheel provides 3 Bit datas.But, only produce 2 bit Gray codes as position data via v bit process.Which increase the reliability of absolute encoder.But, do not use repetition sensor (duplicate sensor).In addition, speed pickup is not integrated in absolute encoder, and does not produce speed data for frequency analysis.
Summary of the invention
One embodiment of the present of invention comprise the rotary encoder for whirligig.Rotary encoder comprises one or more code wheel, and each code wheel in one or more code wheel comprises at least one encoded segment, and these encoded segment can operate to encode to the position of whirligig.Also comprise at least one two group sensor, it can operate to monitor at least one encoded segment.
Another embodiment of the present invention comprises valve actuator, and valve actuator comprises absolute encoder and is suitable for driving the power train of absolute encoder.Absolute encoder comprises at least one scrambler dish, the multiple sensors reading at least one scrambler dish can be operated, the speed pickup producing speed data can be operated, at least one repetition sensor of each sensor in multiple sensor and speed pickup.
Another embodiment of the present invention comprises the method analyzed and comprise the valve actuator of sensor.The method comprises from sensor generated data and performs frequency-domain analysis to these data.
Specific embodiment of the present invention comprises the method analyzing the whirligig rotated between two position limits.The method comprises axle rotary position encoder being operationally attached to whirligig, and wherein rotary position encoder comprises speed indicator.The method comprise utilize speed pickup produce speed data and to this speed data perform frequency analysis.
Consider detailed description hereafter in conjunction with the drawings, feature of the present invention, advantage and alternative aspect will be apparent for those skilled in the art.
Accompanying drawing explanation
Although instructions is specifically to point out and to advocate that the claims being considered to content of the present invention are as summary, when read in conjunction with the accompanying drawings, can be easier to determine advantage of the present invention by following description of the present invention clearly, in the accompanying drawings:
Fig. 1 shows the wheel of an embodiment of rotary encoder;
Fig. 2 shows the assembling form completely of the embodiment of Fig. 1;
Fig. 3 shows the sections fit form of the embodiment of Fig. 1;
Fig. 4 shows the top view of the embodiment of Fig. 3;
Fig. 5 shows the wheel of the specific embodiment of rotary encoder;
Fig. 6 shows representational no problem diagnosis in a frequency domain;
Fig. 7 shows the representational diagnosis gone wrong in a frequency domain;
Fig. 8 shows the data resolution utilizing 128 samples;
Fig. 9 shows the data used in fig. 8 before performing Fourier transform (FT) to data;
Figure 10 shows the data resolution utilizing 256 samples;
Figure 11 shows the data used in Fig. 10 before performing FT to data;
Figure 12 shows the data resolution utilizing 512 samples;
Figure 13 shows the data used in fig. 12 before performing FT to data;
Figure 14 shows the data resolution utilizing 1024 samples;
Figure 15 is the form of the accuracy indicating some embodiment of the present invention;
Figure 16 is the example rotating the frequency domain data that (rpm) obtains with 26 times per minute;
Figure 17 is with another example of the frequency domain data of 26 rpm acquisitions;
Figure 18 is with the example of the frequency domain data of 18 rpm acquisitions; And
Figure 19 is with another example of the frequency domain data of 18 rpm acquisitions.
Embodiment
The present invention can be used for any valve actuator or other whirligig, the device such as rotated between the two positions.Specific embodiment of the present invention utilizes the rotary encoder with integrated speed pickup.Speed pickup can operate to produce speed data for frequency analysis.The present invention also can use the sensor of the another type that can produce the data that can be transformed into frequency domain.And frequency analysis can be used for any problem diagnosing valve actuator or other whirligig.In one embodiment, rotary encoder is with repeating the right absolute encoder of sensor.
In the accompanying drawings, similar Reference numeral represents similar element.Fig. 1 shows an embodiment of rotary encoder of the present invention.Rotary encoder 1 represents the specific embodiment of absolute encoder.The term " wheel " or " multiple take turns " that there is not the qualifier such as such as " input ", " sequential " or " coding " are applicable to wheel for inputting 10, timing wheel 20 and code wheel 30 to 110.Phrase " code wheel " or " multiple code wheel " are applicable to code wheel 30 to 110.
Bottom erecting frame 130 is fastened on base plate 120 via bolt 132.Bolt 132 also can be rivet, screw, fixture, clip, bonding agent, pad, snap fit connection or other coupling arrangement any as known in the art.Bolt 132 also can be positioned over any position.Such as, when bolt 132 is fixtures, bottom erecting frame 130 may extend into the edge of base plate 120, and bolt 132 can be positioned this edge.Or when bolt 132 is bonding agents, bonding agent can launch on any surface of the bottom erecting frame 130 contacted with base plate 120.
Base plate 120 can comprise Semiconductor substrate, and wherein the electrical equipment of such as processor 150 and sensor 160 can be integrated each other.Connection handling device 150 is not illustrated with the circuit of sensor 160.But except being integrated into by circuit except in base plate 120, it is outside that circuit can be positioned base plate 120.Such as, can hole in base plate 120 with corresponding with the input end and output terminal of sensor 160 and the input end of processor 150 and output terminal.Insulated wire can interconnect between sensor 160 and processor 150.In addition, if circuit is positioned base plate 120 outside, base plate erecting frame 130 can be needed to be merged in base plate 120.
Rotary encoder 1 also can comprise top erecting frame 140 and top board 170, as shown in Figures 2 to 4.Top erecting frame 140 and top board 170 is applicable to the identical description of bottom erecting frame 130 about base plate 120.Top board 170 may also be Semiconductor substrate.But any circuit also can be outside at top board 170.Top erecting frame 140 also accessible site in top board 170.Top erecting frame 140 can utilize bolt 132 to be fastened to bottom erecting frame 130.Clamp nut 122 is attached to base plate 120.Top board 170 is fastened to base plate 172 via screw 172 and clamp nut 122, as shown in Figure 2.Rotary encoder 1 can be fastened to another device via erection bolt 124.The configuration described about bolt 132 is also applicable to clamp nut 122, screw 172 and erection bolt 124.As shown in Figure 3 and Figure 4, top erecting frame 140 can be from one piece.This allows the embodiment thermal expansion being in an uniform way shown in the top erecting frame 140 in Fig. 3 and Fig. 4.This is equally applicable to bottom erecting frame 130.In an alternative em bodiment, top erecting frame 140 and bottom erecting frame 130 can be respectively made up of more than one piece.
In addition, rotary encoder 1 is not limited to any given shape.Rotary encoder 1 can be circle, rectangle or is specifically shaped for certain device or application.And term " top (top) " and " bottom (end) ", use in this article and be only used to the description being convenient to rotary encoder 1.Therefore, rotary encoder 1 can use with any orientation.
In the particular example of Fig. 1 to Fig. 4, wheel for inputting 10 is included in the tooth 12 on gear 11.Wheel for inputting 10 also comprises aperture 14, and it can be used from sensor one device providing the number of revolutions of following the trail of wheel for inputting 10.Locking cap 16 is attached to wheel for inputting 10.As shown in Figure 3, when locking cap 16 is in appropriate location, any movement of wheel for inputting 10 is subject to the constraint of the contact of locking cap 16 and top mounting bracket 140.As long as rotary encoder 1 can comprise locking cap 16 when will be handled upside down or load and transport, and once input shaft prepares to engage rotary encoder 1, locking cap 16 is unloaded.
Timing wheel 20 comprises gear 21 and pinion wheel 25.Gear 21 comprises tooth 22.Pinion wheel 25 comprises tooth 26.Timing wheel 20 also comprises timing slit 28.In this embodiment, timing slit 28 is designed to the hole of the basal surface extending to gear 21 from the top surface of gear 21, and timing slit 28 is designed to the arcuate segments showing as rectangle.However, it is appreciated that these elements can have any shape.Other structure any that timing slit 28 also can be setting-out, embedding magnet maybe can be detected.Also can not there is timing slit 28, alternatively, other device can perform the function of timing slit 28.Such as, the tooth on gear 21 can be made up of ferrous compound and comprise enough numbers to correspond to desired fixed timing mark.The magnetic reader be placed near gear 21 can detect each tooth 22 that contiguous magnetic reader rotates.Timing wheel 20 represents an only embodiment of timing mechanism used in the present invention.
Timing wheel 20 also comprises encoded segment 24, and it is designed to the arcuate socket of the bottom extending through gear 21 from the top surface of pinion wheel 25 in the present embodiment.Fig. 1 shows encoded segment 24 and ends at the straight edge alignd with the ray radially extended from timing wheel 20.Encoded segment 24 also can be arcuate segments, and it ends at the concave edge similar with the concave edge in gap 132 and gap 142.Encoded segment 24 is depicted as and the inner ring 27 of timing wheel 20 is divided into eight parts.But encoded segment 24 also can be designed to inner ring 27 to be divided into two parts, four parts, 16 parts or any other l/2 nnumber.
In the embodiment shown in fig. 1, code wheel 30 comprises the gear 31 with tooth 32 and the pinion wheel 35 with tooth 36.Code wheel 30 has inner ring 37 and outer shroud 39, and inner ring 37 has encoded segment 34, and outer shroud 39 has encoded segment 38.Encoded segment 34 and 38 extends to the basal surface of wheel 30 from the top surface of code wheel 30.Encoded segment 38 has continuous print arcuate shape, and it occupies 1/2nd of outer shroud 39.Encoded segment 34 comprises two different arcuate segments, and segmentation 34a and segmentation 34b, it respectively occupies 1/4th of inner ring and is equally spaced each other.Segmentation 34a starts from the radius identical with encoded segment 38.Segmentation 34b starts from the identical radius of encoded segment 38 termination.Encoded segment can be asymmetric, as shown in Figure 1, or symmetry, the encoded segment of such as Fig. 5.The asymmetric orientation of encoded segment can be convenient to place redundant sensor in the position do not stopped by the non-coding part charge of code wheel on base plate 120.
Code wheel 40 comprises the gear 41 with tooth 42 and the pinion wheel with tooth (not shown).Pinion wheel is installed on the bottom side of code wheel 40, and not shown in the drawings.Code wheel 40 has inner ring 47 and outer shroud 39, and inner ring 47 has encoded segment 44, and outer shroud 39 has encoded segment 38.Encoded segment 44 and 48 extends to the basal surface of wheel 40 from the top surface of code wheel 40.Encoded segment 48 comprises continuous print arcuate segments, and it occupies 1/2nd of outer shroud 49.Encoded segment 44 is divided into two arcuate segments, segmentation 44a and segmentation 44b, and each in them occupies 1/4th of inner ring and is equally spaced each other.Segmentation 44a starts from the radius identical with encoded segment 48.Segmentation 44b starts from the same radial ray of segmentation 38 termination.
In the present embodiment, code wheel 50,70,90 is identical with code wheel 30 with 110, and code wheel 60,80 is identical with code wheel 40 with 100.But any one code wheel in these code wheels need not be identical with other code wheel any.When using term " inner ring " or " multiple inner ring ", expression be the inner ring 37,47,57,67,87,97,107 and 117 of each in code wheel 30 to 110.Only the inner ring of timing wheel 20 and code wheel 30 and 40 is numbered in fact in FIG.When using term " outer shroud " or " multiple outer shroud ", expression be each outer shroud 39,49,59,69,79,89,99,109 and 119 in code wheel 30 to 110.Only the outer shroud of code wheel 30 and 40 is numbered in fact in FIG.When using term " encoded segment " or " multiple encoded segment ", expression be the encoded segment 24,34,38,44,48,54,58,64,68,74,78,84,88,94,98,104,108,114 and 118 of each code wheel in timing wheel 20 and code wheel 30 to 110.Only the encoded segment of timing wheel 20 and code wheel 30,40 is numbered in fact in FIG.In addition, fixed timing mark 28 can be considered " encoded segment ".The data produced by fixed timing mark 28 can be used for determining position and/or speed.Equally, the data produced by other encoded segment can be used for determining position and/or speed.
The gear 11 of wheel for inputting 10 engages with the pinion wheel 25 of timing wheel 20.The gear 21 of timing wheel 20 engages with the gear 31 of code wheel 30.The pinion wheel 35 of code wheel 30 engages with the gear 41 of code wheel 40.The pinion wheel 45 of code wheel 40 engages with intermediate speed pinion 180.Intermediate speed pinion 180 engages with the gear 51 of code wheel 50.The pinion wheel 55 of code wheel 50 engages with the gear 61 of code wheel 60.The pinion wheel 65 of code wheel 60 engages with intermediate speed pinion 180.Intermediate speed pinion 180 engages with the gear 71 of code wheel 70.The pinion wheel 75 of code wheel 70 engages with the gear 81 of code wheel 80.The pinion wheel 85 of code wheel 80 engages with intermediate speed pinion 180.Intermediate speed pinion 180 engages with the gear 91 of code wheel 90.The pinion wheel 95 of code wheel 90 engages with the gear 101 of code wheel 100.The pinion wheel 105 of code wheel 100 engages with intermediate speed pinion 180.Intermediate speed pinion 180 engages with the gear 111 of code wheel 110.
As seen in Figure 3, wheel for inputting 10 and code wheel 40,60,80 with 100 gear be in the plane identical with the pinion wheel of 110 with code wheel 30,50,70,90 with timing wheel 20.Code wheel 40,60,80 with 100 pinion wheel be in the plane identical with the gear of 110 with code wheel 30,50,70,90 with timing wheel 20.
Light splash guard (light splashguard) (not shown) can be given prominence to from bottom erecting frame 130 and top erecting frame 140.Splash guard be arranged in part between inner ring and outer shroud or completely in concentric ring.Such as, for code wheel 30, splash guard is arranged between inner ring 37 and outer shroud 39.Splash guard can be designed to based on the distance between the basal surface (on the one hand) of timing wheel 20 and code wheel 30 to 110 and bottom erecting frame 130 and the vicissitudinous height of tool.Splash guard provides the light barrier between sensor 160.Splash guard can comprise and is built in the erecting frame 130 of bottom, is built in code wheel and timing wheel 20 or the concentric ring be built in base plate 120 and top board 170.Or block piece can individually be formed around sensor 160, or formed around detecting device 162 and transmitter 164.Splash guard can be the concentric ring that ridge, wall maybe can prevent other structure any of the crosstalk between different sensors 160.
Being engaged in Fig. 1 to Fig. 4 of wheel for inputting 10, timing wheel 20 and code wheel 30 to 110 is shown as and is in configuration of wriggling.But this configuration can be changed to meet different encoder design.Such as, when rotary encoder 1 is configured as circle by needs, wheel can be arranged to coiled arrangement.The various shape of rotary encoder 1 and the various configurations of wheel are all possible.Fig. 5 shows the alternative U-shaped configuration of the wheel in similar rotary encoder shape.
Rotary encoder 1 also can be designed to hierarchy.Wheel for inputting 10, timing wheel 20 and code wheel 30 to 110 are illustrated and are arranged in single-stage in Fig. 1 to Fig. 4.Or rotary encoder 1 can be designed to include the wheel on multistage.In FIG, each wheel is fastened on the erecting frame 130 of bottom uniquely.But multiple wheel can be installed on single wheel shaft.In one embodiment, code wheel 60 and 70, code wheel 50 and 80, code wheel 40 and 90 and code wheel 30 and 100 can be arranged on same wheel shaft respectively.Timing wheel 20 and code wheel 110 can be arranged on same wheel shaft.For even narrower rotary encoder, wheel 40,50,80 and 90 can be arranged on same wheel shaft, and code wheel 30,60,70,100 and 110 can be arranged on same wheel shaft.It is to be understood that various configurations and combination are possible.
Wheel for inputting 10, timing wheel 20 and code wheel 30 to 110 are shown as spur gear.But wheel also can be worm gear, bevel gear, herringbone wheel, hypoid gear, ring gear, rack-and-pinion, and cross helical gear.Rotary encoder 1 shows code wheel and has the fixing embodiment rotated.Or can implement rack-and-pinion system, wherein timing wheel 20 and code wheel 30 to 110 do not have fixing rotation.
Referring to the specific embodiment shown in Fig. 1 to Fig. 4, the inner ring of different coding wheel and outer shroud are positioned the same distance place, center apart from wheel.Such as, inner ring 37 is identical with the distance at encoded segment 44 Ju Lun 40 center with inner ring 47 with the distance at encoded segment 34 Ju Lun 30 center, even if when wheel 40 has larger diameter.Therefore, the number of tooth 42 and tooth 36 can determine that wheel 40 reduces relative to the speed of wheel 30.This is equally applicable to other and takes turns.But the encoded segment of different coding wheel need not equidistantly be located diametrically.
The speed of wheel for inputting 10 is determined by the speed of whirligig to be monitored.Such as, in the present embodiment, timing wheel 20 rotates than wheel for inputting 10 about 1.34 times soon.Code wheel 30 rotates with the speed identical with timing wheel 20.Code wheel 40 rotates with 1/4th of the speed of code wheel 30.Code wheel 50 rotates with 1/4th of the speed of code wheel 40, and code wheel 40 rotates with 1/16th speed of the speed of code wheel 30.This is equally applicable to other code wheel, and code wheel 110 is rotated with 1/4th of the speed of code wheel 100, and code wheel 100 rotates with 1/65 of the speed of code wheel 30,536.In some cases, code wheel 30 will rotate, but be not enough to the rotation causing code wheel 110.In alternative embodiments, extra code wheel can add rotary encoder 1 to.The speed of extra code wheel can be calculated as 1/4 of code wheel 30 n(count as follows, code wheel 30 is n=0, and code wheel 40 is n=1 ..., code wheel 110 is n=8, etc.).Specific embodiment of the present invention can comprise a following code wheel: it has the wheel of less bit number for top speed, but allows reduce along with relative coding wheel speed when train transmission and increase each higher bit number of taking turns.
The situation needing the number of teeth changed between wheel and wheel may be there is.Such as, when code wheel 40 and 60 does not have the identical number of teeth.In addition, the number of teeth on Binding change gear, the radial position of encoded segment can take turns change relative to another, reduces or increase to cause speed.
Wheel can be made up of any kind of material.The representative illustration of minority is steel, stainless steel, aluminium, other metal, pottery, plastics, glass and be covered with the plastics of metal.Any material for gear known in the art can be used.These are taken turns and can all be made up of identical composition, or the composition between wheel and wheel can be different.
As shown in referring to code wheel 80, sensor 160 comprises detecting device 162 and transmitter 164.Detecting device 162 and transmitter 164 are built in base plate 120.Gap 134 is built in the erecting frame 130 of bottom, to prevent from covering detecting device 162 and transmitter 164.About transmitter 164 and detecting device 162, can via semiconductor fabrication, transmitter 164 and detecting device 162 to be installed on base plate 120 and transmitter 164 and detecting device 162 to be inserted through the hole in base plate 120, thus transmitter 164 and detecting device 162 are manufactured in base plate 120.It is to be understood that any other method that transmitter 164 and detecting device 162 are fastened on base plate 120 is also covered by the present invention.Gap 144 (Fig. 4) to be built in top erecting frame 140 and to have and gap 134 identical function.Although not shown, rotary encoder 1 also can comprise sensor, and it comprises transmitter and detecting device, and transmitter and detecting device are built in the basal surface of top board 170.For each detecting device 162 be built in base plate 120, transmitter directly can be arranged in top.For each transmitter 164 be built in base plate 120, detecting device directly can be positioned over top.Gap 144 in top erecting frame 140 shown in Fig. 4 prevents any stop of top erecting frame 140 pairs of transmitters and detecting device.Be positioned at the sensor on the basal surface of top board 170, detecting device and transmitter usually be located immediately at above sensor 160, transmitter 164 identical with detecting device 162.Therefore, for the ease of discussion herein, with any respective members be positioned on top board 170 that the component be positioned on base plate 120 is substantially similar, although do not illustrate in the drawings, but imparting is added quotation marks (') the identical Reference numeral (such as, detecting device 160 and detecting device 160') that marks.
Shown embodiment comprises sensor 160,161,163 and 165.Sensor 161 corresponds to the inner ring of timing wheel 20 and code wheel 30 to 110.Sensor 163 and 165 corresponds to the outer shroud of code wheel 30 to 110.Sensor 160', 161', 163' and 165' are directly positioned over above sensor 160,161,163 and 165 respectively.Sensor 163 and 165 can be placed to be left with the radial angled spacings of about 90 degree.In code wheel 30,60,70,100 and 110, sensor 161 can divide the angle between sensor 163 and 165 equally.In code wheel 40,50,80 and 90, sensor 161 and 163 can leave with the radial angled spacings of about 45 degree, and sensor 161 and 165 can leave with the radial angled spacings of about 135 degree.Sensor 161,163,165 and 169 is only numbered about code wheel 80 and 100 and timing wheel 20.Each sensor 161,163 and 165 comprises transmitter 164 and detecting device 162.Each sensor 161', 163' and 165' comprise transmitter 164' and detecting device 162'.
Sensor 160/160' comprises transmitter 164/164' and detecting device 162/162', and can be described to one group of sensor to or two groups of sensors.This is equally applicable to sensor 160/160' and 160'/160 " concrete form (that is, sensor 161,161', 163,163', 165,165', 169 and 169').As transmitter 164 being considered as a pair with detecting device 162 and transmitter 164' and detecting device 162' being considered as substituting of relative the second couple, transmitter 164 and detecting device 162' can be considered a pair, and transmitter 164' and detecting device 162 can be considered parallel the second couple.In any case but think, second to providing duplicate detection.This redundancy makes rotary encoder 1 can be fault-tolerant to heavens.Such as, if one such to breaking down, so rotary encoder 1 still can operate.According to which sensor or sensor component may break down (if exist), scrambler also can utilize multiple sensor of actuating and operate.
In a specific embodiment, the transmitter 164 of sensor 160 and the position of detecting device 162 are the positions giving the placement tolerance that sensor 160 (with respective sensor 160') may be the widest and the most symmetrical.Before bit value changes again, for sensor, the position that code value changes leaves identical space in clockwise (CW) direction with counterclockwise (CCW) direction.This method is shown in Figure 1.In a specific embodiment, this causes the corresponding asymmetry of the placement of asymmetric sensor and code change point.
In an alternative em bodiment, transmitter 164 can offset relative to detecting device 162.Then the first encoded radio and skew encoded radio that gained arrives can be compared, identical to guarantee the arithmetical difference between two values.If arithmetical difference is not identical, then can be searched this problem by following self-test.
In any embodiment, if this v of being placed on bit prevent gap logic (anti-backlash logic) boundary in and in the boundary of the permissible mechanical tolerance of component, so produced code will be identical.
In an alternative em bodiment, sensor 161,163 and 165 can respectively have single transmitter, and corresponding sensor 161', 163' and 165' can respectively have corresponding single detector and there is not any redundancy.
Each sensor is associated with fixed timing mark 28.Sensor 169 shown in Fig. 1 comprises at least one transmitter 164 and at least one detecting device 162.The sensor 169' be positioned on top board 170 is directly positioned over above sensor 169, and comprises at least one transmitter 164' and at least one detecting device 162'.
In a specific embodiment, the respective sensor be positioned on base plate 120 and top board 170 once can actuate a wheel respectively.Or, can once actuate these take turns in whole or some.First each bottom of taking turns is actuated usually, is each top side of taking turns afterwards.In a specific embodiment, can each transmitter of actuation sensor 160/160'.Actuate each sensor 169/169' for monitoring fixed timing mark 28 continuously, as hereafter discussed in more detail.About code wheel 30 to 110, can the transmitter 164 of actuation sensor 161,163 and 165.If rotary encoder 1 is in the position shown in Fig. 1, so the detecting device 162' of sensor 161', 163' and 165' respectively receives the signal from respective transmitter 164.But rotary encoder 1 can be located so that only sensor 161' and 163', 161' and 165', 163' and 165', the detecting device 162' Received signal strength of 161', 163' and 165' or the detecting device 162' of all these sensors all not Received signal strength.No matter rotary encoder 1 is positioned at where, detecting device 162 will when transmitter 164 is actuated Received signal strength.In a specific embodiment, transmitter 164 can directly communicate with ground, left and right vertically with detecting device 162.Therefore, when actuating three transmitters 164, three detecting devices 162 are by Received signal strength, and if the opening in encoder wheel (that is, encoded segment) is between transmitter 164 and detecting device 162', so three detecting device 162' can Received signal strength.Therefore, the data of 6 bits are produced.
Adopting in this way, when actuating the transmitter 164' of sensor 161', 163' and the 165' be positioned on top board 170, producing the data of 6 bits.Actuate the detecting device 162' of identical sensor, and the detecting device 162 of sensor 161,163 and 165 on the bottom side of rotary encoder 1.The sensor 161,163 and 165 of code wheel 30 can be actuated.Then, sensor 161', 163' and 165' of code wheel 30 can be actuated.About code wheel 40 to 110, this alternative sensor activation modes can be continued.
About timing wheel 20, sensor 161 and 161' can as actuated about as described in code wheel 30 to 110 above.In a specific embodiment, the transmitter of actuation sensor 169 and 169' is continued.In the embodiment shown in Figure 2, sensor 169' comprises two transmitters, and sensor 169 comprises two detecting devices.In a specific embodiment, other sensors all respectively have transmitter and detecting device.In a specific embodiment, a transmitter of once only actuation sensor 169.
First detecting device 162a and the second detecting device 162b can be located so that fixed timing mark 28 is not present on the second detecting device 162b when fixed timing mark 28 is present on the first detecting device 162a.This is shown in Figure 1, and wherein detecting device 162a and optional transmitter 164 are visible, but detecting device 162b is sightless.
Or sensor 169 and 169' can respectively have transmitter and detecting device, and (disable) directly left and right transmission characteristic can be forbidden.By using dissimilar sensor or placing block piece at the perimeter of detecting device 162 and 162' and/or transmitter 164 and 164' and forbid this characteristic.
Sensor 169 and 169' also can comprise other transmitter and detecting device.Such as, Fig. 2 illustrates the detecting device 164 in sensor 169, and it corresponds to the detecting device 162' in sensor 169'.Transmitter 164 can be positioned over apart from the first detecting device 162a distance enough far away, makes the first detecting device 162a not receiving optical signals when actuating transmitter 164.In an alternative em bodiment, transmitter 164, the first transmitter 164a' and the second transmitter 164b' alternately actuates.
Sensor 160 and 160' provide three grades of redundancies.First, if any one in transmitter 164' and 164 and detecting device 162' and 162 lost efficacy, so sensor 160 and 160' remained exercisable.Such as, if the transmitter 164 of the sensor 161 of code wheel 80 lost efficacy, so sensor 161 still can operate, because the transmitter 164' of sensor 161' still can communicate with the detecting device 162 of sensor 161.
Second level redundancy is from built-in self-test function.Detecting device 162 is placed near transmitter 164 and self-test is provided.Even if there is not accessible light path due to the position of code wheel, detecting device 162 will when actuating transmitter 164 Received signal strength.If detecting device 162 not Received signal strength, any one or two so in transmitter 164 and detecting device 162 (or subsidiary circuit and process) are broken down.Once code wheel moves to the position that there is accessible light path, if detecting device 192 does not receive signal, then may be that transmitter 164 breaks down.The life-span of detecting device 162' and 164 is by actuating transmitter 164' to determine.If detecting device 164, detecting device 162' or transmitter 164' start to break down instead of transmitter 164 breaks down, so adopt similar logic.
When determining which position is identified by sensor 160 and 160', processor 150 will consider the component of any inefficacy, such as transmitter 164 or detecting device 162'.Such as, if the detecting device 162 of the sensor 163 adjacent with code wheel 80 lost efficacy, so processor 150 can compensate for the following fact, and namely sensor 163 and 163' will not detect the light path of the stop of identical point in code wheel 80 rotates.Or use identical example, if the non-Received signal strength of detecting device 162, so detecting device 162 can be tested by adjacent transmitter 164, to determine whether detecting device 162 is what operate.Transmitter 164' can be tested by adjacent detector 162', to determine transmitter 164' whether for the reason of problem.If transmitter 164' and detecting device 162 are operation and transmitter 164' is sending, but detecting device 162 does not receive this transmission, so outer shroud 89 is stopping the light path between transmitter 164' and detecting device 162.And, if detecting device 162 lost efficacy, so processor 150 can estimated coding wheel 30 to 70 and 90 to 110 position, to determine in fact whether outer shroud 89 stop the detecting device 162 broken down.
Decode by utilizing Viterbi (Viterbi) and provide triple redundance by any one in sensor 160 and 160'.Such as, the output of sensor 163 or the output of sensor 165 can be used for producing Viterbi bit (v-bit).If sensor 160 or sensor 160' inoperation are to produce v-bit, so sensor 160 or 160' are for generation of data-bit.In a specific embodiment, sensor 165 and 165' are for generation of v-bit.Viterbi decoding algorithm is forward error correction technique.V bit provides the redundant data that can be used for the position of other 2-bit being carried out to accurately decoding.In this embodiment, sensor 161 and 161' can provide 1-Bit data, and sensor 163 and 163' can provide 2-Bit data.By using v-bit, the signal produced by sensor 161 and 161' and sensor 163 and 163' and the angular deflection of optimum position can be +/-22.5 degree and do not cause code error.Therefore, though when there is skew Received signal strength, also by the actual position of still indicator wheel.The actual position of the also clear and definite adjacent encoder wheel of the v-bit on a code wheel.Such as, the v-bit of code wheel 30 helps the actual position of clear and definite code wheel 40.
Veterbi decoding is not the unique solution code calculation that code wheel 30 to 110 can be designed to implement it.Sequential decoding, reed solomon coding (Reed-Solomon coding) and turbine coding (turbo coding) is such as comprised for other appropriate algorithm of the present invention.Veterbi decoding another substitute be gear counting.
In rotary encoder 1, the sensor 165 producing v-bit offsets relative to sensor 161 and 163.Or sensor 165 can be arranged to align with the sensor 163 or 161 producing data-bit.Fig. 5 shows the embodiment of absolute encoder (rotary encoder 2), and wherein v-bit sensor 2165 is positioned to align with data-bit sensor 2161 and offset relative to data-bit sensor 2163.As visible with reference to timing wheel 2020, v-bit sensor 2165 also can be positioned to detect the encoded segment 2034 in inner ring 2027.V-bit sensor 2165 can be oriented to detect the inner ring of any code wheel in code wheel 2030 to 2110 or whole code wheels.Therefore, sensor 161 or sensor 2161 can be v-bit.
Except little difference, the rotary encoder 2 shown in Fig. 5 is similar to rotary encoder 1 and operates.Wheel for inputting 2010 has the different numbers of teeth.Inner ring 2027 is divided into two parts instead of four parts by encoded segment 2024.In addition, sensor 2165 is included in the concentric ring identical with sensor 2161.Timing wheel 2020 comprises pinion wheel 2025, and intermediate speed pinion 2180 is on the either side of pinion wheel 2025.
Code wheel 2030 comprises the gear 2031 with tooth 2032 and the pinion wheel 2035 with tooth 2036.Code wheel 2030 has inner ring 2037 and outer shroud 2039, and inner ring 2037 has encoded segment 2034, and outer shroud 2039 has encoded segment 2038.Encoded segment 2034 and 2038 extends to the basal surface of wheel 2030 from the top surface of code wheel 2030.Encoded segment 2038 be depicted as occupy outer shroud 2039 1/2nd continuous arcuate segments.Encoded segment 2034 comprises two different arcuate segments, i.e. segmentation 2034a and segmentation 2034b, wherein each be illustrated occupy inner ring 1/4th and equidistantly spaced apart each other.Align with the middle part of encoded segment 2038 in the middle part of segmentation 2034a.Segmentation 2034b occupies the space directly relative with segmentation 2034.
Code wheel 2040 comprises the gear 2041 with tooth 2042 and the pinion wheel 2045 with tooth 2046.Pinion wheel 2045 is installed on the bottom side of code wheel 2040.In the 5 embodiment of figure 5, pinion wheel 2045 can be seen through code wheel 2040.Code wheel 2040 has encoded segment 2044 and 2088, is similar to code wheel 2030.For purposes of illustration, the encoded segment of timing wheel 2020 and code wheel 2030 has only been marked in Figure 5.
Code wheel 2050,2070,2090 can be identical with code wheel 2030 with 2110.Code wheel 2060,2080 can be identical with code wheel 2060 with 2100.Term " inner ring ", " multiple inner ring ", " outer shroud ", " multiple outer shroud ", " encoded segment " and " multiple encoded segment " are for describing rotary encoder 2, and it uses in the mode identical with rotary encoder 1.
Wheel for inputting 2010 engages with intermediate speed pinion 2180, and intermediate speed pinion 2180 engages with the pinion wheel 2025 of timing wheel 2020.Pinion wheel 2025 engages with intermediate speed pinion 2180, and intermediate speed pinion 2180 engages with the gear 2031 of code wheel 2030.The pinion wheel 2035 of code wheel 30 engages with the gear 2041 of code wheel 2040, by that analogy until code wheel 2110.Code wheel 2030 to 2110 engages in the mode identical with code wheel 30 to 110.
In the present embodiment, tooth and the code wheel 2030,2050,2070,2090 of wheel for inputting 2010 can be configured in the plane identical with the pinion wheel of 2100 with code wheel 2040,2060,2080 with timing wheel 2020 with the gear of 2110.Code wheel 2030,2050,2070,2090 with 2110 pinion wheel can be arranged in the plane identical with the gear of 2100 with code wheel 2040,2060,2080.
Referring to rotary encoder 1, sensor 160 and 160' provide the instruction of the absolute position of the input shaft rotating wheel for inputting 10.As shown in the figure, rotary encoder 1 is 18 bit absolute encoders.Therefore, rotary encoder 1 can represent 262,144 positions.Certainly, without the need to using all positions.To take turns and sensor increases or reduces rotary encoder 1 by adding wheel and sensor to the end of train or reducing from the end of train.Each wheel can provide three sensors 160 and 160'.Or each in train takes turns or at least last is taken turns and can provide only one or two sensor group 160 and 160', as long as sensor is oriented to as the more high-order bit of the next one in encoded radio.Rotary encoder 1 also can only have single encoded wheel, and it is used as the source of speed and position data.Rotary encoder 1 also only can have single position encodedly to take turns and independent velocity pick-up mechanism, such as timing wheel.In addition, each in code wheel can have any number of encoded segment and corresponding sensor 160 and 160'.Rotary encoder 1 can be any encoder design utilizing sensor 160 and 160'.
As discussed above, sensor 160 and 160' can communicate when encoded segment is arranged between sensor, thus provide accessible light path.In sensor 160, upon receipt of the signal, detecting device 162 output logic 0 is worth; When not receiving signal, output logic 1 is worth.Equally, in sensor 160', detecting device 162' output logic 0 is worth upon receipt of the signal; When not receiving signal, output logic 1 is worth.Therefore, when encoded segment is between sensor 160 and sensor 160', when actuating transmitter 164, processor 150 receives two independent logic inputs: an input is from the detecting device 162' detecting position, and an input is from the detecting device 162 performing self-test.Once stop using, transmitter 164 also actuates transmitter 164', and so processor 150 receives 2 independent logic inputs: a logic input detects detecting device 162, logic input of position from the detecting device 162' performing self-test.
If inner ring or the communication between outer shroud block sensor 160 and 160', so the logical one of the successful test receiving the logical zero input transmitter relevant with representing bit position therewith representing the bit value of position code inputs by processor 150.Such as, when actuating transmitter 164, detecting device 162' will can not Received signal strength and will send logical one by stopping.Detecting device 162 still transmits and Received signal strength about directly, and therefore logical zero is sent to processor 150.
When processor 150 from detecting device 162' receive logic 0 signal and relative transmission device 164 is actuated time, processor 150 recognizes certainly there is encoded segment.When actuating transmitter 164' and detecting device 162 transmits logic zero signal, realize identical result.The present embodiment uses 0 and logic zero signal; But, also can use 0 and 5 volt, 1 and 5 volt or any other sensors signal or its combination.In addition, detecting device 162 and 162' can be designed to produce 0 volt when producing logical zero when not receiving light signal and receive light signal.In such embodiments, processor 150 is by the instruction of the encoded segment when receiving 0 volt from detecting device 162' and transmitter 164 is actuated between receiving sensor 160 and 160'.
In a specific embodiment, the self-test undertaken by transmitter 164 pairs of adjacent detector 162 is performed by the direct transmission from the sidepiece of transmitter 164 to detecting device 162.Such as, detecting device 162 can be positioned at the distance apart from transmitter 164 is 0.5 mm place.Or, can use can not directly left and right transmit sensor.In such embodiments, self-test can be carried out via reflection.Such as, when there is encoded segment and actuate transmitter 164 between sensor 160 and 160', only detecting device 162' Received signal strength.When actuating transmitter 164', only detecting device 162 Received signal strength.Permission transmitter 164 and 164' are actuated by this simultaneously.When there is not encoded segment and making light be stopped between sensor 160 and sensor 160', detecting device 162 and 162' can be suitable for receiving reflected light signal.In this case, when actuating transmitter 164, light can emit from the basal surface of inner ring or outer shroud.Detecting device 162 can receive a part for reflected light.Detecting device 162 can be designed to transmit logical zero when receiving any light.Detecting device 162 can be designed to transmit the voltage suitable with the intensity of the light received.Therefore, when there is encoded segment, detecting device 162 can receive the direct optical signal of higher-strength from the transmitter 164' being positioned at the direct top of detecting device 162.When there is not encoded segment, detecting device 162 can receive more low intensive reflected light signal from adjacent transmitter 164.
In another embodiment, encoded segment can be coated with and be drawn on wheel, instead of depends on the incision segmentation of wheel.In such embodiments, do not communicate with between 160' at sensor 160.On the contrary, detecting device 162 receives reflected light from transmitter 164.This is equally applicable to detecting device 162' and transmitter 164'.Such as, if wheel right and wrong are reflexive (such as, painted black) and encoded segment be reflexive (such as, painted white) or wheel be reflexive and encoded segment right and wrong are reflexive, so detecting device 162' will produce a voltage when light reflects from encoded segment and light from non-coding segmented reflective out time produce different voltage.In addition, sensor 160 and 160' can be positioned at the same side of code wheel at first.
Sensor 160 and 160' are described about optical sensor.However, it is appreciated that other sensor multiple can be used for the present invention.Other suitable example of sensor includes but not limited to magnetic sensor, hall effect sensor and electric contact.The sensing becoming known for any type of increment sensor and absolute encoder in this area can be used for the present invention.Encoded segment also can comprise and any material of selected sensor compatibility or configuration.
Processor 150 also can be designed to produce alarm.If detecting device 162, transmitter 164, detecting device 162', transmitter 164', detecting device 162a, detecting device 162b, transmitter 164a' or transmitter 164b' lost efficacy, processor 150 can give the alarm.Different alarms can be provided for different inefficacy priority.In extreme circumstances, processor 150 can be designed to force the valve actuator monitored by rotary encoder 1 or other whirligig to shut down.Alarm can be expressed in many ways, such as, visual alarm (such as flash of light or LCD message on the control panel of valve actuator or on control station), audible alarm or written warning.
In sensor 160 and 160', if transmitter 164 and 164' and detecting device 162 and 162' can not proper function, it is invalid that so produced data-bit or v-bit will be declared as.The impact of inactive bit value for the performance of the valve actuator monitored by rotary encoder 1 or other whirligig can be judged based on the decode value of inefficacy bit and actuation time.Also invalid bit value can be estimated based on the bit number lost efficacy.
Actuation time of valve actuator is valve time used from open position to off-position or from off-position to open position.The actuation time of other whirligig is that whirligig rotates to the second place time used from primary importance.Such as, for industrial reel, actuation time is that this reel launches the time used completely from being wound up into completely.When actuation time is longer, individual bit only corresponds to the sub-fraction of total actuation time.Therefore, it may not be very crucial that individual bit lost efficacy, thus provides alarm or warning but do not force machine down, and this can be enough to be used in such application.If actuation time is shorter, individual bit inefficacy can represent the relatively large deviation between physical location and the position represented by rotary encoder 1.Therefore, for shorter actuation time, except providing alarm or warning, individual bit lost efficacy can be enough to force whirligig to shut down.Which part that the importance of bit fails can be depending on for given application this actuation time can be represented by bit fails.In a specific embodiment, user can configure the threshold value of allowed loss of accuracy, if lower than this threshold value, BIST feature only provides alarm or warning, but higher than this threshold value, BIST feature will force secure machine shut down and provide alarm or warning.
For not having predetermined primary importance and the whirligig of the second place, actuation time can be unfixed.The example of such whirligig comprises the flywheel of engine or the main shaft of turbine.Rotary encoder of the present invention also can be used for the whirligig of any type.
As mentioned above, if the detecting device 162 of sensor 160 and 160' and 162' are verified as exercisable by self-test, but detecting device 162 does not receive signal and detecting device 162' Received signal strength, so can check that other position of taking turns is to confirm the position of associated wheel.In this case, the data-bit produced by sensor 160 and 160' is actually effective, but the half of sensor 160 and 160' is stopped by inner ring or outer shroud.Viterbi logic operation can obtain identical position code from main sensors group or redundant sensor group (that is, transmitter 164 or detecting device 162).It is to be understood that term " mainly " and " secondary " or " redundancy " are arbitrary.
Or sensor 160 and 160' can work completely, but the different component of rotary encoder 1 lost efficacy.Such as, if one in the tooth on code wheel is cut, the position that the current location so indicated by sensor 160 and 160' can be predicted with the past data provided based on sensor 160 and 160' is not mated.Therefore, although sensor 160 and 160' normally work, they do not indicate tram.Processor 150 or some other processor can provide the correction for this mistake and produce alarm.Such as, if code wheel 60 loses tooth 62 from gear 61, so code wheel 60 may start to miss position during each rotation.Therefore, the valve position indicated by all code wheels no longer accurately will correspond to valve position.This will show as valve bounce to another location.In one embodiment, processor 150 can search the discontinuous of valve position indicated by the position of code wheel.As an alternative or as a supplement, timing wheel 20 can be used as incremental encoder to verify the position of code wheel.Processor 150 (or other appropriate processor any) can recalculate valve position when considering the mistake that code wheel 60 is introduced.If the order of severity lost efficacy is comparatively large, so processor 150 also can produce alarm and/or cause safe shutdown.
Cause any inefficacy of the rotary encoder 1 of the discontinuous instruction of valve position can be identified by processor 150 or other processor any communicated with processor 150.
Sensor 160 and 160' are described to have transmitter and detecting device respectively in this article.Or sensor 160 can be configured to only have transmitter and sensor 160' can be configured to only have detecting device.In other embodiments, sensor 160' can not be present in rotary encoder 1.Fig. 2 illustrates that sensor 160 has multiple transmitter and detecting device.Sensor 169 comprises transmitter 164, first detecting device 162a and the second detecting device 162b.Although not shown, sensor 169' comprises corresponding detecting device 162', the first transmitter 164a' and the second transmitter 164b'.Second detecting device 162b and the second transmitter 164b' can be used for verifying that data that the data or effectively make from the first detecting device 162a and the first transmitter 164a' are produced by sensor 169 and 169' export to be doubled.Sensor 160 can comprise any number of transmitters, detecting device and/or the two.Sensor 160 and 160' can be used for any rotary encoder to provide fault-tolerant speed and position data.
Fig. 1 to Fig. 5 shows absolute encoder, and each wherein in code wheel only has inner ring and outer shroud.But, the ring of each the had arbitrary number in code wheel, and do not limit.Such as, each code wheel can have 3,4,5 or 6 rings.At least one sensor 160 and at least one sensor 160' can be provided for each ring.Therefore, the number of ring can determine the number of the producible data-bit of each code wheel.
The number of the ring of each code wheel decides by allowing the communicate with one another size of required code wheel and the width of encoded segment of sensor 160 and 160'.In addition, enough gap should be provided between the rings to be limited in the crosstalk between the sensor in same side.Such as, provide gap with the signal preventing the detecting device 162 of sensor 161 from recording the transmitter 164 of sensor 163.But, also can use other technology except gap, such as use splash guard as discussed above, to limit crosstalk and to allow less code wheel diameter.
The code wheel of arbitrary number can add scrambler of the present invention to.Such as, rotary encoder 1 can provide be the position data of the common speed valve actuator of a hour actuation time.Add multiple code wheel and also increase providing more data bit the actuation time can handled by rotary encoder 1.Certainly, rotary encoder 1 also can be used for valve actuator and other whirligig of being less than one hour actuation time.Rotary encoder 1 also can have the code wheel more less than the code wheel shown in Fig. 1 to Fig. 4.
In addition, rotary encoder 1 can be single wheel absolute encoder or single-wheel incremental encoder.In these embodiments, sensor 160 and 160' can comprise multiple transmitter and detecting device, thus provide built-in self-test and fault tolerant operation.Therefore, one group of sensor 160 and 160' can monitor multiple encoded segment, such as fixed timing mark 28 or encoded segment 34, or one group of sensor 160 and 160' can monitor single encoded segmentation, such as encoded segment 38.
In addition, timing wheel 20 can be used as the incremental encoder that combines with the specific coding function of the remainder of rotary encoder 1.Such as, particular delta encoder embodiment can be set as making delta pulse speed mate the count rate of the absolute portions of scrambler exactly pro rata.In this way, when actuator operates, incremental encoder can be used for obtaining position data.When motor stops, the specific coding position of adding the final incremental count Ying Yuxin of absolute position code when motor revolution starts to is accurately mated.
If the position indicated by timing wheel 20 (also playing the effect of incremental encoder) is different from the position indicated by code wheel, so self-test can be performed to sensor 160 and 160'.If self-test confirms all the sensors 160 and the equal proper function of 160', so may follow the trail of abnormally by code wheel.Therefore, alarm or warning can be produced.In a specific embodiment, in this case, rotary encoder can be dependent on incremental encoder until maintenance rotary encoder.
Rotary encoder 1 and 2 is designed so that with Gray code; But, also can use binary coding.Using v-bit and repeating sensor makes rotary encoder 1 and 2 never will differ by more than a least significant bit (LSB) [LSB], thus adding users is to the confidence of encoder values reliability.
The present invention can be used for the many kinds of whirligigs rotated between the two positions, such as, and valve actuator, door opener or reel.In typical valve actuator, motor can carry out driver's valve via one group of gear.The output shaft of motor directly can be connected to worm screw.Worm screw can drive Worm-gear assembly, and Worm-gear assembly drives again drive socket or axle, and drive socket or axle promote and reduce or rotation valve rod.Second axle also can be driven by Worm-gear assembly, to drive the wheel for inputting 10 of rotary encoder 1.Or valve actuator can use different gear sets, or motor output shaft can directly be connected to valve rod and without the need to center tooth wheels.Exist in the art and be a variety ofly applicable to method rotary position encoder being connected to whirligig of the present invention, but these methods will set off a discussion no longer herein.In a preferred embodiment, rotary encoder 1 and 2 can be used for performing diagnosis to the whirligig of such as valve actuator, and about diagnostic function, rotary encoder 1 will as demonstrative example.But, also can use other scrambler of the present invention, such as rotary encoder 2.In addition, timing wheel 20 can be merged in any rotary encoder.Timing wheel 20 can be the code wheel of incremental encoder or the code wheel of single wheel absolute encoder.Such as, fixed timing mark 28 can be used for the position encoded of absolute encoder.Or as shown in Figure 1, timing wheel 20 also can comprise the encoded segment of separating with fixed timing mark 28.In another embodiment, fixed timing mark 28 can be the part compared with unitary Item pattern, the coding pattern of such as single wheel absolute encoder.In a specific embodiment, timing wheel 20 can be the incremental encoder separating with other code wheel or combine.In this embodiment, fixed timing mark 28 not only for generation of speed data, and produces incremental counter data.Fixed timing mark 28, is similar to encoded segment, can take to work together with 160' with sensor 160 required any form or structure.Fixed timing mark 28 can be in hole, line, embedding magnet, engraving or this area other structure any becoming known for absolute encoder or incremental encoder.
Timing wheel 20 and 2020 is shown as has 32 fixed timing marks 28 and fixed timing mark 2028.But timing wheel 20 and 2020 can have the fixed timing mark 28 of arbitrary number.
About frequency analysis, hereafter initial, specific embodiment speed data being performed to frequency analysis (being also referred to as frequency-domain analysis in this article) is discussed, non-speed data embodiment is discussed afterwards.In addition, for purpose of explanation, the fixed timing mark 28 of timing wheel 20 or timing wheel 20 is usually referred to as speed data source in this article.In other embodiments, no matter the speed pickup of any type, have rotational position sensor or do not have rotational position sensor, can be used for diagnosing (that is, frequency analysis).In addition, the discussion about the frequency analysis of speed data is equally applicable to other DATA Example.Other DATA Example such as can comprise torque data, position data, thrust data, noise data, current data, voltage data, power of motor data, the volt-ampere response data of motor and vibration data.Numerous types of data and sensor type can be used for frequency analysis, as known in the art.The present invention is contained can via sensor and valve actuator or the producible any data type of other whirligig.
Although discussion hereafter relates to rotary encoder 1, it is to be understood that this discussion is equally applicable to rotary encoder 2.Fixed timing mark 28 on timing wheel 20 can be used for producing speed data.Sensor 169 and 169' each in recording timing mark 28 can be presented in the time span before sensor.Then this residence time can be used for the speed of the whirligig accurately determining such as valve actuator.Speed data can be used for the speed determining the input shaft driving wheel for inputting 10.And input shaft is usually attached to other whirligig, the worm gear of such as valve actuator.Therefore, fixed timing mark 28 can be used for the speed of other whirligig determining such as worm gear.
In a particular embodiment, fixed timing mark 28 be configured to timing wheel 20 intermediate reach and etc. the hole of size.But any embodiment in previous discussed encoded segment embodiment and sensor embodiment is also respectively used to the embodiment of fixed timing mark 28 and sensor 169 and 169'.
The speed data produced by fixed timing mark 28 can utilize FT to operate, to convert speed data to frequency domain from time domain.But, the speed pickup of any type can be used to produce speed data, to convert frequency data to.
FT expects that signal sample occurred with the regularly spaced time interval.But the dwell time values due to rate signal in the present invention may not be constant, therefore measure can be adopted to obtain effective information to allow FT.By selecting enough a large amount of data points, when machine operates with stable state, the overwhelming majority in these data points will be used, and the average residence time of larger data collection can be used as " rule " residence time [t of each data sampler d].This ' rule ' residence time can be used for frequency scaling (fn (the Hz)=l/ (td * # sample) demarcating (scale) gained FT.When suitably spot frequency data, data provide enough information to determine and the velocity variations that the known rotational speed of each component of power train is associated to operator, and can existing or produced problem possibly in the power train of indicator valve actuator or other whirligig.Such as, when equipment is newer, the chart of bareline heart rate and amplitude or curve will be formed and preserve.Afterwards, the chart of new frequency and amplitude or curve can be formed and compared with preserved baseline chart or curve.If the peak value corresponding to the operating frequency of given component appears at the frequency different from previously measured frequency or amplitude or amplitude place, so it is evident that, time the characteristic of the component joined with this frequency dependence is different from newer, this usual indicating wear and may losing efficacy or imminent inefficacy.Therefore, before component failure, suitable maintenance can be performed in the suitable time.In addition, can plan to carry out FT analysis, automatically to run in processor 150, processor 150 can be programmed and be configured so that the peak amplitude change exceeding configured threshold value can be used for producing automatic alarm or warning or forcing machine safe shutdown.The method of any suitably spot frequency data as known in the art can be used.
The example of frequency-domain analysis is included in Fig. 6 to Fig. 8.Fig. 6 illustrates valve actuator no problem diagnosis or the example of " well " power train in a frequency domain.Fig. 6 shows the peak value at 45.9 Hz; But the peak value of 0.1% amplitude (when 26 rpm or 0.43Hz, amplitude is 100%) measured relative to the operating speed of actuator does not have the amplitude being enough to cause concern.Fig. 7 illustrates and produces the valve actuator of some abnormal signals or the example of " bad " power train in a frequency domain.The frequency of abnormal signal can be used for identifying the power train component gone wrong.In the figure 7, worm screw or worm gear exceed tolerance limit.Such as, go wrong in the peak value instruction of 26.1 Hz.But, are harmonic waves of 26.1 Hz peak values at the peak value of 52.5 Hz and 78.6 Hz.
The processor of processor 150 or execution FT can be designed to automatically produce the suitable mark for remarkable peak value (such as, exceeding predetermined threshold).Such as, processor can comprise the program that the amplitude that is designed so that current produced peak value and previous produced peak value and frequency match.In this embodiment, if processor can not identify peak value, so this warning that there are potential problems that can be used as operator of losing efficacy.Or the data in frequency domain can be manually relevant to the parts of the power train of valve actuator.Training and operation person can identify and understand the correlativity of different peak value.Such as, if rotary encoder 1 is present in valve actuator, so timing wheel 20 and sensor 169 and 169' can be used for the speed identifying power train component.In a specific embodiment, drive the input shaft of wheel for inputting 10 by worm-gear driven.Therefore, speed pickup can be used for the speed determining worm gear, and therefore determines frequency.Then, based on gear ratio, the frequency of other power train component can be calculated.Then, identification means frequency and any harmonic wave can be come according to the graphical representation of the data in frequency domain.On the other hand, if speed pickup is not present in valve actuator, but the motor shaft speed of known reality, so this Information Availability is in generation component frequency.Various types of electrical measurement or the magnetic measurement of the actual speed of motor can be adopted, therefore improve the diagnosis capability in entire system further.In many cases, factory personnel will perform above-mentioned manual identification.Therefore, can provide to terminal user the sample frequency curve and mutual relationship that mark in advance.
In a specific embodiment, the built-in information (tooth of gear ratio, motor speed, each gear, the ball etc. of each bearing) of actuator can be downloaded, to be stored in the Electronic Packaging of actuator.Then, airborne CPU can with reference to stored information and derive power train which part cause this change.The drawing of FT can directly be shown in the LED screen of actuator, or the data array resource management system that can be downloaded to operator is made a concrete analysis of to be sent to main office on the portable computer of analyzing or be downloaded to service technician or PDA.
Programming for collecting data and/or execution frequency analysis can be stored in firmware, software, hardware or other device any as known in the art.Such as, frequency analysis programming can be stored in the firmware of valve actuator.
In addition, operator can simply by comparing present analysis and previous analysis and identifying the peak value in frequency domain.Previous analysis can be the analysis carried out in the factory.But, the situation needing or must identify independent of any previous analysis the peak value in frequency domain can be there is.Such as, in the design phase of new valve actuator, slip-stick artist may wish to perform frequency analysis to guarantee the not having inherent short-life vibration of contracting, resonance and/or harmonic wave in prototype to new prototype.Or frequency analysis can be used as loading and transporting front inspection instrument, to determine whether some parts of mechanical drive train are manufactured with physical imperfection after assembling.
Be built in rotary encoder, or be built in valve actuator or other whirligig or the processor be associated with valve actuator or other whirligig can perform FT.Display, printer or other output unit can be merged in valve actuator, for showing result with the form of chart or figure.Or the speed data produced by fixed timing mark 28 can be sent to the remote computer of such as operator PC, to perform FT to speed data and with the display of more user-friendly form, or transmit data or FT to being positioned at scene or the technician away from scene.
There is provided more sample can cause finer frequency resolution after carrying out FT to speed data.Obtain the time span of sample by increase or provide more sample by increasing sampling rate.Fig. 8 to Figure 15 shows the curve map produced by the data obtained with 17 samples per second.Fig. 8 illustrates the frequency analysis resolution of the utilization valve actuator of 128 samples altogether.Fig. 9 illustrates in speed data speed data being performed to the Fig. 8 before FT.Figure 10 illustrates the frequency analysis resolution of the utilization valve actuator of 256 samples altogether.Figure 11 illustrates in speed data speed data being performed to the Figure 10 before FT.Figure 12 illustrates the frequency analysis resolution of the utilization valve actuator of 512 samples altogether.Figure 13 illustrates the speed data of Figure 12 before performing FT to speed data.Figure 14 illustrates the frequency analysis resolution of the utilization valve actuator of 1024 samples altogether.As shown in the figure, the resolution of frequency analysis increases along with sample number object and improves.
The frequency analysis of any type as known in the art can be used for the present invention.In described specific embodiment, use and equal 2 nmultiple samples come to speed data perform FT, wherein n is any integer.Therefore, the sum of sample such as equals 128,256,512,1024,2048,4096,8192 etc.Therefore, if obtain 3500 samples, so only 2048 samples can be used for FT.In other embodiments, can to also inaccurately equaling 2 nsample perform FT.But in those embodiments, leakage may become a concerned issue.Be known in the art the technology for solving leakage.
In addition, in a specific embodiment, FT utilizes the sample acquired by stable state.Therefore, timing wheel 20 rotates with the speed of relative constancy.When rotary encoder 1 is incorporated in electric drive valve actuator, timing wheel 20 will accelerate in a period of time and slow down.The speed data produced between accelerated period and deceleration data can be carried out truncation (truncate), average (average) or window (window) before execution FT.Instantaneous frequency analysis is as known in the art and can be used for alternative truncation data.
Perform truncation by algorithm to speed data, this algorithm is designed to analysis speed data before FT process to remove any expedited data or deceleration data.Or speed data can by truncation to make 2 of sample number and FT nrequire compatible.
Phrase FT as used herein contains very wide algorithm scope, comprises Fast Fourier Transform (FFT).FT as used herein contains four large classes of Fourier transform: continuous fourier transform, Fourier series, discrete time Fourier transform and discrete Fourier transformation.Also exist and be designed to process FT algorithm that is approximate and non-homogeneous data.Discrete Fourier transformation is most commonly used to digital signal processing.Phrase FT as used herein contains any algorithm with produced data compatibility.
Represent the desirable maximum duration obtaining sample actuation time.Such as, for valve actuator, valve moves to off-position or is can maximum time of picking rate data from the off-position time moved to needed for open position from open position.Valve only can partly move, and therefore only the part of actuation time can be used for speed data sampling.The exemplary method increasing the speed data sample produced comprises increase sampling rate.Sampling rate is decided by the speed of timing wheel 20 and the number of fixed timing mark 28.Rotary encoder 1 and 2 can have the sampling rate far above 17 samples p.s..
The other method increasing the data sampler number produced is included in collects data multiple actuation time.Each new data set can be collected with available data and combine, until sample count is enough high to allow to utilize FT to operate it.Once data set has been expired, then any new data sample the oldest replaceable data sampler, thus maintain up-to-date data set for analyzing.Can in such as tables of data storage speed or position data, for close to frequency-domain analysis in real time or subsequently.
Figure 15 provides possible sampling rate and can be used for the table of gained total number of samples of frequency analysis.In fig .15, incremental pulsed frequencies equals the sampling rate in units of Hz.Speed DS is the transmission speed of the drive socket (DS) of valve actuator.But speed DS can be relevant to the rotating member of any device.Cone tooth group speed multiple (Bevel Set Speed Multiplier) represents that DS is connected to the speed driving the gear of the input shaft of wheel for inputting 10 to cause to be increased.Wheel for inputting 10 speed multiple represents that the speed that the gear ratio between the gear 11 and the pinion wheel 25 of timing wheel 20 of wheel for inputting 10 causes increases.
The example of the rotating member of whirligig is the drive socket of valve actuator.Drive socket can be interconnected to wheel for inputting 10 via cone tooth group by input shaft.Any connected mode as known in the art can be used for driving wheel for inputting 10.As one of data sampling possible example, if drive socket rotates with 200 rpm, and if cone tooth group causes the speed of about 4.8:1 to increase, so input shaft will with 960 rpm rotations.Therefore, wheel for inputting 10 can rotate with 960rpm.Wheel for inputting 10 driving timing wheel 20.If utilize the tooth speed-increasing gear (spur increaser) of 51/38, so timing wheel 20 rotates with about 1288 rpm.1288 rpm equal timing wheel 20 rotation per second divided by 60.Exemplary timing wheel 20 shown in Fig. 1 has 32 fixed timing marks.But iff utilizing 16 fixed timing marks, the number that fixed timing mark is multiplied by rotation so per second obtains the sampling rate (incremental pulsed frequencies) of 343 samples per second.In the same case, if timing wheel 20 has 32 fixed timing marks, so sampling rate is about 678 samples per second.Nyquist (Nyquist) frequency is 1/2nd of sampling frequency.Sampling rate to equal the total number of samples can collected during single complete action the actuation time of being multiplied by seconds.
Figure 15 shows actuation time and sampling rate influencing each other in the accuracy of calculated rate analysis.It is available for running iff shorter speed data, then alternative be before to data execution FT by united for short operation to improve frequency resolution.
Figure 15 uses Hanning window (Hanning Window), to prevent the distortion in the beginning of data set and discontinuous the caused frequency values of ending hourly velocity signal.Other possible window comprises rectangular window, Blackman window (Blackman), Hamming window (Hamming), triumphant damp window (Kaiser), window index and laylight.But any window be known in the art can be used for estimating speed data.Be known in the art as why not used window to perform frequency analysis.What be known in the art can be used for the present invention for any method performing frequency analysis.
On basis one by one, estimated frequency data can determine that peak and amplitude are about the content suggested by valve actuator.Or frequency analysis can compared with given frequency analytical characteristic (signature), to determine the health status of valve actuator or other whirligig.
Figure 16 to Figure 19 shows the representative frequency analysis that can be used for comparing.Figure 18 and Figure 19 shows the rotational speed depending on valve actuator or other whirligig substantially and the velocity variations changed.The data of Figure 16 and Figure 17 are produced with the actuator that 26 rotations (rpm) per minute operate in stable state.The data of Figure 18 and Figure 19 are produced with the actuator that 18 rpm operate in stable state.Figure 16 and Figure 19 and Figure 17 and Figure 18 utilizes same-code device pinion wheel adapter respectively.Figure 16 has remarkable peak value at 45.4 Hz and 91.1 Hz.The remarkable peak value of Figure 19 more obviously and more.Many problem tunables in valve actuator or other whirligig show as the single peak value of frequency domain.Carry out frequency analysis in different operating speed can disclose and to be hidden in the single peak value of a speed but to be rendered as the potential problems of multiple peak value in other speed.
Rotary encoder of the present invention is described to take turns absolute encoder more.Rotary encoder also can be single wheel absolute encoder or incremental encoder.Such as, timing wheel 20 accessible site is in the wheel identical with wheel for inputting 10.Then, wheel for inputting 10 can play the effect of incremental encoder and timing wheel.And, the encoded segment accessible site of code wheel 30 to 110 in wheel for inputting 10, as known in the art.Then, wheel for inputting 10 can play the effect of single wheel absolute encoder.Wheel for inputting 10 can be designed to the matching ends with input shaft, or alternatively wheel for inputting 10 can be installed on around input shaft, such as in the longitudinal center of input shaft.But wheel for inputting 10 can be installed on any point of the length along input shaft.
Previously, discussed frequency analysis relative to speed data.Extra DATA Example comprises torque data.In the valve actuator measuring moment of torsion, the vibration of moment of torsion can be transformed into frequency domain.When monitoring is delivered to the output torque of valve rod, also torque data can be analyzed in a frequency domain.Be incorporated in the processor in valve actuator or torque data can be converted to frequency domain in any one mode in the mode discussed about speed data or by any technology as known in the art above away from the processor of valve actuator.Then, identifiable design power train component frequency and the instruction of valve actuator health status is provided to operator.
Another DATA Example comprises thrust data.Such as, the motor of valve actuator is connected to the worm screw of the worm screw/worm gear in power train.The axial thrust of monitoring worm gear is to read the moment of torsion transmitted by worm gear.Be merged into the processor in valve actuator or can thrust data be converted to frequency domain away from the processor of valve actuator, being similar to any one method in the method discussed about speed data above or by any technology as known in the art.The frequency of power train component can be identified by operator or computer program.Therefore, the diagnosis of valve actuator is provided.In addition, multiple thrust pickup can be utilized.
Excessive data embodiment involving vibrations data.Such as, eight accelerometers are positioned over the multiple positions in valve actuator.The identical vibration that all eight accelerometers will read in valve actuator.But the accelerometer near given vibration source will have stronger signal.The vibration data observed from eight sensors all in frequency domain can allow to find out vibration source.The frequency of vibration can be relevant to power train component.Therefore, operator can be warned the imminent problem of any possibility of valve actuator.
The sensor of arbitrary number can be utilized in any embodiment in these embodiments.Such as, more than one speed pickup can be utilized.In addition, dissimilar multiple sensors can be utilized.Such as, valve actuator can comprise rotary encoder, such as rotary encoder 1.Valve actuator also can comprise axial thrust sensor.The speed data that can produce timing wheel 20, carries out frequency analysis to thrust data or to the two.
The whirligig monitored by the present invention or valve actuator can be driven by motor, hydraulic pressure, engine, handwheel or other drive unit any as known in the art.
Although description above contains many concrete conditions, be not considered to it and limit the scope of the invention, and be only to provide some one exemplary embodiment.Equally, other embodiments of the invention can be designed when not departing from the spirit or scope of the present invention.Therefore, scope of the present invention can only represented by the equivalent on appended claims and legal sense thereof and restriction, instead of represented by description above and restriction.Disclosed herein belong to claims meaning and scope in all interpolations of the present invention, deletion and amendment are also covered by the present invention.

Claims (29)

1., for analyzing a method for whirligig, described method comprises:
Operationally be connected to by rotary position encoder on the axle of described whirligig, wherein, described rotary position encoder comprises:
Rotary position encoder has at least one code wheel, at least one code wheel described comprises at least one the coding section for encoding to multiple positions of valve actuator, and described valve actuator has the multiple integrated speed pickup being suitable for monitoring at least one encoded segment described;
Comprise the timing mechanism of timing wheel, described timing wheel has around described timing wheel with multiple fixed timing marks at concentric patterns equally interval, wherein, the multiple integrated speed pickup of described valve actuator produces the rotary speed data relevant to one or more parts of described whirligig with described timing mechanism;
Two groups of redundancy timer sensors, it is for monitoring multiple fixed timing marks of described timing wheel; With
Processor, itself and multiple sensor and described timing mechanism communicate and are suitable for described data to be converted to frequency domain;
Described speed pickup is utilized to produce speed data; And
Frequency analysis is performed to described speed data.
2. method according to claim 1, is characterized in that, described rotary position encoder is incremental encoder.
3. method according to claim 1, is characterized in that, described rotary position encoder operates between the two positions.
4. method according to claim 3, is characterized in that, performs described frequency analysis and is included on the computing machine of locating away from described whirligig and processes described speed data.
5. method according to claim 3, is characterized in that, performs described frequency analysis and is included on the processor relevant to described whirligig and processes described speed data.
6. method according to claim 3, is characterized in that, performs described frequency analysis and is included on the processor that is incorporated in described rotary position encoder and processes described speed data.
7. method according to claim 3, is characterized in that, described rotary position encoder is absolute encoder.
8. a valve system, it comprises:
Rotary position encoder, it has at least one code wheel, at least one code wheel described comprises at least one the coding section for encoding to multiple positions of valve actuator, and described valve actuator has the multiple sensors being suitable for monitoring at least one encoded segment described;
Comprise the timing mechanism of timing wheel, described timing wheel has around described timing wheel with multiple fixed timing marks at concentric patterns equally interval, wherein, multiple sensor of described valve actuator produces the data relevant to one or more parts of described whirligig with described timing mechanism, and described data comprise at least one in rotary speed data, position data, torque data, thrust data and vibration data;
Two groups of redundancy timer sensors, it is for monitoring multiple fixed timing marks of described timing wheel; With
Processor, itself and multiple sensor and described timing mechanism communicate and are suitable for described data to be converted to frequency domain.
9. valve system according to claim 8, is characterized in that, described multiple sensor is independently selected from the group be made up of speed pickup, position transducer, torque sensor, thrust pickup and vibration transducer.
10. valve system according to claim 8, it is characterized in that, described multiple sensor comprises at least one speed pickup, and described processor is suitable for from least one speed pickup inbound pacing data described and performs frequency analysis to described speed data.
11. valve systems according to claim 10, is characterized in that, at least one speed pickup described is incorporated in described rotary position encoder.
12. valve systems according to claim 11, is characterized in that, described rotary position encoder is incremental encoder.
13. valve systems according to claim 11, is characterized in that, described rotary position encoder is absolute encoder.
14. valve systems according to claim 13, is characterized in that, at least one code wheel described comprises single encoder dish.
15. valve systems according to claim 13, is characterized in that, at least one code wheel described comprises multiple scrambler dish.
16. valve systems according to claim 15, it is characterized in that, described multiple scrambler dish respectively comprises at least one relevant encoded segment, described encoded segment can operate to encode to multiple positions of described valve actuator, and wherein, described absolute encoder comprises at least one two group position transducer for each at least one encoded segment described, wherein, each at least one two group position transducer described can operate to monitor the encoded segment at least one encoded segment described.
17. valve systems according to claim 11, is characterized in that, also comprise handwheel, and described handwheel can operate to actuate described valve actuator and can operate to actuate described rotary position encoder.
18. valve systems according to claim 11, is characterized in that, described rotary position encoder is suitable for being actuated by the power train of described valve actuator.
19. valve systems according to claim 18, is characterized in that, described rotary position encoder is actuated by input shaft, and described input shaft is driven by the worm gear of described power train.
20. valve systems according to claim 11, is characterized in that, described rotary position encoder is suitable for being actuated by the motor in described valve actuator.
21. valve systems according to claim 8, it is characterized in that, described multiple sensor comprises at least one torque sensor, and described processor is suitable for receiving torque data from least one torque sensor described and performing frequency analysis to described torque data.
22. valve systems according to claim 8, it is characterized in that, described multiple sensor comprises at least one axial thrust sensor, and described processor is suitable for from least one axial thrust sensor receiving axes described to thrust data and performs frequency analysis to described axial thrust data.
23. valve systems according to claim 10, it is characterized in that, described multiple sensor comprises at least one accelerometer, and wherein, described processor is suitable for receiving expedited data from least one accelerometer described and performing frequency analysis to described expedited data.
24. valve systems according to claim 8, is characterized in that, described rotary position encoder comprises described processor.
25. valve systems according to claim 8, is characterized in that, described processor utilizes Fourier transform that described data are transformed into described frequency domain.
26. valve systems according to claim 8, is characterized in that, described processor is suitable for communicating with display for showing described data.
27. valve systems according to claim 8, is characterized in that, described processor comprises multiple processor.
28. valve systems according to claim 8, is characterized in that, described processor is a part for described valve actuator.
29. 1 kinds for analyzing the method for valve, described method comprises:
Valve system according to claim 8 is provided;
From multiple sensor generated data of described valve system; And
Frequency-domain analysis is performed to described data.
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Citations (4)

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Publication number Priority date Publication date Assignee Title
CN1237702A (en) * 1998-05-28 1999-12-08 松下电器产业株式会社 Checking device and checking method for rotary operating electronic element
US20040004181A1 (en) * 2002-06-03 2004-01-08 Mitsubishi Denki Kabushiki Kaisha Photoelectric rotary encoder
CN1517273A (en) * 2003-01-17 2004-08-04 �й���ѧԺ������ѧ���ܻ�е�������� Potary mechanism for CCD camera target plane carried by aircraft
CN1616971A (en) * 2003-11-13 2005-05-18 阿斯莫株式会社 Rotary machine with rotary sensor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1237702A (en) * 1998-05-28 1999-12-08 松下电器产业株式会社 Checking device and checking method for rotary operating electronic element
US20040004181A1 (en) * 2002-06-03 2004-01-08 Mitsubishi Denki Kabushiki Kaisha Photoelectric rotary encoder
CN1517273A (en) * 2003-01-17 2004-08-04 �й���ѧԺ������ѧ���ܻ�е�������� Potary mechanism for CCD camera target plane carried by aircraft
CN1616971A (en) * 2003-11-13 2005-05-18 阿斯莫株式会社 Rotary machine with rotary sensor

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