CN104596774B - Rotary encoder frequency analysis - Google Patents

Rotary encoder frequency analysis Download PDF

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Publication number
CN104596774B
CN104596774B CN201510022973.XA CN201510022973A CN104596774B CN 104596774 B CN104596774 B CN 104596774B CN 201510022973 A CN201510022973 A CN 201510022973A CN 104596774 B CN104596774 B CN 104596774B
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sensor
wheel
data
valve system
timing
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CN104596774A (en
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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
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Abstract

Present invention design rotary encoder frequency analysis.A kind of novel method for the problem of being used to diagnose valve actuator or other rotating devices.Frequency analysis is performed to speed, position, moment of torsion, thrust or vibration data.Speed or position data can be provided by rotary encoder.

Description

Rotary encoder frequency analysis
The application is that submits had been enter into the PCT Patent Application (China national of National Phase in China on April 21st, 2006 Application No. 200680055060.7, international application no 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 valve actuator Perform frequency analysis and the rotary position encoder with built-in self-test.
Background technology
In numerous applications, it is necessary to measure the position of the rotary shaft of rotating device.However, rotating device is often complicated And there is inaccessible part.Moreover, rotating device is usually integrated into specific industrial process, wherein stopping the process to tie up The cost of rotating device is repaiied usually considerably beyond the cost of rotating device.For example, rotary valve is often for industrial process It is vital, and the maintenance needs of some parts of valve stop the process.In the presence of for accurately identify rotary shaft and The needs of the position of the object of such as valve rod driven by the rotary shaft.Appointing in the rotating device of identification such as valve also be present The needs of what wearing terrain, to perform preventative maintenance in predetermined shut down, or with convenient to operate rotating device so as to keeping this Device is operated until making a reservation for shut down next time.Connect in the presence of the position and identification rotary shaft for can determine rotary shaft The needs of the seriousness of the problem of in the rotating device connect and the device of position.
A method for diagnosing rotating device is to use frequency analysis.Followed using Fourier transformation (FT) algorithm to analyze Loop data, data are transformed into frequency domain from time domain.An attempt is that motor-driven valve application Fourier transformation, including measurement are flowed to The electric current of motor, to motor data application Fourier transformation, the transmission of valve actuator is then diagnosed using the peak value in frequency spectrum The problem of in system.However, this method does not measure the rotary speed of axle, the position of rotary shaft is not known yet.Current of electric is surveyed Amount device is not also integrated into the device that can determine rotary shaft position.
A kind of method for measuring the position of rotary part is related to rotary encoder.Rotary encoder include incremental encoder and Absolute encoder.Incremental encoder is used to measure the rotationally-varying of axle.Basic incremental encoder includes drawing with substantial radial The disk of line (painted line).As long as photodiode or other sensors detect that setting-out just produces electric pulse.Computer Or other processors follow the trail of pulse to determine the position of the disk, and determine the position of the axle attached by the disk.Compiled using increment Code device, if computer circuit breaking, in power recovery, positional information will lose.Previous increment for valve actuator is compiled Code device includes velocity sensor, but velocity sensor and caused data are not used to carry out frequency analysis.
Absolute encoder does not need power supply to maintain positional information.Absolute encoder produces unique digital code and is used to rotate Each different angle of axle.Absolute encoder can be single wheel, and it has the complex pattern being worked on wheel.Single wheel is attached Onto reference axis, and many different Angle Positions can be identified by the pattern on the wheel.However, this wheel is only applicable to Axle only undergoes the situation of single rotation.
Another form of absolute encoder utilizes multiple wheels, and it has the concentric ring on each wheel, wherein each ring carries For the position data of 1 bit.The form of multiple wheels allows measured axle to undergo multiple rotary and still follows the trail of the position of axle And number of revolutions.Allow the more multiposition for the rotation or single rotation of determination for following the trail of more multiaxis in the presence of more wheels.However, more wheels Formula absolute encoder is usually fragile and reliability is poor.Need reliable and the speed for being used for frequency analysis can be produced by operating The pleiotaxy absolute encoder of data.
An attempt for solving this problem is to utilize 6 wheels or 7 wheels.Each wheel provides 3 bit datas.However, through 2 bit Gray codes are only produced as position data by v bit process.Which increase the reliability of absolute encoder.However, not Use repetition sensor (duplicate sensor).In addition, velocity sensor is not integrated into absolute encoder, and do not produce Raw speed data is used for frequency analysis.
The content of the invention
One embodiment of the present of invention includes the rotary encoder for rotating device.Rotary encoder includes one or more Individual code wheel, each code wheel in one or more code wheels include at least one encoded segment, and these encoded segments can be grasped Work is encoded with the position to rotating device.Also include at least one double groups of sensors, its is operable at least one to monitor Encoded segment.
Another embodiment of the present invention includes valve actuator, and valve actuator includes absolute encoder and is suitable for driving definitely The power train of encoder.Absolute encoder includes at least one encoder disk, operable to read at least one encoder disk Multiple sensors, it is operable to produce the velocity sensor of speed data, for every in multiple sensors and velocity sensor At least one of individual sensor repeats sensor.
Another embodiment of the present invention includes the method that analysis includes the valve actuator of sensor.This method is included from sensing Device produces data and performs frequency-domain analysis to the data.
The particular embodiment of the present invention includes the method for the rotating device that analysis rotates between two position limits.The party Method includes for rotary position encoder being operably coupled to the axle of rotating device, and wherein rotary position encoder refers to including speed Show device.This method produces speed data using velocity sensor and performs frequency analysis to the speed data.
Detailed description below is considered in conjunction with the accompanying drawings, and feature of the invention, advantage and alternative aspect will be for abilities Field technique personnel are apparent.
Brief description of the drawings
Although specification with particularly point out and clearly advocate be considered as present disclosure claims make To summarize, but when read in conjunction with the accompanying drawings, advantages of the present invention can be more readily determined by the following description of the present invention, In the accompanying drawings：
Fig. 1 shows the wheel of one embodiment of rotary encoder；
Fig. 2 shows the complete assembling form of Fig. 1 embodiment；
Fig. 3 shows the part assembling form of Fig. 1 embodiment；
Fig. 4 shows the top view of Fig. 3 embodiment；
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 to go wrong in a frequency domain；
Fig. 8 shows the data resolution using 128 samples；
Fig. 9 shows the data used in fig. 8 before Fourier transformation (FT) is performed to data；
Figure 10 shows the data resolution using 256 samples；
Figure 11 shows the data used in Fig. 10 before FT is performed to data；
Figure 12 shows the data resolution using 512 samples；
Figure 13 shows the data used in fig. 12 before FT is performed to data；
Figure 14 shows the data resolution using 1024 samples；
Figure 15 is the form for the degree of accuracy for indicating certain embodiments of the present invention；
Figure 16 is the example of the frequency domain data obtained with 26 times per minute rotations (rpm)；
Figure 17 is with another example of the 26 rpm frequency domain datas obtained；
Figure 18 is with the example of the 18 rpm frequency domain datas obtained；And
Figure 19 is with another example of the 18 rpm frequency domain datas obtained.
Embodiment
The present invention can be used for any valve actuator or other rotating devices, the dress such as rotated between the two positions Put.The particular embodiment of the present invention utilizes the rotary encoder with integrated velocity sensor.Velocity sensor it is operable with Produce speed data and be used for frequency analysis.The present invention, which also can be used, can produce the another type of of the data that can be transformed into frequency domain Sensor.And frequency analysis can be used for any problem of diagnosis valve actuator or other rotating devices.In one embodiment, revolve It is with the absolute encoder for repeating sensor pair to turn encoder.
In the accompanying drawings, similar reference represents similar element.Fig. 1 shows the one of the rotary encoder of the present invention Individual embodiment.Rotary encoder 1 represents the specific embodiment of absolute encoder.In the absence of such as " input ", " sequential " or " compile The term " wheel " or " multiple wheels " of the qualifiers such as code " are applicable to wheel for inputting 10, timing wheel 20 and code wheel 30 to 110.It is short Language " code wheel " or " multiple code wheels " are applied to code wheel 30 to 110.
Bottom mounting bracket 130 is fastened on bottom plate 120 via bolt 132.Bolt 132 can also be rivet, screw, fixture, Clip, adhesive, pad, snap-fitted connection or any other attachment means as known in the art.Bolt 132 can also be put It is placed in any position.For example, when bolt 132 is fixture, bottom mounting bracket 130 may extend into the edge of bottom plate 120, bolt 132 can be positioned at the edge.Or when bolt 132 is adhesive, adhesive can be in the bottom installation contacted with bottom plate 120 Deploy on any surface of frame 130.
Bottom plate 120 may include Semiconductor substrate, wherein such as electrical equipment of processor 150 and sensor 160 can be each other It is integrated.The circuit of connection processor 150 and sensor 160 has been not shown.However, except circuit is integrated into bottom plate 120 into it Outside, circuit can be positioned at outside bottom plate 120.For example, it can be drilled in bottom plate 120 with the input and output with sensor 160 The input of end and processor 150 is corresponding with output end.Insulated wire can interconnect between sensor 160 and processor 150. In addition, if circuit is positioned at outside bottom plate 120, it may be desired to which bottom plate mounting bracket 130 is merged into bottom plate 120.
Rotary encoder 1 may also include top mounting bracket 140 and top plate 170, as shown in Figures 2 to 4.On bottom plate 120 Identical description is applied to top mounting bracket 140 and top plate 170 with bottom mounting bracket 130.Top plate 170 may also be semiconductor lining Bottom.However, any circuit also can be outside top plate 170.Top mounting bracket 140 can be also integrated into top plate 170.Top mounting bracket 140 can be fastened to bottom mounting bracket 130 using bolt 132.Clamp nut 122 is attached to bottom plate 120.Top plate 170 is via screw 172 and clamp nut 122 be fastened to bottom plate 172, as shown in Figure 2.Rotary encoder 1 can be fastened to separately via installation bolt 124 One device.The configuration described on bolt 132 is equally applicable to clamp nut 122, screw 172 and installation bolt 124.Such as Fig. 3 Shown in Fig. 4, top mounting bracket 140 can be one piece.This allows to be shown in the implementation of the top mounting bracket 140 in Fig. 3 and Fig. 4 Example thermal expansion in an uniform way.This is equally applicable to bottom mounting bracket 130.In an alternative em bodiment, the He of top mounting bracket 140 Bottom mounting bracket 130 respectively can be made up of more than one piece.
In addition, rotary encoder 1 is not limited to any given shape.Rotary encoder 1 can be for circular, rectangle or by specifically Shape and be used for certain device or application.Moreover, term " top (top) " and " bottom (bottom) " is used herein is used for the purpose of It is easy to the description of rotary encoder 1.Therefore, rotary encoder 1 can use at any orientation.
In Fig. 1 to Fig. 4 particular example, wheel for inputting 10 is included in the tooth 12 on gear 11.Wheel for inputting 10 also includes hole Mouth 14, it can be used for the device for providing the number of revolutions of tracking wheel for inputting 10 together with sensor.Locking cap 16 is attached to input Wheel 10.As shown in figure 3, when locking cap 16 is in appropriate location, any movement of wheel for inputting 10 is by locking cap 16 and top The constraint of the contact of mounting bracket 140.If rotary encoder 1 will be handled upside down or may include locking cap 16 when shipping, and once Input shaft prepares engagement rotary encoder 1 and then unloads locking cap 16.
Timing wheel 20 includes gear 21 and little gear 25.Gear 21 includes tooth 22.Little gear 25 includes tooth 26.Timing wheel 20 Also include timing slit 28.In this embodiment, timing slit 28 is designed to that the top surface from gear 21 extends to gear 21 The hole of basal surface, and timing slit 28 is designed as showing as the arcuate segments of rectangle.It should, however, be understood that these elements There can be any shape.Timing slit 28 can also be setting-out, embedded magnet or any other structure that can be detected.Also may be used In the absence of timing slit 28, alternatively, other devices can perform the function of timing slit 28.For example, the tooth on gear 21 can It is made up of ferrous compound and including enough numbers with corresponding to desired fixed timing mark.The magnetic being placed near gear 21 Property the detectable neighbouring magnetic reader rotation of reader each tooth 22.Timing wheel 20 represents the timing mechanism available for the present invention Only one embodiment.
Timing wheel 20 also includes encoded segment 24, and it is designed as extending through from the top surface of little gear 25 in the present embodiment Cross the arcuate socket of the bottom of gear 21.Fig. 1 shows that encoded segment 24 terminates at and radially extending from timing wheel 20 The straight edge of ray alignment.Encoded segment 24 or arcuate segments, it terminates at the spill side with gap 132 and gap 142 The similar concave edge of edge.Encoded segment 24 is shown as the inner ring 27 of timing wheel 20 being divided into eight parts.However, encoded segment 24 It may be designed to inner ring 27 being divided into two parts, four parts, 16 parts or any other of l/2nNumber.
In the embodiment shown in fig. 1, code wheel 30 includes the gear 31 with tooth 32 and the little gear 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 extend to the basal surface of wheel 30 from the top surface of code wheel 30.Encoded segment 38 has continuous arcuate shape, and it is accounted for According to the half of outer shroud 39.Encoded segment 34 includes two different arcuate segments, segmentation 34a and segmentation 34b, and it is respectively occupied The a quarter of inner ring and equally spaced apart from one another.Segmentation 34a is started from and the identical radius of encoded segment 38.It is segmented 34b Start from the identical radius of the termination of encoded segment 38.Encoded segment can be asymmetric, as shown in figure 1, or symmetrical , such as Fig. 5 encoded segment.The asymmetric orientation of encoded segment can be easy on bottom plate 120 be not encoded the non-volume of wheel Place redundant sensor in the position that code part charge stops.
Code wheel 40 includes the gear 41 with tooth 42 and the little gear with tooth (not shown).Little gear is installed on coding On the bottom side of wheel 40, and not shown in figure.Code wheel 40 has inner ring 47 and outer shroud 39, and inner ring 47 has encoded segment 44, 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.Compile Code division section 48 includes continuous arcuate segments, and it occupies the half of outer shroud 49.Encoded segment 44 is divided into two arcs point Section, segmentation 44a and segmentation 44b, each of which occupy a quarter of inner ring and equally spaced apart from one another.Segmentation 44a is started from and the identical radius of encoded segment 48.Segmentation 44b starts from the same radial ray of 38 terminations of segmentation.
In the present embodiment, code wheel 50,70,90 and 110 is identical with code wheel 30, code wheel 60,80 and 100 and coding It is identical to take turns 40.However, any one code wheel in these code wheels need not be identical with any other code wheel.When using term When " inner ring " or " multiple inner ring ", expression be the inner ring 37 of each in code wheel 30 to 110,47,57,67,87,97, 107 and 117.Only the inner ring of timing wheel 20 and code wheel 30 and 40 is actually numbered in Fig. 1.When using term " outer shroud " or When " multiple outer shrouds ", expression be each in code wheel 30 to 110 the and of outer shroud 39,49,59,69,79,89,99,109 119.Only the outer shroud of code wheel 30 and 40 is actually numbered in Fig. 1.When use term " encoded segment " or " multiple codings point Section " when, expression be each code wheel in timing wheel 20 and code wheel 30 to 110 encoded segment 24,34,38,44,48, 54th, 58,64,68,74,78,84,88,94,98,104,108,114 and 118.The only volume of timing wheel 20 and code wheel 30,40 Code division section is actually numbered in Fig. 1.In addition, fixed timing mark 28 can be considered " encoded segment ".Produced by fixed timing mark 28 Raw data can be used for determining position and/or speed.Equally, the data as caused by other encoded segments can be used for determining position And/or speed.
The gear 11 of wheel for inputting 10 engages with the little gear 25 of timing wheel 20.The gear 21 of timing wheel 20 and code wheel 30 Gear 31 engages.The little gear 35 of code wheel 30 engages with the gear 41 of code wheel 40.The little gear 45 of code wheel 40 and centre Little gear 180 engages.Intermediate speed pinion 180 engages with the gear 51 of code wheel 50.The little gear 55 and code wheel of code wheel 50 60 gear 61 engages.The little gear 65 of code wheel 60 engages with intermediate speed pinion 180.Intermediate speed pinion 180 and code wheel 70 Gear 71 engage.The little gear 75 of code wheel 70 engages with the gear 81 of code wheel 80.The little gear 85 of code wheel 80 is with Intermedian denticle wheel 180 engages.Intermediate speed pinion 180 engages with the gear 91 of code wheel 90.The little gear 95 of code wheel 90 and coding The gear 101 of wheel 100 engages.The little gear 105 of code wheel 100 engages with intermediate speed pinion 180.Intermediate speed pinion 180 is with compiling The gear 111 of code wheel 110 engages.
As seen in Figure 3, the gear of wheel for inputting 10 and code wheel 40,60,80 and 100 is in and timing wheel 20 and coding In the little gear identical plane of wheel 30,50,70,90 and 110.The little gear of code wheel 40,60,80 and 100 is in and timing In the gear identical plane of wheel 20 and code wheel 30,50,70,90 and 110.
Light splash guard (light splashguard) (not shown) can be from bottom mounting bracket 130 and top mounting bracket 140 It is prominent.Splash guard is arranged in part the or complete concentric ring between inner ring and outer shroud.For example, for code wheel 30 and Speech, splash guard are arranged between inner ring 37 and outer shroud 39.Splash guard may be designed to based on timing wheel 20 and code wheel 30 to 110 The distance between basal surface (one side) and bottom mounting bracket 130 and with change height.Splash guard provide sensor 160 it Between light barrier.Splash guard may include to be built in bottom mounting bracket 130, be built in code wheel and timing wheel 20 or be built in Concentric ring in bottom plate 120 and top plate 170.Or block piece can be formed individually around sensor 160, or around detector 162 and transmitter 164 formed.Splash guard can be ridge, wall or can prevent any other of crosstalk between different sensors 160 The concentric ring of structure.
The Fig. 1 that is engaged on of wheel for inputting 10, timing wheel 20 and code wheel 30 to 110 is shown at sinuous match somebody with somebody into Fig. 4 Put.However, the configuration can be altered to meet different encoder designs.For example, working as needs to be configured to justify by rotary encoder 1 During shape, wheel may be disposed to coiled arrangement.Variously-shaped and wheel the various configurations of rotary encoder 1 are all possible.Fig. 5 is shown The replacement U-shaped configuration of wheel in the similar rotary encoder shape.
Rotary encoder 1 also is designed to hierarchy.Wheel for inputting 10, timing wheel 20 and code wheel 30 to 110 are in Fig. 1 It is illustrated to be arranged in single-stage into Fig. 4.Or rotary encoder 1 is designed to be included in the wheel in multistage.In Fig. 1, Each wheel is uniquely fastened on bottom mounting bracket 130.However, multiple wheels may be mounted on single wheel shaft.In an embodiment In, code wheel 60 and 70, code wheel 50 and 80, code wheel 40 and 90 and code wheel 30 and 100 can be respectively arranged in same wheel On axle.Timing wheel 20 and code wheel 110 can be disposed on same wheel shaft.For even narrower rotary encoder, wheel 40,50, 80 and 90 can be disposed on same wheel shaft, and code wheel 30,60,70,100 and 110 can be disposed on same wheel shaft.It should be appreciated that It is 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.However, wheel or worm gear, bore tooth Wheel, herringbone bear, hypoid gear, ring gear, rack-and-pinion, and helical gear.Rotary encoder 1 is shown Code wheel has the embodiment of fixed rotation.Or rack-and-pinion system can be implemented, wherein timing wheel 20 and code wheel 30 To 110 without fixed rotation.
Referring to the specific embodiment shown in Fig. 1 to Fig. 4, the inner ring and outer rings of different coding wheel are positioned at the center phase away from wheel At same distance.For example, inner ring 37 and encoded segment 34 distance and inner ring 47 and encoded segment 44 away from 30 centers of wheel are away from wheel 40 The distance of the heart is identical, in the case that wheel 40 has larger diameter.Therefore, the number of tooth 42 and tooth 36 can determine to take turns 40 phases Reduce for the speed of wheel 30.This is equally applicable to other wheels.However, the encoded segment of different coding wheel need not be waited diametrically Positioned away from ground.
The speed of wheel for inputting 10 is determined by the speed of rotating device to be monitored.For example, in the present embodiment, timing wheel 20 Rotating must be faster about 1.34 times than wheel for inputting 10.Code wheel 30 with the same speed of timing wheel 20 rotate.Code wheel 40 is with volume The a quarter of the speed of code wheel 30 rotates.Code wheel 50 is rotated with a quarter of the speed of code wheel 40, code wheel 40 with 1/16th speed of the speed of code wheel 30 rotates.This is equally applicable to other code wheels so that code wheel 110 is with coding The a quarter of the speed of wheel 100 rotates, and code wheel 100 rotates with the 1/65 of the speed of code wheel 30,536.In some situations Under, code wheel 30 will rotate, but be not enough to cause the rotation of code wheel 110.In alternative embodiments, extra code wheel can add It is added to rotary encoder 1.The speed of extra code wheel can be calculated as the 1/4 of code wheel 30n(counted as follows, code wheel 30 be n=0, and code wheel 40 is n=1 ... ..., and code wheel 110 is n=8, etc.).The particular embodiment of the present invention may include one Following code wheel：It has the wheel that less bit number is used for maximum speed, but allows when train is driven with relative Coding wheel speed reduces and increased the higher bit number each taken turns.
It there may be the situation for needing to change the number of teeth between wheel and wheel.For example, in code wheel 40 and 60 without identical In the case of the number of teeth.In addition, the number of teeth on Binding change gear, the radial position of encoded segment can change relative to another wheel Become, to cause speed to be reduced or increased.
Wheel can be made up of any kind of material.A small number of representative illustrations is steel, stainless steel, aluminium, other metals, ceramics, modeling Material, glass and the plastics for being covered with metal.Any material known in the art for gear can be used.These wheels can be all by phase Same composition is made, or the composition between wheel and wheel can be different.
As shown in referring to code wheel 80, sensor 160 includes detector 162 and transmitter 164.Detector 162 and transmitting Device 164 is built in bottom plate 120.Gap 134 is built in bottom mounting bracket 130, to prevent from covering detector 162 and transmitter 164.On transmitter 164 and detector 162, transmitter 164 and detector 162 can be installed via semiconductor fabrication In the hole being inserted through on bottom plate 120 and by transmitter 164 and detector 162 in bottom plate 120, so as to by the He of transmitter 164 Detector 162 is manufactured in bottom plate 120.It is to be understood that transmitter 164 and detector 162 are fastened to appointing on bottom plate 120 What its method is also covered by the present invention.Gap 144 (Fig. 4) is built in the mounting bracket 140 of top and had and the phase of gap 134 Congenerous.Although being not shown, rotary encoder 1 may also comprise sensor, and it includes transmitter and detector, transmitter and detection Device is built in the basal surface of top plate 170.For each detector 162 being built in bottom plate 120, transmitter can be arranged directly In top.For each transmitter 164 being built in bottom plate 120, detector can be placed directly in top.Top shown in Fig. 4 Gap 144 in portion's mounting bracket 140 prevents any stop of the top mounting bracket 140 to transmitter and detector.Positioned at top plate 170 Basal surface on sensor, detector and transmitter generally be located directly above sensor 160, transmitter 164 and inspection It is identical to survey device 162.Therefore, for the ease of this paper discussion, with the component on bottom plate 120 it is substantially similar be located at top plate Any respective members on 170, although being not shown, by assign plus quotation marks (') mark identical accompanying drawing mark Remember (for example, detector 160 and detector 160').
Shown embodiment includes sensor 160,161,163 and 165.Sensor 161 corresponds to timing wheel 20 and coding The inner ring of wheel 30 to 110.Sensor 163 and 165 corresponds to the outer shroud of code wheel 30 to 110.Sensor 160', 161', 163' It is placed directly in the top of sensor 160,161,163 and 165 respectively with 165'.Sensor 163 and 165 may be positioned such that with about 90 The radial angled spacings of degree are opened.In code wheel 30,60,70,100 and 110, sensor 161 can divide sensor 163 and 165 equally Between angle.In code wheel 40,50,80 and 90, sensor 161 and 163 can be with about 45 degree of radial angled spacings Open, sensor 161 and 165 can be opened with about 135 degree of radial angled spacings.Sensor 161,163,165 and 169 only about Code wheel 80 and 100 and timing wheel 20 are numbered.Each sensor 161,163 and 165 includes transmitter 164 and detector 162. Each sensor 161', 163' and 165' include transmitter 164' and detector 162'.
Sensor 160/160' includes transmitter 164/164' and detector 162/162', and can be described as one group of biography Sensor pair or double groups of sensors.This is equally applicable to sensor 160/160' and 160'/160 " concrete form (that is, sensor 161st, 161', 163,163', 165,165', 169 and 169').It is considered as a pair and incites somebody to action as by transmitter 164 and detector 162 Transmitter 164' and detector 162' is considered as the replacement of relative the second couple, and transmitter 164 and detector 162' can be considered one Right, transmitter 164' and detector 162 can be considered parallel the second couple.But think anyway, second pair can provide weight Recheck and survey.This redundancy enables rotary encoder 1 highly fault-tolerant.If for example, as one to break down, So rotary encoder 1 is still operable.It may be broken down (if present) according to which sensor or sensor component, coding Device can also be used the multiple sensors actuated and operate.
In a specific embodiment, the transmitter 164 of sensor 160 and the position of detector 162 are to give sensor 160 (and respective sensor 160') may be most wide and most symmetrically place tolerance position.It is right before bit value changes again For sensor, identical space is left in the position that code value changes in (CW) direction clockwise and (CCW) direction counterclockwise. This method figure 1 illustrates.In a specific embodiment, this causes asymmetric sensor to place the phase with code change point Answer asymmetry.
In an alternative em bodiment, transmitter 164 can be offset relative to detector 162.Then the obtained by may compare One encoded radio and skew encoded radio, to ensure that the arithmetical difference between two values is identical., can be by following if arithmetical difference differs Self-test search this problem.
In any embodiment, as long as this v bits that are placed on prevent gap logic (anti-backlash logic) In boundary and in the boundary of the permissible mechanical tolerance of component, then caused code will be identical.
In an alternative em bodiment, sensor 161,163 and 165 can respectively have single transmitter, corresponding sensor 161', 163' and 165' can respectively have corresponding single detector and any redundancy are not present.
Each sensor is associated with fixed timing mark 28.Sensor 169 shown in Fig. 1 includes at least one transmitter 164 With at least one detector 162.Sensor 169' on top plate 170 is placed directly in above sensor 169, and including At least one transmitter 164' and at least one detector 162'.
In a specific embodiment, the respective sensor on bottom plate 120 and top plate 170 can once actuate one respectively Wheel.Or can once it actuate whole or some in these wheels.The bottom each taken turns generally is actuated first, afterwards to be each The top side of wheel.In a specific embodiment, can actuation sensor 160/160' each transmitter.Continuous actuate is determined for monitoring When mark 28 each sensor 169/169', be such as discussed in more detail below.On code wheel 30 to 110, biography can be actuated The transmitter 164 of sensor 161,163 and 165.If rotary encoder 1 is in the position shown in Fig. 1, then sensor 161', 163' and 165' detector 162' respectively receives the signal from respective transmitter 164.However, rotary encoder 1 may be positioned to So that only sensor 161' and 163', 161' and 165', 163' and 165', 161', 163' and 165' detector 162' connect Collect mail number or the detector 162' not reception signals of all these sensors.No matter rotary encoder 1 is located at where, detection Device 162 will when transmitter 164 actuates reception signal.In a specific embodiment, transmitter 164 and detector 162 can erect Directly and left and right ground direct communication.Therefore, when actuating three transmitters 164, three detectors 162 by reception signal, and If the opening (that is, encoded segment) in encoder wheel is between transmitter 164 and detector 162', then three detectors 162' can reception signal.Therefore, the data of 6 bits are produced.
In this way, as the transmitter 164' for actuating sensor 161', 163' and 165' on top plate 170 When, the data of 6 bits of generation.Actuate the detector 162' of identical sensor, and the sensing on the bottom side of rotary encoder 1 The detector 162 of device 161,163 and 165.The sensor 161,163 and 165 of code wheel 30 can be actuated.Then, coding can be actuated Sensor 161', 163' and 165' of wheel 30.On code wheel 40 to 110, the sensor activation modes of this replacement can be continued.
On timing wheel 20, sensor 161 and 161' can actuate as described in above for code wheel 30 to 110.One In specific embodiment, continue actuation sensor 169 and 169' transmitter.In the embodiment shown in Figure 2, sensor 169' bags Two transmitters are included, sensor 169 includes two detectors.In a specific embodiment, all other sensor respectively has Transmitter and detector.In a specific embodiment, an once only transmitter of actuation sensor 169.
First detector 162a and the second detector 162b can be positioned such that when fixed timing mark 28 is present in the first detection When on device 162a, fixed timing mark 28 is not present on the second detector 162b.This is shown in Figure 1, wherein detector 162a and appoint The transmitter 164 of choosing is visible, but detector 162b is sightless.
Or sensor 169 and 169' can respectively have transmitter and detector, and (disable) can be forbidden directly left Right transmission characteristic.Can be by using different types of sensor or in detector 162 and 162' and/or transmitter 164 and 164' Perimeter place block piece and forbid this characteristic.
Sensor 169 and 169' may also include other transmitters and detector.For example, Fig. 2 is shown in sensor 169 Detector 164, its detector 162' corresponded in sensor 169'.Transmitter 164 can be positioned over away from the first detector 162a Distance remote enough so that the first detector 162a does not receive optical signal when actuating transmitter 164.In an alternate embodiment In, transmitter 164, first transmitter 164a' and second transmitter 164b' are alternately actuated.
Sensor 160 and 160' provide three levels of redundancy.First, if transmitter 164' and 164 and detector 162' and 162 In any one failure, then sensor 160 and 160' are still exercisable.If for example, sensor 161 of code wheel 80 Transmitter 164 fail, then sensor 161 is still operable because sensor 161' transmitter 164' remain able to The detector 162 of sensor 161 communicates.
Second level redundancy comes from built-in self-test function.Detector 162 is placed on into transmitter 164 nearby to provide certainly Test.Even if accessible light path is not present due to the position of code wheel, detector 162 will receive when actuating transmitter 164 Signal.If the not reception signal of detector 162, then in transmitter 164 and detector 162 (or subsidiary circuit and processing) The failure of any one or two.Once code wheel is moved to the position that accessible light path be present, if detector 192 does not receive Then it is probably that transmitter 164 breaks down to signal.Detector 162' and 164 life-span can by actuate transmitter 164' come It is determined that.If detector 164, detector 162' or transmitter 164' start to break down rather than transmitter 164 breaks down, So use similar logic.
When it is determined which position is identified by sensor 160 and 160', processor 150 will consider the component of any failure, Such as transmitter 164 or detector 162'.For example, if the detector 162 of the sensor 163 adjacent with code wheel 80 fails, So processor 150 can be compensated for the following fact, i.e. sensor 163 and 163' will not be detected in code wheel 80 rotates The light path of the stop of identical point.Or using identical example, if 162 non-reception signal of detector, then detector 162 It can be tested by adjacent transmitter 164, to determine whether detector 162 is operation.Transmitter 164' can be by adjacent detector 162' is tested, so that the reason for whether transmitter 164' is problem determined.If transmitter 164' and detector 162 for operation and Transmitter 164' is sent, but detector 162 does not receive the transmission, then outer shroud 89 stops transmitter 164' and detection Light path between device 162.Moreover, if detector 162 has failed, then processor 150 can estimated coding wheel 30 to 70 and 90 To 110 position, to determine whether outer shroud 89 actually stops the detector 162 of failure.
It can decode that by any one in sensor 160 and 160' to provide the 3rd superfluous by using Viterbi (Viterbi) It is remaining.For example, the output of sensor 163 or the output of sensor 165 can be used for producing Viterbi bit (v-bit).If pass Sensor 160 or sensor 160' are not operated to produce v- bits, then sensor 160 or 160' are used to produce data-bit. In one specific embodiment, sensor 165 and 165' are used to produce v- bits.Viterbi decoding algorithm is forward error correction technique.V ratios Spy provides the redundant data that can be used for accurately being decoded to the position of other 2- bits.In this embodiment, sensor 161 1- bit datas can be provided with 161', sensor 163 and 163' can provide 2- bit datas.By using v- bits, by sensing The angle of signal and optimum position skew caused by device 161 and 161' and sensor 163 and 163' can be +/- 22.5 degree and Do not cause code error.Therefore, the reception signal in the case of it skew be present, the actual position of wheel will also be nevertheless indicated that. The actual position of v- bits on a code wheel also clear and definite adjacent encoder wheel.For example, the v- bits help of code wheel 30 is bright The actual position of true code wheel 40.
Veterbi decoding is not unique decoding algorithm that code wheel 30 to 110 is designed to implement it.With In the present invention other appropriate algorithms for example including sequential decoding, reed solomon coding (Reed-Solomon coding) and Turbine coding (turbo coding).Another replacement of Veterbi decoding is that gear counts.
In rotary encoder 1, the sensor 165 for producing v- bits is offset relative to sensor 161 and 163.Or pass Sensor 165 may be disposed to align with producing the sensor 163 or 161 of data-bit.Fig. 5 shows that absolute encoder (compile by rotation Code device 2) embodiment, wherein v- bit sensors 2165 be positioned to align with data-bit sensor 2161 and relative to Data-bit sensor 2163 is offset.Such as visible with reference to timing wheel 2020, v- bit sensors 2165 also may be positioned in detection Encoded segment 2034 on ring 2027.V- bit sensors 2165 can be positioned so that any in detection code wheel 2030 to 2110 The inner ring of code wheel or whole code wheels.Therefore, sensor 161 or sensor 2161 can be v- bits.
In addition to seldom difference, the rotary encoder 2 shown in Fig. 5 is operated similar to rotary encoder 1.Input Wheel 2010 has the different numbers of teeth.Inner ring 2027 is divided into two parts rather than four parts by encoded segment 2024.In addition, sensor 2165 Be included in in the identical concentric ring of sensor 2161.Timing wheel 2020 includes little gear 2025, and intermediate speed pinion 2180 is small On the either side of gear 2025.
Code wheel 2030 includes the gear 2031 with tooth 2032 and the little gear 2035 with tooth 2036.Code wheel 2030 With inner ring 2037 and outer shroud 2039, inner ring 2037 has encoded segment 2034, and outer shroud 2039 has encoded segment 2038.Coding Segmentation 2034 and 2038 extends to the basal surface of wheel 2030 from the top surface of code wheel 2030.Encoded segment 2038 is shown as occupying The continuous arcuate segments of the half of outer shroud 2039.Encoded segment 2034 includes two different arcuate segments, that is, is segmented 2034a and segmentation 2034b, each are illustrated to occupy a quarter of inner ring and equally spaced from one another.Segmentation Alignd with the middle part of encoded segment 2038 at 2034a middle part.Segmentation 2034b occupies the space directly relative with segmentation 2034.
Code wheel 2040 includes the gear 2041 with tooth 2042 and the little gear 2045 with tooth 2046.Little gear 2045 It is installed on the bottom side of code wheel 2040.In the 5 embodiment of figure 5, it may pass through code wheel 2040 and see little gear 2045.Coding Wheel 2040 has encoded segment 2044 and 2088, similar to code wheel 2030.For purposes of illustration, only it is labelled with Figure 5 The encoded segment of timing wheel 2020 and code wheel 2030.
Code wheel 2050,2070,2090 and 2110 can be identical with code wheel 2030.Code wheel 2060,2080 and 2100 can It is identical with code wheel 2060.Term " inner ring ", " multiple inner ring ", " outer shroud ", " multiple outer shrouds ", " encoded segment " and " multiple volumes Code division section " is used to describe rotary encoder 2, and it is used in a manner of with the identical of rotary encoder 1.
Wheel for inputting 2010 engages with intermediate speed pinion 2180, and the little gear of intermediate speed pinion 2180 and timing wheel 2020 2025 engagements.Little gear 2025 engages with intermediate speed pinion 2180, and the gear of intermediate speed pinion 2180 and code wheel 2030 2031 engagements.The little gear 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 a manner of with the identical of code wheel 30 to 110.
In the present embodiment, the gear of the tooth of wheel for inputting 2010 and code wheel 2030,2050,2070,2090 and 2110 can Be configured in in the little gear identical plane of timing wheel 2020 and code wheel 2040,2060,2080 and 2100.Coding The little gear of wheel 2030,2050,2070,2090 and 2110 can be disposed at the gear with code wheel 2040,2060,2080 and 2100 In identical plane.
Referring to rotary encoder 1, the finger of the absolute position of the input shaft of sensor 160 and 160' offer rotation wheel for inputting 10 Show.As illustrated, rotary encoder 1 is 18 bit absolute encoders.Therefore, rotary encoder 1 can represent 262,144 positions Put.Certainly, without using all positions.Can be by subtracting to the end of train addition wheel and sensor or from the end of train Few wheel increases with sensor or reduces rotary encoder 1.Each wheel can provide three sensors 160 and 160'.Or train In each wheel or at least last wheel can provide only one or two sensor groups 160 and 160', as long as sensor quilt It is positioned to as next more high-order bit 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 can only have single position encoded wheel and single velocity pick-up mechanism, Such as timing wheel.In addition, each in code wheel can have any number of encoded segments and the He of corresponding sensor 160 160'.Rotary encoder 1 can be any encoder design using sensor 160 and 160'.
As discussed above, sensor 160 and 160' can communicate when encoded segment is arranged between sensor, so as to Accessible light path is provided.In sensor 160, upon receipt of the signal, detector 162 exports logical zero value；When not receiving letter Number when output logic 1 be worth.Equally, in sensor 160', detector 162' exports logical zero value upon receipt of the signal；When not When receiving signal, output logic 1 is worth.Therefore, when encoded segment is between sensor 160 and sensor 160', rush is worked as During dynamic transmitter 164, processor 150 receives two single logic inputs：One detector of the input from test position 162', an input is from the detector 162 for performing self-test.Once disable transmitter 164 and actuate transmitter 164', then Processor 150 receives 2 single logic inputs：One logic input comes the detector 162 of test position, a logic input From the detector 162' for performing self-test.
If the communication between inner ring or outer ring block sensor 160 and 160', then reception is represented position by processor 150 The logic 1 of the logical zero input for putting the bit value of code and the successful test for representing the transmitter related to this bit position inputs. For example, when actuating transmitter 164, detector 162' will be blocked from reception signal and will send logic 1.Detector 162 are transmitted and reception signal still through direct left and right, and logical zero therefore is sent into processor 150.
When processor 150 receives logic zero signal and relative transmission device 164 from detector 162' to be actuated, processor 150 recognize encoded segment certainly be present.When actuating transmitter 164' and detector 162 transmits logic zero signal, realize identical Result.The present embodiment uses 0 and logic zero signal；It is also possible, however, to use 0 and 5 volt, 1 and 5 volt or any other conventional sensing Device signal or its combination.In addition, detector 162 and 162' may be designed so that produces logical zero when not receiving optical signal With 0 volt is produced when receiving optical signal.In such embodiments, processor 150 will receive 0 volt simultaneously from detector 162' And transmitter 164 receives the instruction of the encoded segment between sensor 160 and 160' when being actuated.
In a specific embodiment, by transmitter 164 to the self-test that adjacent detector 162 is carried out by from transmitter 164 sidepiece performs to the direct transmission of detector 162.For example, detector 162 can be positioned at the distance away from transmitter 164 At 0.5 mm.Or can be used can not directly left and right transmit sensor.In such embodiments, can be carried out via reflection Self-test.For example, when encoded segment be present between sensor 160 and 160' and actuate transmitter 164, only detector 162' reception signals.When actuating transmitter 164', the only reception signal of detector 162.This will allow transmitter 164 and 164' Actuate simultaneously.When causing light to be blocked between sensor 160 and sensor 160' in the absence of encoded segment, detector 162 It may be adapted to receive reflected light signal with 162'.In this case, when actuating transmitter 164, light can be from inner ring or outer ring Basal surface emits.Detector 162 can receive a part for reflected light.Detector 162 may be designed to receiving any light In the case of transmit logical zero.Detector 162 may be designed to transmit the suitable voltage of intensity of light with being received.Therefore, when depositing In encoded segment, detector 162 can receive the direct of higher-strength from the transmitter 164' positioned at detector 162 directly above Optical signal.When in the absence of encoded segment, detector 162 can receive more low intensive reflected light signal from adjacent transmitter 164.
In another embodiment, encoded segment can be applied and is drawn on wheel, rather than rely on the incision segmentation of wheel.Such In embodiment, do not communicated between sensor 160 and 160'.On the contrary, detector 162 receives reflected light from transmitter 164. This is equally applicable to detector 162' and transmitter 164'.For example, if wheel is non-reflexive (for example, painted black) and compiled Code division section is reflexive (for example, painted white) or wheel is reflexive and encoded segment is non-reflexive, then detection Device 162' will produce a voltage when light reflects from encoded segment and be produced when light comes out from non-coding segmented reflective Different voltage.In addition, sensor 160 and 160' can initially be located at the phase homonymy of code wheel.
Sensor 160 and 160' are described on optical sensor.It should, however, be understood that a number of other biographies Sensor can be used for the present invention.Other appropriate examples of sensor include but is not limited to magnetic sensor, hall effect sensor and Electric contact.Any kind of sensing for being used for increment sensor and absolute encoder as is generally known in the art can be used for the present invention.Compile Code division section may also comprise any material compatible with selecting sensor or configuration.
Processor 150 may be designed as producing alarm.If detector 162, transmitter 164, detector 162', transmitter 164', detector 162a, detector 162b, transmitter 164a' or transmitter 164b' failures, processor 150 can send alarm. Different alarms can be provided for different failure priority.In extreme circumstances, processor 150 may be designed to force by rotating The valve actuator or other rotating devices that encoder 1 is monitored are shut down.Alarm can be expressed in many ways, such as, visually Alarm (flash of light or LCD message such as 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 detector 162 and 162' can not be acted as normally With, then caused data-bit or v- bits will be announced to be invalid.When solution code value that can be based on failure bit and action Between judge the inactive bit value for the valve actuator monitored by rotary encoder 1 or the shadow of the performance of other rotating devices Ring.The bit number that may be based on failure estimates invalid bit value.
The actuation time of valve actuator is valve from open position to closed position or from the closed to open position institute Time.The actuation time of other rotating devices is that rotating device rotates to time used in the second place from first position. For example, for industrial reel, actuation time, which is the reel, is fully deployed the time used from being wound up into completely.When actuation time compared with When long, individual bit corresponds only to the sub-fraction of total actuation time.Therefore, individual bit failure may not be very crucial , so as to provide alarm or warning but not force machine down, this can be enough to be used in such application.If actuation time compared with Short, individual bit failure can represent the relatively large deviation between physical location and position represented by rotary encoder 1.Therefore, it is right In shorter actuation time, in addition to providing alarm or warning, individual bit failure can be enough to force rotating device to shut down.Than The importance of spy's failure may depend on can partly be represented for given which using the actuation time by bit fails.It is special one Determine in embodiment, user can configure the threshold value of allowed loss of accuracy, if being less than the threshold value, BIST features only provide Alarm or warning, but it is higher than the threshold value, BIST features will force secure machine to shut down and provide alarm or warning.
For and without predetermined first position and the second place rotating device, actuation time can be unfixed 's.The example of such rotating device includes the flywheel of engine or the main shaft of turbine.The rotary encoder of the present invention also may be used For any kind of rotating device.
As mentioned above, if sensor 160 and 160' detector 162 and 162' are all verified as by self-test It is exercisable, but detector 162 does not receive signal and detector 162' reception signals, then the position of other wheels can be checked To confirm the position of associated wheel.In this case, data-bit as caused by sensor 160 and 160' is actually to have Effect, but sensor 160 and 160' half are stopped by inner ring or outer ring.Viterbi logic operation can be from main sensors group Or redundant sensor group (that is, transmitter 164 or detector 162) obtains identical position code.It is to be understood that term is " main Will " and " secondary " or " redundancy " be arbitrary.
Or sensor 160 and 160' can be fully functional, but the different component of rotary encoder 1 fails.For example, If one in the tooth on code wheel is cut up, then as the current location indicated by sensor 160 and 160' can with based on Past data that sensor 160 and 160' are provided and the position predicted mismatches.Therefore, although sensor 160 and 160' just Often work, but they do not indicate that correct position.Processor 150 or some other processors can be provided for this wrong school Just and produce alarm.For example, if code wheel 60 loses tooth 62 from gear 61, then code wheel 60 may during each rotation Start to miss position.Therefore, the valve position indicated by all code wheels will no longer correspond exactly to valve position.This will appear as Such as valve bounce to another location.In one embodiment, processor 150 can search valve position indicated by the position of code wheel not Continuously.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 any other appropriate processor) can recalculate valve position in the case of in view of the introduced mistake of code wheel 60.Such as The order of severity of fruit failure is larger, then processor 150 can also produce alarm and/or cause safe shutdown.
Cause any failure of the rotary encoder 1 of the discontinuous instruction of valve position can be by processor 150 or and processor Any other processors of 150 communications identify.
Sensor 160 and 160' are described herein as having transmitter and detector respectively.Or sensor 160 It can be configured to only can be configured to only with detector with transmitter and sensor 160'.In other embodiments, sense Device 160' may not be present in rotary encoder 1.Fig. 2 shows that sensor 160 has multiple transmitters and detector.Sensor 169 include transmitter 164, the first detector 162a and the second detector 162b.Although being not shown, sensor 169' includes corresponding Detector 162', first transmitter 164a' and second transmitter 164b'.Second detector 162b and second transmitter 164b' Make available for data of the checking from the first detector 162a and first transmitter 164a' or effectively by the He of sensor 169 Data output doubles caused by 169'.Sensor 160 may include any number of transmitters, detector and/or the two.Sensing Device 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 wherein each in code wheel only has inner ring and outer rings.However, compile Each in code wheel can have any number of ring, without limiting.For example, each code wheel can have 3,4,5 or 6 Ring.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 by permission sensor 160 and 160' communicate with one another required code wheel size and The width of encoded segment determines.In addition, the sensor that enough gaps should be provided between the rings to be limited on phase homonymy it Between crosstalk.Such as, there is provided gap is to prevent the detector 162 of sensor 161 from recording the transmitter 164 from sensor 163 Signal.It is also possible, however, to use other technologies in addition to gap, such as using splash guard as discussed above, with limitation Crosstalk simultaneously allows smaller coding wheel diameter.
Any number of code wheel can be added to the encoder of the present invention.For example, rotary encoder 1 can provide actuation time For the position data of the common speed valve actuator of one hour.More data bits will be provided and increase by adding multiple code wheels The actuation time that can be manipulated by rotary encoder 1.Certainly, rotary encoder 1 can also be used for valve of the actuation time less than one hour Actuator and other rotating devices.Rotary encoder 1 can also have the code wheel 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, pass Sensor 160 and 160' may include multiple transmitters and detector, so as to provide built-in self-test and fault tolerant operation.Therefore, one Group sensor 160 and 160' can monitor multiple encoded segments, 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 increment combined with the absolute coding function phase of the remainder of rotary encoder 1 Encoder.For example, particular delta encoder embodiment can proportionally be set as may be such that delta pulse speed matches exactly The count rate of the absolute portions of encoder.In this way, when actuator operates, incremental encoder can be used for obtaining positional number According to.When motor stops, motor turn round start when be added to absolute position code final incremental count Ying Yuxin it is absolute Coding site accurately matches.
If the position indicated by timing wheel 20 (effect for also functioning to incremental encoder) is different from as indicated by code wheel Position, then self-test can be performed to sensor 160 and 160'.If self-test confirms that all the sensors 160 and 160' are equal Proper function, then possible code wheel is abnormally followed the trail of.Therefore, alarm or warning can be produced.In a specific embodiment, In this case, rotary encoder can be dependent on incremental encoder until repairing rotary encoder.
Rotary encoder 1 and 2 is designed for use with Gray code；It is also possible, however, to use binary coding.Using v- bits and Repeating sensor causes rotary encoder 1 and 2 never to differ by more than a least significant bit [LSB], so as to increase user couple The confidence of encoder values reliability.
The present invention can be used for many kinds of rotating devices rotating between the two positions, such as, valve actuator, door opener or Reel.In typical valve actuator, motor can drive valve via one group of gear.The output shaft of motor can be directly coupled to snail Bar.Worm screw can drive Worm-gear assembly, and Worm-gear assembly drives drive socket or axle again, and drive socket or axle lifting and reduce or Rotation valve rod.Second axle can also be driven by Worm-gear assembly, to drive the wheel for inputting 10 of rotary encoder 1.Or valve actuator Different gear trains, or motor output shaft can be used to be directly coupled to valve rod without idler gear group.In the art In the presence of a variety of methods that rotary position encoder is connected to rotating device for being applied to the present invention, but these methods will no longer Discuss herein.In a preferred embodiment, rotary encoder 1 and 2 can be used for the rotating device to such as valve actuator Diagnosis is performed, on diagnostic function, rotary encoder 1 will act as demonstrative example.It is also possible, however, to use other volumes of the present invention Code device, such as rotary encoder 2.In addition, timing wheel 20 can be merged into any rotary encoder.Timing wheel 20 can be that increment is compiled The code code wheel of device or the code wheel of single wheel absolute encoder.For example, fixed timing mark 28 can be used for the position of absolute encoder to compile Code.Or as shown in figure 1, timing wheel 20 may also comprise the encoded segment separated with fixed timing mark 28.In another embodiment, Fixed timing mark 28 can be a part for large code pattern, the coding pattern of such as single wheel absolute encoder.In a particular implementation In example, timing wheel 20 can be the incremental encoder for separating or combining with other code wheels.In this embodiment, fixed timing mark 28 is not It is only used for producing speed data, and produces incremental position data.Fixed timing mark 28, similar to encoded segment, it can take and pass Sensor 160 and 160' work required any form or structure together.Fixed timing mark 28 can be hole, line, embedded magnet, engraving or It is used for any other structure of absolute encoder or incremental encoder as is generally known in the art.
Timing wheel 20 and 2020 is shown as having 32 fixed timing marks 28 and fixed timing mark 2028.It is however, fixed Hour wheel 20 and 2020 can have any number of fixed timing mark 28.
On frequency analysis, initially discuss that perform frequency analysis to speed data (is also referred to as frequency herein below Domain analysis) specific embodiment, non-speed data embodiment is discussed afterwards.In addition, for purpose of explanation, timing wheel 20 or timing The fixed timing mark 28 of wheel 20 is usually herein referred to as speed data source.In other embodiments, any kind of speed passes Sensor, no matter with rotational position sensor or do not have rotational position sensor, available for diagnosing (that is, frequency analysis). In addition, the discussion on the frequency analysis of speed data is equally applicable to other DATA Examples.Other DATA Examples can example Such as include torque data, position data, thrust data, noise data, current data, voltage data, power of motor data, motor Volt-ampere response data and vibration data.Numerous types of data and sensor type can be used for frequency analysis, in this area It is known.The present invention covers can be via sensor and valve actuator or the producible any data type of other rotating devices.
Although discussion below is related to rotary encoder 1, it is to be understood that the discussion is equally applicable to rotary coding Device 2.Fixed timing mark 28 on timing wheel 20 can be used for producing speed data.Sensor 169 and 169' can record fixed timing mark 28 In each be presented in the time span before sensor.Then this residence time can be used for being accurately determined such as valve actuator Rotating device speed.Speed data can be used for the speed for determining the input shaft of driving wheel for inputting 10.And input shaft is usually attached It is connected to other rotating devices, the worm gear of such as valve actuator.Therefore, fixed timing mark 28 can be used for the other rotations for determining such as worm gear The speed of rotary device.
In a particular embodiment, fixed timing mark 28 be configured as in timing wheel 20 equidistantly and etc. size hole.However, Any embodiment in the encoded segment embodiment and sensor embodiment that are previously discussed as also is respectively used to the He of fixed timing mark 28 The embodiment of sensor 169 and 169'.
Speed data can be operated using FT caused by fixed timing mark 28, and speed data is converted into frequency from time domain Domain.However, any kind of velocity sensor can be used to produce speed data, to be converted into frequency data.
FT is expected signal sample and occurred with regularly spaced time interval.However, due to rate signal in the present invention Dwell time values may not be constant, therefore measure can be used to allow FT to obtain effective information.It is sufficiently large by selecting Data point, when machine is operated with stable state, the overwhelming majority in these data points will be used, larger data collection it is flat Equal residence time can be used as " rule " residence time [t of each data samplerd].This ' rule ' residence time can be used for demarcating (scale) gained FT frequency scaling (fn (Hz)=l/ (td * # samples).In suitably spot frequency data, data Enough information is provided to operator to determine the velocity variations associated with the known rotary speed of each component of power train, And it may indicate that existing in the power train of valve actuator or other rotating devices or may produced problem.For example, work as equipment When newer, by the chart or curve that form bareline heart rate and amplitude and preserved.Afterwards, new frequency and amplitude can be formed Chart or curve and compared with the baseline chart or curve that are preserved.If corresponding to the peak value of the operating frequency of given component At the frequency or amplitude different from previously measured frequency or amplitude, it is evident that with the frequency phase When the characteristic of the component of association is different from newer, this is indicated generally at abrasion and may failure or imminent failure.Cause This, can perform appropriate maintenance before component failure in the suitable time.In addition, it can plan to carry out FT analyses, to handle Automatically run in device 150, processor 150 can be programmed and configured as so that the peak amplitude more than configured threshold value changes Available for producing automatic alarm or warning or force machine safe shutdown.Any appropriate terrestrial reference as known in the art can be used Determine the method for frequency data.
The example of frequency-domain analysis is included in Fig. 6 into Fig. 8.Fig. 6 shows valve actuator no problem diagnosis or " good in a frequency domain The example of power train well ".Fig. 6 shows the peak value in 45.9 Hz；However, measured relative to the service speed of actuator The peak value of 0.1% amplitude (in 26 rpm or 0.43Hz, amplitude 100%) does not have the amplitude for being enough to cause concern.Fig. 7 is shown The valve actuator of some abnormal signals or the example of " bad " power train are produced in a frequency domain.The frequency of abnormal signal can be used for Identify the powertrain component to go wrong.In the figure 7, worm screw or worm gear exceed tolerance limit.For example, the peak value in 26.1 Hz indicates Go wrong.However, 52.5 Hz and 78.6 Hz peak value be 26.1 Hz peak values harmonic wave.
Processor 150 or execution FT processor may be designed to automatically produce for notable peak value (for example, more than predetermined Threshold value) appropriate mark.For example, processor may include to be designed to make current produced peak value and previously caused peak value The program that amplitude and frequency match.In this embodiment, if processor can not identify peak value, then this failure is available Make the warning of the presence potential problems to operator.Or the data in frequency domain can be with the part hand of the power train of valve actuator Dynamic ground is related.Operator can be trained to identify and understand the correlation of different peak values.For example, if rotary encoder 1 is present in In valve actuator, then the speed of timing wheel 20 and sensor 169 and 169' available for identification powertrain component.In a specific reality Apply in example, drive the input shaft of wheel for inputting 10 by worm-gear driven.Therefore, velocity sensor can be used for the speed for determining worm gear, and It is thus determined that frequency.Then, based on gear ratio, the frequency of other powertrain components can be calculated.Then, can be according to the number in frequency domain According to graphical representation come identification means frequency and any harmonic wave.On the other hand, if velocity sensor is not present in valve actuator In, but known actual motor axle speed, then the information can be used for producing component frequency.The actual speed of motor can be used Various types of electrical measurements or magnetic measurement, therefore further improve system diagnosis capability on the whole.In many cases, work Factory personnel will perform above-mentioned manual identification.Therefore, the sample frequency curve marked in advance can be provided to terminal user and mutually closed System.
In a specific embodiment, can download actuator built-in information (gear ratio, motor speed, each gear tooth, Ball of each bearing etc.), to be stored in the Electronic Packaging of actuator.Then, airborne CPU refers to stored information and pushed away Where export power train partly causes the change.FT drawing can be directly displayed in the LED screen of actuator, or data matrix The resource management system that row are downloaded to operator is used for the portable computer or PDA for analyzing or being downloaded to service technician Made a concrete analysis of with being sent to parent company.
It can be stored in firmware, software, hardware or this area for collecting data and/or performing the programming of frequency analysis In any other device known.For example, frequency analysis programming can be stored in the firmware of valve actuator.
In addition, operator can identify the peak value in frequency domain simply by comparing present analysis and previous analysis.Previously Analysis can be the analysis carried out in the factory.However, needs may be present or frequency domain must be identified independently of any previous analysis In peak value situation.For example, in the design phase of new valve actuator, engineer may want to perform frequency point to new prototype Analyse to ensure not having in prototype the short-life vibration of the contracting of inherence, resonance and/or harmonic wave.Or frequency analysis can be used as Instrument is checked before shipping after assembling, lacked with determining whether some parts of mechanical drive train are manufactured with physics Fall into.
Be built in rotary encoder, or be built in valve actuator or other rotating devices or with valve actuator or other The associated processor of rotating device can perform FT.Display, printer or other output devices can be merged into valve actuator, For showing result in the form of chart or figure.Or the speed data as caused by fixed timing mark 28 can transmit to all Such as operator PC remote computer, to perform FT to speed data and be shown with more user-friendly form, or number is transmitted According to or FT to be likely located at scene or away from scene technician.
The finer frequency resolution after FT is carried out to speed data can be caused by providing more samples.Increase can be passed through Obtain the time span of sample or more samples are provided by increasing sampling rate.Fig. 8 to Figure 15 is shown by with per second Curve map caused by the data that 17 samples obtain.Fig. 8 shows the frequency analysis using the valve actuator of 128 samples altogether Resolution ratio.Fig. 9 shows the speed data of Fig. 8 before FT is performed to speed data.Figure 10 shows to utilize 256 samples altogether Valve actuator frequency analysis resolution ratio.Figure 11 shows the speed data of Figure 10 before FT is performed to speed data.Figure 12 show the frequency analysis resolution ratio using the valve actuator of 512 samples altogether.Figure 13 shows performing FT to speed data Figure 12 speed data before.Figure 14 shows the frequency analysis resolution ratio using the valve actuator of 1024 samples altogether.Such as figure Shown, the resolution ratio of frequency analysis improves as sample number purpose increases.
Any kind of frequency analysis as known in the art can be used for the present invention.In described specific embodiment, Using equal to 2nMultiple samples come to speed data perform FT, wherein n is any integer.Therefore, the sum of sample is for example etc. In 128,256,512,1024,2048,4096,8192 etc..Therefore, if obtaining 3500 samples, then only 2048 samples Product can be used for FT.In other embodiments, can be to not being exactly equal to 2nSample perform FT.However, in those embodiments In, leakage is likely to become a concerned issue.It is known in the art for solving the technology of leakage.
In addition, in a specific embodiment, FT is utilized in the sample acquired by stable state.Therefore, timing wheel 20 is with relatively permanent Fixed speed rotates.When rotary encoder 1 is incorporated in electric drive valve actuator, timing wheel 20 will a period of time accelerate and Slow down.During acceleration caused speed data and deceleration data can before FT is performed by carry out truncation (truncate), Average (average) or windowing (window).Instantaneous frequency analysis is as known in the art and available for replacement truncation data.
Can by algorithm to speed data perform truncation, the algorithm be designed to FT processing before analyze speed data with Just any acceleration data or deceleration data are removed.Or speed data can be by truncation so that the 2 of sample number and FTnIt is it is required that simultaneous Hold.
Phrase FT as used herein covers very wide algorithm scope, including Fast Fourier Transform (FFT).As used herein FT covers four Fourier transformation major classes：Continuous fourier transform, Fourier space, discrete time Fourier transform and discrete Fu In leaf transformation.The FT algorithms for being designed to handle approximate and non-homogeneous data also be present.Discrete Fourier transform is most commonly used to count Word signal transacting.Phrase FT as used herein covers any algorithm with caused data compatibility.
Actuation time represents the maximum duration of desirable sample.For example, for valve actuator, valve moves from open position Move to closed position or time for being moved to from closed position needed for open position be can picking rate data the maximum time. Valve can be only partially moved, therefore only the part of actuation time samples available for speed data.It is fast caused by increase One exemplary method of degrees of data sample includes increase sampling rate.Sampling rate by timing wheel 20 speed and fixed timing mark 28 number determines.Rotary encoder 1 and 2 can have the sampling rate far above 17 samples each second.
The another method of data sampler number caused by increase is included in multiple actuation times collection data.It is each new Data set can be collected with available data combine, up to sample count is sufficiently high to allow to operate it using FT.Once data set Man Liao, the then replaceable oldest data sampler of any new data sample, so as to maintain newest data set to be used to analyze.Can be all Such as storage speed or position data in tables of data, near real-time or subsequent frequency-domain analysis.
Figure 15 provides the table of possible sampling rate and the gained total number of samples available for frequency analysis.In fig.15, increase Measure the sampling rate that pulse frequency is equal in units of Hz.Speed DS is the transmission speed of the drive socket (DS) of valve actuator. However, speed DS can be related to the rotating member of any device.Bore tooth group speed multiple (Bevel Set Speed Multiplier) represent for DS to be connected to the speed increase caused by the gear of the input shaft of driving wheel for inputting 10.Wheel for inputting 10 Speed caused by speed multiple represents the gear ratio between the gear 11 of wheel for inputting 10 and the little gear 25 of timing wheel 20 increases Add.
The example of the rotating member of rotating device is the drive socket of valve actuator.Input shaft be able to will be driven via cone tooth group Sleeve is mutually connected to wheel for inputting 10.Any connected mode as known in the art can be used for driving wheel for inputting 10.As data sampling A possible example, if drive socket is rotated with 200 rpm, and if cone tooth group cause about 4.8:1 speed increases Add, then input shaft will be rotated with 960 rpm.Therefore, wheel for inputting 10 can be rotated with 960rpm.The driving timing wheel of wheel for inputting 10 20.If utilize 51/38 tooth speed increaser (spur increaser), then timing wheel 20 is rotated with about 1288 rpm. 1288 rpm divided by 60 are equal to the rotation per second of timing wheel 20.Exemplary timing wheel 20 shown in Fig. 1 has 32 fixed timing marks. However, if only 16 fixed timing marks of utilization, then the number that fixed timing mark is multiplied by rotation per second obtains 343 samples per second The sampling rate (incremental pulsed frequencies) of product.In the same case, if timing wheel 20 has 32 fixed timing marks, then take Sample speed is about 678 samples per second.Nyquist (Nyquist) frequency is the half of sampling frequency.Sampling rate The actuation time being multiplied by seconds is equal to the total number of samples that can be collected during single complete action.
Figure 15 shows actuation time and sampling rate influencing each other in the degree of accuracy for calculating frequency analysis.If only Only shorter speed data operation is available, then an alternative is to combine short operation before FT is performed to data Together to improve frequency resolution.
Figure 15 uses Hanning window (Hanning Window), to prevent the rate signal in the beginning and end of data set The distortion of frequency values caused by discontinuous.Other possible windows include rectangular window, Blackman window (Blackman), Hamming window (Hamming), triumphant damp window (Kaiser), window index and laylight.However, any window being known in the art can be used for estimating Speed data.It is known in the art and how without using window performs frequency analysis.Be known in the art be used for perform frequency Any method of rate analysis can be used for the present invention.
Frequency data can be estimated on the basis of one by one to determine peak and amplitude on suggested by valve actuator Content.Or frequency analysis can be compared with given frequency analysis feature (signature), to determine valve actuator or other The health status of rotating device.
Figure 16 to Figure 19 is shown available for the representative frequency analysis being compared.Figure 18 and Figure 19 are shown generally The velocity variations changed depending on the rotary speed of valve actuator or other rotating devices.For in stable state with 26 times per minute The actuator of rotation (rpm) operation produces Figure 16 and Figure 17 data.Produced for the actuator operated in stable state with 18 rpm Figure 18 and Figure 19 data.Figure 16 and Figure 19 and Figure 17 and Figure 18 is utilized respectively identical encoder little gear adapter.Figure 16 exists 45.4 Hz and 91.1 Hz have notable peak value.Figure 19 notable peak value becomes apparent from and more.Valve actuator or other rotating dress Many problem tunables in putting show as the single peak value of frequency domain.It can be disclosed in the progress frequency analysis of different operating speed hiding In being rendered as the potential problems of multiple peak values in the single peak value in a speed but in other speed.
The rotary encoder of the present invention is described as more wheel absolute encoders.Rotary encoder is alternatively single-wheel absolute coding Device or incremental encoder.For example, timing wheel 20 can be integrated into in the identical wheel of wheel for inputting 10.Then, wheel for inputting 10 can rise To the effect of incremental encoder and timing wheel.Moreover, the encoded segment of code wheel 30 to 110 can be integrated into wheel for inputting 10, As known in the art.Then, wheel for inputting 10 can play a part of single wheel absolute encoder.Wheel for inputting 10 may be designed to and input shaft Matching ends, or alternatively wheel for inputting 10 is mountable to around input shaft, such as longitudinal center in input shaft.So And wheel for inputting 10 is mountable to any point along the length of input shaft.
Previous, frequency analysis is discussed relative to speed data.Extra DATA Example includes torque data.Surveying In the valve actuator for measuring moment of torsion, the vibration of moment of torsion can be transformed into frequency domain.In the case where monitoring is delivered to the output torque of valve rod, Also torque data can be analyzed in a frequency domain.The processor that is incorporated in valve actuator or processor away from valve actuator can be with Any of the mode discussed above for speed data mode or by any technology as known in the art by moment of torsion Data conversion is into frequency domain.Then, it can recognize that the frequency of powertrain component and the finger of valve actuator health status be provided to operator Show.
Another DATA Example includes thrust data.For example, the motor of valve actuator is connected to worm screw/snail in power train The worm screw of wheel.The axial thrust of worm gear is monitored to read the moment of torsion transmitted by worm gear.The processor being merged into valve actuator Or thrust data can be converted into frequency domain by the processor away from valve actuator, similar to the side discussed above for speed data Any of method method passes through any technology as known in the art.It can be passed by operator or computer program to identify Dynamic is the frequency of component.Therefore it provides the diagnosis of valve actuator.In addition, using multiple thrust pickups.
Excessive data embodiment includes vibration data.For example, eight accelerometers are positioned over multiple positions in valve actuator Put.All eight accelerometers vibrate the identical read in valve actuator.However, the acceleration near given vibration source Meter is by with stronger signal.Observation vibration data of all eight sensors in frequency domain can allow to find out vibration source.Shake Dynamic frequency can be related to powertrain component.Therefore, operator can be warned any of valve actuator and imminent may ask Topic.
Utilize any number of sensor in these embodiments in any embodiment that can be.For example, using more than one Individual velocity sensor.In addition, using different types of multiple sensors.For example, valve actuator may include rotary encoder, Such as rotary encoder 1.Valve actuator may also include axial thrust sensor.Can to speed data caused by timing wheel 20, To thrust data or to the two progress frequency analysis.
Can be by motor, hydraulic pressure, engine, handwheel or this area by the rotating device or valve actuator that are monitored by the present invention Known any other drive device drives.
Although description above contains many concrete conditions, it is not to be regarded as it and limits the scope of the present invention, and only It is to provide some one exemplary embodiments.Equally, it can design the present invention's in the case of without departing from the spirit or scope of the present invention Other embodiments.Therefore, the scope of the present invention can be only represented by the equivalent on appended claims and its legal sense And limitation, rather than represented by description above and limit.The meaning and scope disclosed herein for belonging to claims Interior all additions, deletion and the modification to the present invention is also covered by the present invention.

Claims (29)

1. a kind of method for analyzing rotating device, methods described includes：
Rotary position encoder is operably linked on the axle of the rotating device, wherein, the rotary position encoder Including：
At least one code wheel, at least one code wheel include being used for encoding multiple positions of valve actuator to There are the multiple integrated speed for being suitable for monitoring at least one encoded segment to pass for a few encoded segment, the valve actuator Sensor；
Timing mechanism including timing wheel, the timing wheel are more with being equally spaced around the timing wheel with concentric patterns Individual fixed timing mark, wherein, multiple integrated velocity sensors of the valve actuator and the timing mechanism produce and the rotation The related rotary speed data of one or more parts of device；
Double groups of redundancy timer sensors, it is used for the multiple fixed timing marks for monitoring the timing wheel, wherein double group redundancies Timer sensor includes the first sensor that is placed on the first side of the timing wheel and be placed on the timing wheel the Second sensor on two opposite sides, and wherein described first sensor and second sensor respectively include transmitter and are placed on Detector near the transmitter；With
Processor, it communicates with multiple sensors and the timing mechanism and is suitable for converting the data to frequency domain；
Speed data is produced using the velocity sensor；And
Frequency analysis is performed to the speed data.
2. according to the method for claim 1, it is characterised in that the rotary position encoder is incremental encoder.
3. according to the method for claim 1, it is characterised in that the rotary position encoder is grasped between the two positions Make.
4. according to the method for claim 3, it is characterised in that perform the frequency analysis and be included in away from the rotating dress Put and the speed data is handled on the computer of positioning.
5. according to the method for claim 3, it is characterised in that perform the frequency analysis and be included in and the rotating device The speed data is handled on related processor.
6. according to the method for claim 3, it is characterised in that perform the frequency analysis and be included in and be incorporated in the rotation The speed data is handled on processor in position coder.
7. according to the method for claim 3, it is characterised in that the rotary position encoder is absolute encoder.
8. a kind of valve system, it includes：
Rotary position encoder, it has at least one code wheel, and at least one code wheel includes being used for valve actuator At least one encoded segment for being encoded of multiple positions, the valve actuator, which has, to be suitable for monitoring at least one volume Multiple sensors of code division section；
Timing mechanism including timing wheel, the timing wheel are more with being equally spaced around the timing wheel with concentric patterns Individual fixed timing mark, wherein, multiple sensors of the valve actuator and the timing mechanism produce one with the valve system Or the data that multiple parts are related, the data include rotary speed data, position data, torque data, thrust data and shaken It is at least one in dynamic data；
Double groups of redundancy timer sensors, it is used for the multiple fixed timing marks for monitoring the timing wheel, wherein double group redundancies Timer sensor includes the first sensor that is placed on the first side of the timing wheel and be placed on the timing wheel the Second sensor on two opposite sides, and wherein described first sensor and second sensor respectively include transmitter and are placed on Detector near the transmitter；With
Processor, it communicates with multiple sensors and the timing mechanism and is suitable for converting the data to frequency domain.
9. valve system according to claim 8, it is characterised in that the multiple sensor is independently selected from by velocity pick-up The group that device, position sensor, torque sensor, thrust pickup and vibrating sensor form.
10. valve system according to claim 8, it is characterised in that the multiple sensor passes including at least one speed Sensor, and the processor is suitable to receive speed data from least one velocity sensor and the speed data is held Line frequency is analyzed.
11. valve system according to claim 10, it is characterised in that at least one velocity sensor is incorporated in described In rotary position encoder.
12. valve system according to claim 11, it is characterised in that the rotary position encoder is incremental encoder.
13. valve system according to claim 11, it is characterised in that the rotary position encoder is absolute encoder.
14. valve system according to claim 13, it is characterised in that at least one code wheel includes single encoder Disk.
15. valve system according to claim 13, it is characterised in that at least one code wheel includes multiple encoders Disk.
16. valve system according to claim 15, it is characterised in that the multiple encoder disk respectively includes at least one phase The encoded segment of pass, the operable multiple positions with to the valve actuator of the encoded segment encode, and wherein, institute Stating absolute encoder includes each that at least one double groups of position sensors are used at least one encoded segment, its In, each operable volume to monitor at least one encoded segment at least one double groups of position sensors Code division section.
17. valve system according to claim 11, it is characterised in that also including handwheel, the handwheel is operable to actuate The valve actuator and operable to actuate the rotary position encoder.
18. valve system according to claim 11, it is characterised in that the rotary position encoder is suitable to be promoted by the valve The power train of dynamic device actuates.
19. valve system according to claim 18, it is characterised in that the rotary position encoder is promoted by input shaft Dynamic, the input shaft is driven by the worm gear of the power train.
20. valve system according to claim 11, it is characterised in that the rotary position encoder is suitable to be promoted by the valve The motor in device is moved to actuate.
21. valve system according to claim 8, it is characterised in that the multiple sensor passes including at least one moment of torsion Sensor, and the processor is suitable to receive torque data from least one torque sensor and the torque data is held Line frequency is analyzed.
22. valve system according to claim 8, it is characterised in that the multiple sensor pushes away including at least one axial direction Force snesor, and the processor is suitable to receive axial thrust data and to institute from least one axial thrust sensor State axial thrust data and perform frequency analysis.
23. valve system according to claim 10, it is characterised in that the multiple sensor includes at least one acceleration Meter, wherein, the processor, which is suitable to receive from least one accelerometer, to be accelerated data and the acceleration data is performed Frequency analysis.
24. valve system according to claim 8, it is characterised in that the rotary position encoder includes the processor.
25. valve system according to claim 8, it is characterised in that the processor will be described using Fourier transformation Data are transformed into the frequency domain.
26. valve system according to claim 8, it is characterised in that the processor is suitable to communicate with display for showing Show the data.
27. valve system according to claim 8, it is characterised in that the processor includes multiple processors.
28. valve system according to claim 8, it is characterised in that the processor is a part for the valve actuator.
29. a kind of method for analyzing valve system according to claim 8, methods described includes：
From multiple sensor generated datas of the valve system；And
Frequency-domain analysis is performed to the data.
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