CN105955134A - Parameter-self-learning-based motor execution mechanism controller and parameter self-learning method - Google Patents
Parameter-self-learning-based motor execution mechanism controller and parameter self-learning method Download PDFInfo
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- CN105955134A CN105955134A CN201610417563.XA CN201610417563A CN105955134A CN 105955134 A CN105955134 A CN 105955134A CN 201610417563 A CN201610417563 A CN 201610417563A CN 105955134 A CN105955134 A CN 105955134A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2609—Process control
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- Automation & Control Theory (AREA)
- Electrically Driven Valve-Operating Means (AREA)
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Abstract
The invention discloses a parameter-self-learning-based motor execution mechanism controller. The motor execution mechanism controller is composed of a human-computer interaction module, a main control module, a communication module, a motor control module, a valve position detection module, a storage module and a power module. The invention aims at providing a parameter-self-learning-based motor execution mechanism controller. A solid-state relay is used for driving and controlling a motor; and self-learning is carried out by using a parameter self-learning control algorithm, thereby obtaining static error data. Therefore, a harmonic wave problem as well as a problem of unstable static errors facing different controlled objects can be solved.
Description
Technical field
Patent of the present invention relates to a kind of electric machine actuating mechanism controller, being specifically related to a kind of electric machine actuating mechanism controller based on Parameter Self-learning and Parameter Self-learning method, the high accuracy of the valve needing high-speed switch and aperture regulation in marine system is controlled by main realization.
Background technology
In the large-scale industrial production of modernization, actuator plays very important effect, especially at coal, iron and steel, building materials, chemical industry, papermaking, oil etc., the fluids such as water, gas (vapour), oil are had in bigger application demand industry, actuator is as the key equipment of control system, and its performance largely has influence on whole industrial efficiency and safety.According to the difference of energy source, actuator typically can divide three major types: gas (vapour) moves, surges and electronic.The dynamic actuator safety coefficient of gas (vapour) is high, simple structure, has a wide range of applications in high risk industries, such as chemical industry, oil etc., but the dynamic actuator of gas (vapour) needs extra gas (vapour) source, control accuracy relatively low.Hydraulic actuating mechanism is provided that bigger strength, and output torque can carry out intense adjustment according to requirements, is widely used in the equipment of electromechanical integration, but hydraulic actuating mechanism needs outside subsidiary hydraulic system support, and volume is bigger.And electric operator precision height, low cost, volume are little, increasingly come into one's own, moment, the less demanding occasion such as explosion-proof are being used widely.
At present, realize during electric operator has been Industry Control the control objects such as valve are remotely controlled, centralized Control and the indispensable action component of one that automatically controls.In general YE includes electric operator and regulation valve, and its major function is the order according to Process Control System, drives the frame for movement such as valve or baffle plate in the straight direction or the enterprising line displacement of direction of rotation, to realize automatically controlling.For a long time, due to the restriction of Industry Control level of development, the control level of the electric operator of China is relatively low, and a large amount of electric operators in early days use the most in the industrial production.Traditional motor cut-offs the controller for electric actuating mechanism of control in the case of different control objects, and static difference is unstable,.And there is the problem introducing harmonic wave to electrical network in some novel electric operators using frequency control.Progress along with China's science and technology, the demand with intelligentized electric operator is continuously increased by market, functional requirement to electric operator also improves constantly, electric operator body design, production technology are the most ripe, and market proposes new demand constantly to the design of controller for electric actuating mechanism and research and development, a kind of intellectuality of market in urgent need, can adapt to the product of the currently used function singleness of the products substitution of various working environment, to improve production efficiency and to reduce production cost.
Summary of the invention
The purpose of invention: it is an object of the invention to provide a kind of electric machine actuating mechanism controller based on Parameter Self-learning and Parameter Self-learning method, utilize solid-state relay that motor is driven, control, control algolithm furthermore with Parameter Self-learning carries out self study acquisition static difference data, both solve harmonic problem, solve again the static difference instability problem towards different control objects.
The technical solution used in the present invention: a kind of electric machine actuating mechanism controller based on Parameter Self-learning and control method, including including human-computer interaction module, main control module, communication module, motor control module, valve position detection module, memory module and power module, wherein:
In described memory module, storage has operational mode kind, the method for operation, warning bound, signal post definite value under different mode, is opened to spacing value and closes to spacing value, original position, increment array；
Being connected by I/O interface between human-computer interaction module with main control module, concrete structure includes display screen and Hall button, and described display screen becomes basic man-machine interactive platform with Hall key combination, is used for selecting operational mode, and parameter is presetting；
Described communication module includes RS485 communication interface, 4 ~ 20mA communication interface and CAN communication interface；
Described motor control module includes that solid-state relay connects and drives motor, is connected and has isolation forceful electric power and the TLP521-1 optical coupling isolator of light current between described solid-state relay and main control module；
Described valve position detection module is multi-turn absolute value encoder, is connected by RS485 communication interface with between main control module, obtains valve place value be sent to main control module in order to detect valve main shaft rotating cycle；
Described main control module uses STM32F103VET6 embedded microprocessor, and it is connected with memory module, and for reading the data that memory module always stores, the valve place value that simultaneously will accept, the setting value input memory module of human-computer interaction module stores.
Described operational mode kind includes operational mode on the spot, remote operating mode and self-studying mode, the method of operation under operational mode includes pulsed and maintenance formula the most on the spot, the method of operation under described remote operating mode includes switching value pulsed, switching value maintains formula, nalog quantity type, Modbus formula.
Described increment array 30 altogether, including 8+8% increments, 8-8% increments, 4+15% increments, 4-15% increments, 2+35% increments, 2-35% increments, 1+70% increment, 1-70% increment.
Described original position is 10% valve position.
A kind of Parameter Self-learning method of electric machine actuating mechanism controller based on Parameter Self-learning, comprises the steps:
A, combined by Hall button display screen select operational mode be self-studying mode, warning bound, signal post definite value that now main control module reads in memory module under self-studying mode, it is opened to spacing value and closes to spacing value, also have read original position, increment array；
In b, main control module incrementally array, first increment size provides control setting value, and drives motor to run to predeterminated position according to this control set value calculation；
C, position, actual valve position by valve position detection module detection current valve, and be sent to main control module；
D, main control module calculate the static difference value data of this self study according to controlling setting value and actual valve place value, and store to memory module, and increment number of times of adjusting adds 1 simultaneously；
E, main control module, in the upper setting once controlling to continue next increment size on the basis of setting value, provide the next setting value that controls, and control to drive motor to run on the position of this setting value；
Current valve is actual sends out tail position for the detection of f, valve position detection module, and main control module goes out static difference value data according to this secondary control setting value with an actual position calculation of sending out, and stores to memory module, and increment number of times of adjusting adds 1 again simultaneously；
G, judge whether increment number of times of adjusting reaches 30 times, if otherwise repeat the above steps e ~ f, if then carrying out step h；
H, by 30 groups of static difference value and control setting value input MATLAB software that often group static difference value is corresponding, calculate quadratic equation with one unknown f(x) parameter a in=ax+bx+c, b, c, wherein f(x) be static difference value, x is for controlling setting value；
I, parameter a, b, c is utilized to combine quadratic equation with one unknown f(x)=ax+bx+c, when operational mode on the spot or remote operating mode, obtain corresponding static difference value by the controlling value of input.
nullIt is a kind of electric machine actuating mechanism controller based on Parameter Self-learning and Parameter Self-learning method that the present invention is connect，The aperture of general valve is 0 ~ 100 °，And initial valve position and the 10% closure valve position of 10% can be reserved in practice，Therefore the valve position scope that can regulate only has 80%，And every time the scheduling of valve position be all can have 2% deviation surplus，Therefore the present invention sets rational number of times to different increment sizes，Additionally due to the valve in the present invention uses the Valve controlling on boats and ships，This valve runs quickly，And in actual moving process, there is different types of demand for control，There is little scope control，Control on a large scale，When little scope control，The startup time is short，It is little that valve runs to stop impulsive force，Therefore difference is little，And startup time of controlling on a large scale is long，It is big that valve runs to stop impulsive force，Difference is bigger，In order to cover the control of various scope comprehensively，The present invention have selected rational increment array，8 8% increments，4 15% increments，2 35% increments and 1 70% increment，Wherein 8% is little scope control，15% and 35% is middle scope control，70% for control on a large scale.
In addition the present invention combines quadratic equation with one unknown by 30 groups of static difference value and carry out parameter calculating, rather than simply average, because the change of difference varies, have just have negative, if considering feasible from entirety only with meansigma methods, but consider the most infeasible from each value, if meansigma methods is positive number, it is negative for script difference, deviation can be eliminated plus positive number meansigma methods, but it is exactly positive number for script difference, plus positive number meansigma methods, its difference value only can be bigger, the present invention combines quadratic equation with one unknown and can go out accurate static difference value according to preset value calculation, make last actual valve place value consistent with controlling setting value.
Beneficial effect: disclosed a kind of based on Parameter Self-learning electric machine actuating mechanism controller and Parameter Self-learning method, add self-studying mode, by automatically running setting value set in advance, obtain value of feedback, thus obtain static difference data record, study, after running self-studying mode, the control parameter adapting to actual working environment (controlled device) is just have recorded inside memory module, now controller is switched to common just be obtained in that preferably control effect with regard to running under ground mode or remote mode again, this controller can preferably solve the electric operator problem in the static difference instability towards different control objects.
Accompanying drawing explanation
Fig. 1 is module diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the specific embodiment of the invention is described in detail:
As it is shown in figure 1, disclosed a kind of based on Parameter Self-learning electric machine actuating mechanism controller, including human-computer interaction module, main control module, communication module, motor control module, valve position detection module, memory module and power module, particularly:
In described memory module, storage has operational mode kind, the method of operation under different mode, warning bound, signal post definite value, it is opened to spacing value and closes to spacing value, original position, increment array, wherein operational mode kind includes operational mode on the spot, remote operating mode and self-studying mode, the method of operation under operational mode includes pulsed and maintenance formula the most on the spot, the method of operation under described remote operating mode includes switching value pulsed, switching value maintains formula, nalog quantity type, Modbus formula, described increment array includes 8+8% increments, 8-8% increments, 4+15% increments, 4-15% increments, 2+35% increments, 2-35% increments, 1+70% increment, 1-70% increment, described original position is 10% valve position.
It is connected by I/O interface between human-computer interaction module with main control module, concrete structure includes display screen and Hall button, described display screen selects OLED display screen, described Hall button is that described display screen becomes basic man-machine interactive platform with Hall key combination, for selecting operational mode, parameter is presetting；
Described communication module includes RS485 communication interface, 4 ~ 20mA communication interface and CAN communication interface；
Described motor control module includes that solid-state relay connects and drives motor, is connected and has isolation forceful electric power and the TLP521-1 optical coupling isolator of light current between described solid-state relay and main control module；
It is connected by RS485 communication interface between described valve position detection module and main control module, use multi-turn absolute value encoder, detect valve main shaft rotating cycle thus be converted to valve place value and be sent to main control module, it is big that multi-turn absolute value encoder measures scope, during installation need not small change point, installation and debugging are simple；
Described main control module uses STM32F103VET6 embedded microprocessor, and it is connected with memory module, and for reading the data that memory module always stores, the valve place value that simultaneously will accept, the setting value input memory module of human-computer interaction module stores.
A kind of Parameter Self-learning method of electric machine actuating mechanism controller based on Parameter Self-learning, comprises the steps:
A, combined by Hall button display screen select operational mode be self-studying mode, warning bound, signal post definite value that now main control module reads in memory module under self-studying mode, it is opened to spacing value and closes to spacing value, also have read original position, increment array；
In b, main control module incrementally array, first increment size provides control setting value, and drives motor to run to predeterminated position according to this control set value calculation；
C, position, actual valve position by valve position detection module detection current valve, and be sent to main control module；
D, main control module calculate the static difference value data of this self study according to controlling setting value and actual valve place value, and store to memory module, and increment number of times of adjusting adds 1 simultaneously；
E, main control module, in the upper setting once controlling to continue next increment size on the basis of setting value, provide the next setting value that controls, and control to drive motor to run on the position of this setting value；
Current valve is actual sends out tail position for the detection of f, valve position detection module, and main control module goes out static difference value data according to this secondary control setting value with an actual position calculation of sending out, and stores to memory module, and increment number of times of adjusting adds 1 again simultaneously；
G, judge whether increment number of times of adjusting reaches 30 times, if otherwise repeat the above steps e ~ f, if then carrying out step h；
H, by 30 groups of static difference value and control setting value input MATLAB software that often group static difference value is corresponding, calculate quadratic equation with one unknown f(x) parameter a in=ax+bx+c, b, c, wherein f(x) be static difference value, x is for controlling setting value；
I, parameter a, b, c is utilized to combine quadratic equation with one unknown f(x)=ax+bx+c, when operational mode on the spot or remote operating mode, obtain corresponding static difference value by the controlling value of input.
In above-mentioned steps, described static difference data provide compensation basis for remote operating mode, during remote operating mode, after distance host provides valve position setting value by communication module, main control module calculates increment, search immediate static difference data according to increment size in a storage module, calculate, in conjunction with static difference data, the parameter value that motor control module runs.
The above is only the preferred embodiment of the present invention; it is noted that, for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. an electric machine actuating mechanism controller based on Parameter Self-learning, it is characterised in that: include human-computer interaction module, main control module, communication module, motor control module, valve position detection module, memory module and power module, wherein:
In described memory module, storage has operational mode kind, the method for operation, warning bound, signal post definite value under different mode, is opened to spacing value and closes to spacing value, original position, increment array；
Being connected by I/O interface between human-computer interaction module with main control module, concrete structure includes display screen and Hall button, and described display screen becomes basic man-machine interactive platform with Hall key combination, is used for selecting operational mode, and parameter is presetting；
Described communication module includes RS485 communication interface, 4 ~ 20mA communication interface and CAN communication interface；
Described motor control module includes that solid-state relay connects and drives motor, is connected and has isolation forceful electric power and the TLP521-1 optical coupling isolator of light current between described solid-state relay and main control module；
Described valve position detection module is multi-turn absolute value encoder, is connected by RS485 communication interface with between main control module, obtains valve place value be sent to main control module in order to detect valve main shaft rotating cycle；
Described main control module uses STM32F103VET6 embedded microprocessor, and it is connected with memory module, and for reading the data that memory module always stores, the valve place value that simultaneously will accept, the setting value input memory module of human-computer interaction module stores.
A kind of electric machine actuating mechanism controller based on Parameter Self-learning the most according to claim 1, it is characterized in that: described operational mode kind includes operational mode on the spot, remote operating mode and self-studying mode, the method of operation under operational mode includes pulsed and maintenance formula the most on the spot, the method of operation under described remote operating mode includes switching value pulsed, switching value maintains formula, nalog quantity type, Modbus formula.
A kind of electric machine actuating mechanism controller based on Parameter Self-learning the most according to claim 1, it is characterized in that: described increment array 30 altogether, including 8+8% increments, 8-8% increments, 4+15% increments, 4-15% increments, 2+35% increments, 2-35% increments, 1+70% increment, 1-70% increment.
A kind of electric machine actuating mechanism controller based on Parameter Self-learning the most according to claim 1, it is characterised in that: described original position is 10% valve position.
5. a Parameter Self-learning method based on the electric machine actuating mechanism controller described in claim 1 ~ 4, it is characterised in that: comprise the steps:
A, combined by Hall button display screen select operational mode be self-studying mode, warning bound, signal post definite value that now main control module reads in memory module under self-studying mode, it is opened to spacing value and closes to spacing value, also have read original position, increment array；
In b, main control module incrementally array, first increment size provides control setting value, and drives motor to run to predeterminated position according to this control set value calculation；
C, position, actual valve position by valve position detection module detection current valve, and be sent to main control module；
D, main control module calculate the static difference value data of this self study according to controlling setting value and actual valve place value, and store to memory module, and increment number of times of adjusting adds 1 simultaneously；
E, main control module, in the upper setting once controlling to continue next increment size on the basis of setting value, provide the next setting value that controls, and control to drive motor to run on the position of this setting value；
Current valve is actual sends out tail position for the detection of f, valve position detection module, and main control module goes out static difference value data according to this secondary control setting value with an actual position calculation of sending out, and stores to memory module, and increment number of times of adjusting adds 1 again simultaneously；
G, judge whether increment number of times of adjusting reaches 30 times, if otherwise repeat the above steps e ~ f, if then carrying out step h；
H, by 30 groups of static difference value and control setting value input MATLAB software that often group static difference value is corresponding, calculate quadratic equation with one unknown f(x) parameter a in=ax+bx+c, b, c, wherein f(x) be static difference value, x is for controlling setting value；
I, parameter a, b, c is utilized to combine quadratic equation with one unknown f(x)=ax+bx+c, when operational mode on the spot or remote operating mode, obtain corresponding static difference value by the controlling value of input.
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| US20020074967A1 (en) * | 1997-06-02 | 2002-06-20 | Max Schmidhuber | Intelligent control an adjustment device |
| CN1542573A (en) * | 2003-04-30 | 2004-11-03 | 浙江浙大中控技术有限公司 | Self-adapting type intelligent electric actuator controller and method for realizing adaptive control thereof |
| CN101138980A (en) * | 2007-10-12 | 2008-03-12 | 株洲时代卓越汽车电子技术有限公司 | Automobile locking-proof controller with agglutination controlling self-learning function |
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