CN106959089A - A kind of valve drive gap measurement apparatus, measuring method and compensation method - Google Patents
A kind of valve drive gap measurement apparatus, measuring method and compensation method Download PDFInfo
- Publication number
- CN106959089A CN106959089A CN201710240701.6A CN201710240701A CN106959089A CN 106959089 A CN106959089 A CN 106959089A CN 201710240701 A CN201710240701 A CN 201710240701A CN 106959089 A CN106959089 A CN 106959089A
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- Prior art keywords
- valve
- stepper motor
- displacement sensor
- valve body
- angular displacement
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
Abstract
The invention discloses a kind of valve drive gap measurement apparatus, measuring method and compensation method, including valve stepper motor, input shaft angular displacement sensor is installed on valve stepper motor, the output shaft of valve stepper motor is connected with valve reducing gear, the output of valve reducing gear is pivotally connected on the valve body axle of valve body, valve body axle and is also associated with output shaft angular displacement sensor.The present invention can measure the concrete numerical value of the drive gap of valve, and it is compensated, to improve the precision of valve.
Description
Technical field
The invention belongs to field of fluid machinery, and in particular to a kind of valve drive gap measurement apparatus, measuring method and benefit
Compensation method.
Background technology
High-precision valve is a kind of important fluid flow control element, and it is typically slowed down using stepper motor by accurate
Machine drives Spool rotating, changes fluid flow area to realize the Flow-rate adjustment of precision.In the application of pulping and paper-making application scenario
High-precision valve mainly have two kinds, a kind of is the valve controlled for paper longitudinal basis weight, be referred to as " proportional valve " (valve
Shown in mechanical structure as patent CN200971996Y)；Another applied in the control of dilution water waterpower type flow box cross direction ration
Dilution water water valve (valve mechanical structure and control see patent CN20100590897.X, CN201410616320.X,
Shown in CN201420552085.X, CN201420553135.6, CN201420552373.5).The precision of this valve uses " step "
To represent, " step " refers to the minimum position length unit of valve, by taking the valve of 10000 step precision as an example, refers to that valve exists
There are 10000 operation step-lengths in 0-90 ° of open range, the rotating angle increment of each operation step-length valve opening is 0.009 °, valve
Step number it is more, the precision of valve is higher.
In order to ensure that valve there are enough positioning precisions, driven more than this valve using stepper motor or servomotor, though
Right motor has enough positioning precisions, but motor communicates rotational motion to valve shaft, centre warp by reductor, shaft coupling
Cross and there is drive gap (also referred to as backhaul gap) between multiple machine driving links, these mechanical components, because valve exists
Frequent forward and reverse positioning during work, mechanical clearance problem result in valve loss of significance.But at present between the machinery of valve
Gap problem is usually ignored, and result in valve precision not high.It is difficult to meet modern process industry and high-precision flow regulation is wanted
Ask, it is therefore desirable to studied for this problem, to solve drive gap (also referred to as backhaul gap) problem of valve presence, carry
The precision of high valve.
The content of the invention
It is an object of the invention to provide a kind of valve drive gap measurement apparatus, measuring method and compensation method, with gram
The problems of the prior art are taken, the present invention can measure the concrete numerical value of the drive gap of valve, and it is compensated, with
Improve the precision of valve.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
Input shaft is installed on a kind of valve drive gap measurement apparatus, including valve stepper motor, valve stepper motor
Angular displacement sensor, the output shaft of valve stepper motor is connected with valve reducing gear, the output shaft connection of valve reducing gear
To the valve body axle of valve body, output shaft angular displacement sensor is also associated with valve body axle.
Further, described input shaft angular displacement sensor is arranged on the tailing axle of valve stepper motor.
Further, the output shaft of the valve stepper motor is connected to valve reducing gear by shaft coupling.
Further, described valve reducing gear, output shaft angular displacement sensor and valve body are installed on stand.
A kind of measuring method of valve drive gap, comprises the following steps：
Step one：Collect the step angle θ of valve stepper motorsAnd valve reducing gear speed reducing ratio n；
Step 2：Valve stepper motor is set to be rotated to a direction, until valve body axle produces effective rotate；Then make again
Valve stepper motor is rotated backward, and until valve body axle produces effective rotation, valve is measured by input shaft angular displacement sensor
The actual rotational angle θ of stepper motor1；The actual rotational angle θ of valve body axle is measured by output shaft angular displacement sensor2', calculate valve body
Axle rotational angle θ2' corresponding valve stepper motor is sent in theory control number of pulses m and valve stepper motor be real
Border rotational angle theta1Corresponding control number of pulses k：
Then the corresponding valve step motor control number of pulses j of valve mechanic transmission clearance is：
J=| k-m |
Step 3：Change the aperture of valve body, traversal valve body is from standard-sized sheet to fully closed all opening values, repeat step two is surveyed
Measure the control number of pulses of different opening condition lower valve mechanic transmission clearance correspondence valve stepper motor.
A kind of compensation method of valve drive gap, based on above-mentioned valve drive gap measuring method, including following step
Suddenly：
Step one：Judge when whether time valve opening regulation needs backlash compensation；
Step 2：Calculate as the secondary number of pulses N2 for being sent to valve stepper motor；
Wherein, N1 represents the number of pulses of valve stepper motor positioning, and valve is represented respectively with two different numerical value
Regulation direction that is big or turning down is opened, is represented with M when previous valve opening adjusts the numerical value in direction and last time valve opening is adjusted
The difference of the numerical value in direction, M=0 represents that valve is consistent when secondary regulation direction and last time regulation direction, and M ≠ 0 represents valve when secondary
Adjust direction and last time regulation is in opposite direction；
Step 3：To the position pulse that valve stepper motor driver quantity forwarded is N2, current positioning action is realized.
Compared with prior art, the present invention has following beneficial technique effect：
Apparatus of the present invention are provided with input shaft angular displacement sensor in the tailing axle of valve stepper motor, are installed on valve body axle
There is output shaft angular displacement sensor, by detecting input shaft angular displacement sensor with output shaft angular displacement sensor in valve backhaul
When theoretical corner and actual rotational angle difference, obtain the size of valve mechanic transmission clearance, and then to valve mechanic transmission clearance
Compensate.
The inventive method can realize the measurement of valve mechanical clearance, and can obtain the corresponding stepping electricity of mechanical clearance
Machine controls the quantity of pulse；The method judged as represented respectively with two different numerical value valve opening regulation direction open it is big or
State is turned down, particularly, valve opening state is represented using 0 easily realized in the controller and 1 numeral, will be currently when previous valve
The numerical value in door aperture regulation direction adjusts the difference of the numerical value in direction with last time valve opening；Utilize current aperture direction and last time
The method that aperture direction makes the difference judges whether current aperture state is consistent with last time aperture direction, algorithmically simple possible, than
Complicated program is more effective；Current aperture direction, when valve opening regulation is opposite with last time, passes through increasing with last time aperture direction
Plus the method for stepper motor transmission number of pulses realizes the compensation of valve mechanic transmission clearance on software, improves valve
Precision, compared to traditional way for ignoring mechanic transmission clearance, is conducive to improving the precision of valve.In measurement valve in aperture model
Enclose after interior drive gap, for the different mechanic transmission clearance numerical values recited of each point, the mechanical clearance for carrying out varying number is mended
Repay, valve need not install encoder in actual motion on valve shaft, than closed loop high-precision valve (see patent
CN201310019466.1, closed-loop high-precision proportional valve) there is low cost, and can guarantee that the precision of valve.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the workflow diagram of the present invention.
Wherein, 1, input shaft angular displacement sensor, 2, valve stepper motor, 3, valve reducing gear, 4, stand, 5, shaft coupling
Device, 6, valve body axle, 7, output shaft angular displacement sensor, 8, valve body.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1, a kind of valve mechanic transmission clearance measurement apparatus, by valve stepper motor 2, valve reductor during measurement
Structure 3, shaft coupling 5, valve body 8 are pulled down, on the stand 4 of test device of the present invention.It is provided with the stand 4 of the measurement apparatus
Input shaft angular displacement sensor 1 is installed, to detect valve on valve stepper motor 2, and the tailing axle of valve stepper motor 2
The actual rotational angle that stepper motor 2 is inputted；The output shaft of valve stepper motor 2 is connected with valve reducing gear 3, valve reducing gear
3 output shaft is connected with valve body axle 6 by shaft coupling 5, output shaft angular displacement sensor 7 is provided with valve body axle 6, for detecting
Detection is output to the actual rotational angle on valve shaft 6 after the transmission mechanisms such as reducing gear, and output shaft angular displacement sensor 7 is installed
On stand 4, valve body 8 is arranged on stand 4.
If the inner space of valve actuator is sufficient, it is not necessary to stand 4, directly measured on valve actuator, will
This test device does appropriate simplification, input shaft angular displacement sensor 1 is arranged on valve stepper motor 2, to detect valve
The corner of door input；Output shaft angular displacement sensor 7 is arranged on valve body axle 6, to detect valve output
Corner.
If the part of valve is reduced, without shaft coupling 5, valve body axle 6 is directly connected with valve reducing gear 3, exports shaft angle
Displacement transducer 7 is arranged on valve body axle 6, to detect that valve exports Shaft angle, the protection domain still stated in the present invention
Within.
The present invention is provided with input shaft angular displacement sensor 1 in the tailing axle of valve stepper motor 2, is installed on valve body axle 6
There is output shaft angular displacement sensor 7, by detecting input shaft angular displacement sensor 1 with output shaft angular displacement sensor 7 in valve
The difference of theoretical corner and actual rotational angle, obtains the size of valve mechanic transmission clearance during backhaul.And with valve driving machine type, subtract
Fast class of establishment is unrelated, changes the type and reducing gear type of motor and can not depart from protection scope of the present invention.
Valve mechanic transmission clearance measuring method, comprises the following steps：
Step one：Collect the step angle θ of valve stepper motor 2s, speed reducing ratio (the input speed of valve reducing gear 3：Output
Rotating speed) n, these mechanical parameters.
Step 2：Using the valve mechanic transmission clearance measurement apparatus designed by the present invention, make valve stepper motor 2 to one
Individual direction is rotated, until valve body axle 6 produces effective rotation, now tappet gear it is bonded to each other on；Then make again
Valve stepper motor 2 is rotated backward, effectively rotated until valve shaft is produced (when valve stepper motor 2 just starts reversion, due to
Mechanic transmission clearance, valve body axle 6 is inactive state), the reality of valve stepper motor 2 is measured by input shaft angular displacement sensor 1
Border rotational angle theta1；The actual rotational angle θ of valve body axle 6 is measured by output shaft angular displacement sensor 72', calculate the rotational angle of valve body axle 6
θ2' corresponding valve stepper motor 2 is sent in theory control number of pulses m, m represent with formula (1)：
The actual rotational angle θ of valve stepper motor 21Corresponding control number of pulses k is represented with formula (2)：
The corresponding control number of pulses j of valve stepper motor 2 of valve mechanic transmission clearance is represented with formula (3)：
J=| k-m | (3)
Step 3：Change the aperture of valve body 8, traversal valve body 8 is from standard-sized sheet to fully closed all opening values, repeat step two,
Using the valve mechanic transmission clearance compensation device of the present invention, different opening condition lower valve mechanic transmission clearance can be measured
The control number of pulses of correspondence valve stepper motor 2.
Fig. 2 is participated in, after valve mechanic transmission clearance is measured, valve can remove input shaft angle position in normal work
Displacement sensor 1 and output shaft angular displacement sensor 7, valve mechanic transmission clearance compensation method be：
It is first determined whether needing to carry out backlash compensation, the aperture regulation direction of valve is represented with 0 and 1 numerical value respectively
(open big or turn down), is made the difference with current valve aperture state with last time valve opening regulation direction state, when both differences are 0
When represent that current valve aperture state is consistent with last time, it is not necessary to carry out the compensation of valve mechanic transmission clearance；When difference is not 0
When (i.e. -1 or 1), the current aperture direction of valve is opposite with last time, it is necessary to carry out mechanic transmission clearance compensation.Specific compensation method
For：The stepper motor of valve is sent again and mechanic transmission clearance on the basis of default positioning step size controlling number of pulses more
The equal step motor control number of pulses of numerical value, is compensated valve mechanic transmission clearance.If valve works as this positioning side
To identical with last time, then mechanic transmission clearance compensation need not be carried out.
The operating process to the present invention is described in detail below：
Valve mechanic transmission clearance is determined first：
Step one：Whether the space depending on valve internal can install input shaft angular displacement sensor 1 and output axis angular displacement
Input shaft angular displacement sensor 1, is arranged on the axle of valve stepper motor 2, to detect input by sensor 7 if it can install
Shaft angle, just output shaft angular displacement sensor 7 are arranged on valve body axle 6, to detect output Shaft angle；If valve internal does not have
There is adequate space installation, then valve stepper motor 2, reducing gear 3, shaft coupling 5 and valve body 8 are removed, installed in test device
On stand 4., will to detect input Shaft angle on the axle that input shaft angular displacement sensor 1 is arranged on to valve stepper motor 2
Output shaft angular displacement sensor 7 is arranged on valve body axle 6, to detect output Shaft angle.
Step 2：Valve stepper motor 2 is set to be rotated to a direction, until valve body axle 6 produces effective rotation, now valve
On door drive mechanism is bonded to each other；Then rotate backward again valve stepper motor 2, until valve body axle 6 is produced effectively
(when stepper motor just starts reversion, due to mechanic transmission clearance, valve shaft is inactive state) is rotated, by inputting axis angular displacement
Sensor 1 measures the actual rotational angle θ of stepper motor1；The actual rotational angle of valve body axle is measured by output shaft angular displacement sensor 7
θ2', calculate valve body axle rotational angle θ2' corresponding stepper motor is sent in theory control number of pulses m, m formula
(1) represent：
Stepper motor actual rotational angle θ1Corresponding control number of pulses k is represented with formula (2)：
The corresponding step motor control number of pulses j of valve mechanic transmission clearance is represented with formula (3)：
J=| k-m | (3)
Step 3：Change the aperture of valve body, traversal valve body is from standard-sized sheet to fully closed all opening values, and repeat step two makes
With the valve mechanic transmission clearance compensation device of the present invention, different opening condition lower valve mechanic transmission clearance pair can be measured
Answer the control number of pulses of stepper motor.
After the equivalent control number of pulses of valve stepper motor 2 j of valve mechanic transmission clearance is measured, according to valve
Rotation direction judges that valve needs to carry out backlash compensation in the process of running, and step is as follows：
Step one：Judge when whether time aperture regulation needs backlash compensation.
The method judged is represents the state of valve opening regulation with two different digitals respectively, particularly, using easily existing
Realized in controller 0 and 1 numeral represents valve opening state, the numerical value and last time valve in direction will be adjusted when previous valve opening
The difference of the numerical value in door aperture regulation direction；
If the regulation direction state M00 of valve last time represents that M1 represents that valve is turned down, and M2 is represented with numerical value M1 and M2 respectively
Valve opening increases.
If valve represents that M1 represents that valve is turned down, and M2 is represented with numerical value M1 and M2 respectively as secondary regulation direction state M01
Valve opening increases.The number of pulses of stepper motor positioning is N1.
M01 is made the difference with M00, represents that valve is consistent with last time regulation direction when time regulation direction during its difference M=0, nothing
Backlash compensation need to be carried out；As M ≠ 0, represent that valve is in opposite direction, it is necessary to carry out gap benefit with last time regulation when this regulation direction
Repay.
Step 2：Calculate as the secondary number of pulses N2 for being sent to stepper motor.
N2 expression formula is such as shown in (4)：
Step 3：To the position pulse that valve stepper motor driver quantity forwarded is N2 numbers, current positioning is realized
Operation.
Wherein, M00, M01, M1, M2, M, N1, N2, j, k, m, n, θ1、θs、θ2' be the inventive method oeprator, change
The scope that the present invention is protected can not be departed from by becoming the title of symbol.
Particularly, for the ease of realizing that program is handled in binary cyclelog, M1, M2 span is made to limit
It is scheduled on 0 and 1 two states.M01 is made the difference with M00, whether is 0 according to difference, if 0 represent current aperture regulation direction with
Last time aperture regulation direction is consistent, if not 0 judges that current aperture regulation direction and last time regulation direction are inconsistent, if using it
He replaces numerical value, can not depart from protection scope of the present invention.
Claims (6)
1. a kind of valve drive gap measurement apparatus, it is characterised in that including valve stepper motor (2), valve stepper motor (2)
On input shaft angular displacement sensor (1) is installed, the output shaft of valve stepper motor (2) is connected with valve reducing gear (3), valve
The output of door reducing gear (3), which is pivotally connected on the valve body axle (6) of valve body (8), valve body axle (6), to be also associated with exporting axis angular displacement
Sensor (7).
2. a kind of valve drive gap measurement apparatus according to claim 1, it is characterised in that described input shaft angle position
Displacement sensor (1) is arranged on the tailing axle of valve stepper motor (2).
3. a kind of valve drive gap measurement apparatus according to claim 1, it is characterised in that the valve stepper motor
(2) output shaft is connected to valve reducing gear (3) by shaft coupling (5).
4. a kind of valve drive gap measurement apparatus according to claim 1, it is characterised in that described valve reductor
Structure (3), output shaft angular displacement sensor (7) and valve body (8) are installed on stand (4).
5. a kind of measuring method of the valve drive gap measurement apparatus described in use claim 1, it is characterised in that including with
Lower step：
Step one：Collect the step angle θ of valve stepper motor (2)sAnd valve reducing gear (3) speed reducing ratio n；
Step 2：Valve stepper motor (2) is set to be rotated to a direction, until valve body axle (6) produces effective rotate；Then again
Valve stepper motor (2) is rotated backward, until valve body axle (6) produces effective rotation, passes through input shaft angular displacement sensor
(1) the actual rotational angle θ of valve stepper motor (2) is measured1；The reality of valve body axle (6) is measured by output shaft angular displacement sensor (7)
Border rotational angle theta2', calculate valve body axle (6) rotational angle θ2' corresponding valve stepper motor (2) sends in theory control arteries and veins
Rush quantity m and valve stepper motor (2) actual rotational angle θ1Corresponding control number of pulses k：
Then the corresponding valve stepper motor (2) of valve mechanic transmission clearance controls the number of pulses j to be：
J=| k-m |
Step 3：Change the aperture of valve body (8), traversal valve body (8) is from standard-sized sheet to fully closed all opening values, repeat step two,
Measure the control number of pulses of different opening condition lower valve mechanic transmission clearance correspondence valve stepper motor (2).
6. a kind of compensation method of valve drive gap measurement apparatus, it is characterised in that passed based on the valve described in claim 5
Dynamic gap measuring method, comprises the following steps：
Step one：Judge when whether time valve opening regulation needs backlash compensation；
Step 2：Calculate as the secondary number of pulses N2 for being sent to valve stepper motor (2)；
Wherein, N1 represents the number of pulses of valve stepper motor (2) positioning, and opening for valve is represented respectively with two different numerical value
Regulation direction that is big or turning down, is represented with M when previous valve opening adjusts numerical value and the last time valve opening regulation side in direction
To numerical value difference, M=0 represents that valve is consistent when time regulation direction and last time regulation direction, and M ≠ 0 represents that valve is adjusted when secondary
Save direction and last time regulation is in opposite direction；
Step 3：To the position pulse that valve stepper motor driver quantity forwarded is N2, current positioning action is realized.
Priority Applications (1)
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|---|---|---|---|
| CN201710240701.6A CN106959089B (en) | 2017-04-13 | 2017-04-13 | Valve transmission clearance measuring device, measuring method and compensating method |
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|---|---|---|---|
| CN201710240701.6A CN106959089B (en) | 2017-04-13 | 2017-04-13 | Valve transmission clearance measuring device, measuring method and compensating method |
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| CN106959089B CN106959089B (en) | 2023-02-28 |
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Cited By (4)
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| CN107966928A (en) * | 2017-11-21 | 2018-04-27 | 上海联影医疗科技有限公司 | Back clearance error compensating method, device, system, computer equipment and radiotherapy equipment |
| CN109342051A (en) * | 2018-10-23 | 2019-02-15 | 重庆理工大学 | A kind of drive gap measurement method |
| CN110768595A (en) * | 2018-07-27 | 2020-02-07 | 杭州三花研究院有限公司 | Control method and electric valve |
| CN110792834A (en) * | 2019-10-15 | 2020-02-14 | 陕西科技大学 | Electric valve capable of realizing error compensation control and working method thereof |
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