CN108131341A - The adjustment method of the electrohydraulic actuator of one key automatic debugging system, its driving method and the debugging system - Google Patents
The adjustment method of the electrohydraulic actuator of one key automatic debugging system, its driving method and the debugging system Download PDFInfo
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- CN108131341A CN108131341A CN201711422691.4A CN201711422691A CN108131341A CN 108131341 A CN108131341 A CN 108131341A CN 201711422691 A CN201711422691 A CN 201711422691A CN 108131341 A CN108131341 A CN 108131341A
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- valve
- fuel tank
- electrohydraulic actuator
- debugging system
- hydraulic cylinder
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
- F15B15/227—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having an auxiliary cushioning piston within the main piston or the cylinder end face
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/002—Calibrating
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/61—Secondary circuits
- F15B2211/613—Feeding circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/615—Filtering means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/855—Testing of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The adjustment method of the electrohydraulic actuator of one key automatic debugging system, its driving method and the debugging system.It is related to electrohydraulic actuator Design of Stepper Motor Control Circuit field, the adjustment method of more particularly to a kind of electrohydraulic actuator of key automatic debugging system, its driving method and the debugging system.It is simple in structure, precision is high.A kind of electrohydraulic actuator based on the explosion-proof stepper motor of large torque, including the explosion-proof stepper motor of large torque, gear pump, check valve one, hand-operated valve one, hydraulic cylinder, normally open solenoid valve, hand-operated valve two, check valve two, manual pump one, fuel tank one, fuel tank two, fuel tank three, rack-and-pinion and spring, the stepper motor, gear pump, check valve one, hand-operated valve one, hydraulic cylinder are sequentially connected, and the gear pump is connect with fuel tank one.The present invention greatly improves electrohydraulic actuator automation control precision and controlled level.
Description
Technical field
The present invention relates to electrohydraulic actuator Design of Stepper Motor Control Circuit field, a more particularly to a kind of key is debugged automatically is
The adjustment method of the electrohydraulic actuator of system, its driving method and the debugging system.
Background technology
Electrohydraulic actuator type of drive includes manual actuation and electric drive.Manual actuation is mainly by being manually operated liquid
Hydraulic oil is sent to Hydraulic Cylinder rack-and-pinion and drives output shaft rotation by press pump.Electric drive is done work by motor with moving teeth
Wheel pump extracts hydraulic oil and send to the drive output shaft rotation of Hydraulic Cylinder rack-and-pinion.Motor used in electrohydraulic actuator at present
Predominantly ac three-phase asynchronous motor and servo motor.Ac three-phase asynchronous motor realizes electricity by the frequency conversion of switching tube frequency converter
Machine speed governing, but frequency converter failure rate is higher, and buying and maintenance cost are also high, and external electromagnetic radiation is big, it is difficult to competent electromagnetic interference
It is required that stringent operating mode scene.Because being closed-loop control, overshoot occur can invert servo motor, there is certain action delay.
In addition, executing agency is installed on the complicated open air scene of work condition environment mostly, staff is present in executing agency
After installing, field adjustable need to be carried out to executing agency, staff exposes high temperature, high humidity, flue dust or cold for a long time
In environment, larger harm is had to body, in growing present of health perception, the automatization level of instrument is badly in need of very big
Promotion.
Invention content
The present invention is in view of the above problems, providing an a kind of integrated live key simple in structure, with high accuracy and debugging automatically and be
The electrohydraulic actuator and its driving method of system and the adjustment method of the system.
The technical scheme is that：A kind of electrohydraulic actuator based on the explosion-proof stepper motor of large torque, including turning round greatly
The explosion-proof stepper motor of square, gear pump, check valve one, hand-operated valve one, hydraulic cylinder, normally open solenoid valve, hand-operated valve two, check valve two,
Manual pump one, fuel tank one, fuel tank two, fuel tank three, rack-and-pinion and spring, the stepper motor, gear pump, check valve one, hand
Dynamic valve one, hydraulic cylinder are sequentially connected, and the gear pump is connect with fuel tank one；
The normally open solenoid valve, hand-operated valve two and fuel tank two are sequentially connected, and the normally open solenoid valve is connected to check valve one and hand
Between dynamic valve one；
The check valve two, manual pump one and fuel tank three are sequentially connected, and the check valve two is connected to hand-operated valve one and hydraulic cylinder
Between；
The spring is located in hydraulic cylinder and one end is fixed on hydraulic cylinder, the rack be located in hydraulic cylinder and with spring
The other end connects, and the wheel and rack is adapted to and stretches out outside hydraulic cylinder.
Filter is further included, the filter is located between fuel tank one and gear pump.
Overflow valve, pressure sensor and fuel tank four are further included, the overflow valve is located between gear pump and check valve one, institute
Pressure sensor is stated to be located between check valve one and hand-operated valve one.
Controller is further included, the controller is connect with stepper motor.
A kind of driving method of the electrohydraulic actuator based on the explosion-proof stepper motor of large torque, includes the following steps：
1）, normally open solenoid valve is closed after energization, controller control large torque stepper motor rotation drives gear pump to extract fuel tank one
Hydraulic oil enter check valve one after filter crosses the partial impurities in oil strain, hydraulic oil is normal by entering after check valve one
The hand-operated valve one opened, finally enter hydraulic cylinder be opened to movement drive rack-and-pinion be opened to rotation so as to drive output shaft valve opening, together
When compress power spring；
2）, the manual pumping of operation the hydraulic oil in fuel tank three is taken to enter check valve two, finally enter hydraulic cylinder and be opened to movement and drive
Rack-and-pinion is opened to rotation so as to drive output shaft valve opening, while compress power spring；
3）, normally open solenoid valve open, hand-operated valve two, power spring is unfolded due to lacking oil pressure and moment, push hydraulic cylinder close to
Movement drives rack-and-pinion to close to rotation so as to which output shaft be driven to close valve.
The step 1）Pressure in middle pressure sensor monitoring oil circuit, overflow valve are beaten automatically when pressure exceeds normal value
It starts discharging oil, hydraulic oil is drained to fuel tank four, overflow valve is automatically closed when pressure is in normal value.
A kind of adjustment method of integrated live key automatic debugging system, includes the following steps：One key debugging system is run
Self-test is first carried out afterwards, reads the essential information of electrohydraulic actuator, the function and root that automatic decision needs are debugged after self-test success
It is debugged automatically according to the situation of the valve in live electrohydraulic actuator, the function that need to be debugged is as follows：The stroke calibration of valve position, 4-
20mA current feedbacks detect and calibration, the calibration of 4-20mA electric currents input, remote operation detection, No. 6 signal relay detections, treat
Debugging signal is sent completely after debugging and surrenders controller of the control auto-returned to electrohydraulic actuator.
The valve position stroke scaling method is：Host CPU plate component by carrying out valve opening operation automatically to electrohydraulic actuator,
A valve place value is reached in the signal judgement of cooperation torque sensor；The valve place value for obtaining closing after valve operates in place is similarly closed, record is opened
The calibration of valve place value with pass in place in place, i.e. valve position finishes.
The beneficial effects of the invention are as follows：Utilize simple ripe, the reliable and control essence of the control algolithm of large torque stepper motor
The driving that sufficiently high advantage realizes electrohydraulic actuator is spent, in addition, entire electrohydraulic actuator uses modular function cloth
Office, reasonable in design, the good condition of driving creation for entire electrohydraulic actuator..The rotating speed of stepper motor and stopping
Position is not influenced by load variation, is solely dependent upon the umber of pulse of pulse signal frequency, therefore can be by controlling the defeated of pulse
There emerged a the angular displacement of number control stepper motor, so as to be accurately positioned；By the way that pulse frequency is controlled to control turning for stepper motor at any time
Speed.In addition stepper motor has the advantageous characteristic that moment starts and rapidly stops, and is compared compared with ac three-phase asynchronous motor without system
Dynamic device；Stepper motor is more at low cost than servo motor in the case where torque meets.Therefore by explosion-proof large torque stepper motor
Driving part applied to electrohydraulic actuator not only meets the requirement of industry spot operating mode, while also greatly improves electro-hydraulic
Executing agency's automation control precision and controlled level.
One key automatic debugging system of electrohydraulic actuator uses modularized design, and independently of main system, intelligence degree is high,
Main system control is obtained during field adjustable, can carry out judging what need to be debugged automatically according to the model of each electrohydraulic actuator
Project can carry out the calibration or debugging of other functions such as valve position automatically according to the characteristic of each valve, greatly improve electricity
The field adjustable efficiency of liquid executing agency, remotely can real-time radio monitoring debugging process without manually participating in.Live automatic debugging
After the completion, main system regains control, and a key debugging system no longer generates any influence, securely and reliably.An integrated key tune
The executing agency of test system function will be a kind of intelligentized development trend of following executing agency.
Description of the drawings
Fig. 1 is the electrohydraulic actuator hydraulic circuit figure of the embodiment of the present invention,
Fig. 2 is the stepper motor drive part structure chart of the embodiment of the present invention,
Fig. 3 is the hydraulic cylinder portion separation structure figure of the embodiment of the present invention,
Fig. 4 is the electrohydraulic actuator structure diagram of the embodiment of the present invention,
Fig. 5 is the work flow diagram of a key automatic debugging system in the present invention；
1 is stepper motor in figure, and 2 be gear pump, and 3 be check valve one, and 4 be hand-operated valve one, and 5 be hydraulic cylinder, and 6 be normally opened electromagnetism
Valve, 7 be hand-operated valve two, and 8 be check valve two, and 9 be manual pump one, and 10 be fuel tank one, and 11 be fuel tank two, and 12 be fuel tank three, and 13 are
Rack-and-pinion, 14 be spring, and 15 be filter, and 16 be overflow valve, and 17 be pressure sensor, and 18 be fuel tank four.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, the electrohydraulic actuator of the key automatic debugging system of the present invention, including the explosion-proof stepping electricity of large torque
Machine 1, gear pump 2, check valve 1, hand-operated valve 1, hydraulic cylinder 5, normally open solenoid valve 6, hand-operated valve 27, check valve 28, manually
Pump one 9, fuel tank 1, fuel tank 2 11, fuel tank 3 12, rack-and-pinion 13 and spring 14, the stepper motor 1, gear pump 2, list
It is sequentially connected to valve 1, hand-operated valve 1, hydraulic cylinder 5, the gear pump 2 is connect with fuel tank 1；
The normally open solenoid valve 6, hand-operated valve 27 and fuel tank 2 11 are sequentially connected, and the normally open solenoid valve 6 is connected to check valve one
Between 3 and hand-operated valve 1；
The check valve 28, manual pump 1 and fuel tank 3 12 are sequentially connected, and the check valve 28 is connected to one 4 He of hand-operated valve
Between hydraulic cylinder 5；
The spring 14 is located in hydraulic cylinder 5 and one end is fixed on hydraulic cylinder 5, the rack be located in hydraulic cylinder and with bullet
The other end connection of spring 14, the wheel and rack are adapted to and stretch out outside hydraulic cylinder 5.
Filter 15 is further included, the filter 15 is located between fuel tank 1 and gear pump 2.
Overflow valve 16, pressure sensor 17 and fuel tank 4 18 are further included, the overflow valve 16 is located at gear pump 2 and check valve
Between one 3, the pressure sensor 17 is located between check valve 1 and hand-operated valve 1.
Controller is further included, the controller is connect with stepper motor.
Each valve is equipped with torque sensor.
The driving method of the electrohydraulic actuator of one key automatic debugging system, includes the following steps：
1）, such as dotted lineOil circuit：If desired electronic valve opening at this time, i.e., the power spring in spring cavity adjacent with hydraulic cylinder do not reach
To maximum compression state（Valve does not reach position）, normally open solenoid valve is closed after energization, controller control large torque stepper motor rotation,
The hydraulic oil that gear pump extracts fuel tank one is driven to enter check valve one, hydraulic oil after filter crosses the partial impurities in oil strain
By after check valve one enter normally opened hand-operated valve one, finally enter hydraulic cylinder be opened to movement drive rack-and-pinion be opened to rotation from
And output shaft valve opening is driven, while compress power spring；Oil circuitThe flow direction of middle check valve hydraulic oil can only be along dotted lineSide
To hand-operated valve is normally opened, the pressure in pressure sensor monitoring oil circuit, and overflow valve exceeds normal value in pressure（Such as 0.8-1MPa）
When automatically open emptying, hydraulic oil is drained to fuel tank four, overflow valve is automatically closed when pressure is in normal value.
2）, dotted lineOil circuit：If desired manual valve opening at this time, i.e., the power spring in spring cavity adjacent with hydraulic cylinder is not
Reach maximum compression state（Valve does not reach position）, normally open solenoid valve is closed after energization, is operated manual pumping and is taken liquid in fuel tank three
Pressure oil enters check valve two, finally enter hydraulic cylinder be opened to movement drive rack-and-pinion be opened to rotation so as to which output shaft be driven to open
Valve, while compress power spring；Oil circuitThe flow direction of middle two hydraulic oil of check valve can only be along dotted lineDirection.
3）, dotted lineOil circuit：Valve is if desired closed at this time, and normally open solenoid valve is opened, and hand-operated valve two, power spring is due to lacking
Oil pressure and moment are unfolded, and hydraulic cylinder is pushed to close to movement, and rack-and-pinion is driven to close to rotation so as to which output shaft be driven to close valve.
In embodiment, the electrohydraulic actuator driving method based on the explosion-proof stepper motor of large torque includes following knot
Structure：Stepper motor running part, electric control system and hydraulic cylinder power delivery section.
As shown in Fig. 2, the stepper motor running part mainly includes：Flame proof large torque stepper motor component, flame proof
Axle sleeve, shaft member, fuel tank one, gear pump, hydraulic valve block（Oil circuit）With the components such as hand-operated valve block.
In embodiment, flame proof large torque stepper motor component 9 correct stepper motor specification and the model are being turned round
Under the same conditions, stepping motor structure is small for square, light-weight, and due to the continuous improvement of technical merit and production technology, stepping
The torque level of motor 9 has reached the requirement at Industry Control scene.It is moved according to pulse signal, is not in the situation of delay,
Tracking characteristics are preferable.After coordinating variable frequency drives use, the parameter that need to be set is few, and sets simply, general only to set electric current
And subdivision.
As shown in figure 3, the hydraulic cylinder power delivery section mainly includes：Rack-and-pinion, hydraulic cylinder, spring cavity end
The components such as the components such as lid, hydraulic cylinder end cover.
In embodiment, described is electronic（Or manually）Valve opening operates under state, by electronic（Or manually）, make hydraulic oil into
Enter the movement of Hydraulic Cylinder rack, the rotation of rack drives gear so as to which output shaft be driven to rotate, while compresses power spring；It closes
Since power spring is had an effect during valve, lead to rack pinion and output shaft counter motion, realize and close valve operation.
As shown in Fig. 4, the electric control system mainly includes：Stepper motor frequency conversion drive module, control assembly,
The components such as operation panel component, wiring the cover.
The electrohydraulic actuator driving method of a key automatic debugging system according to embodiments of the present invention, can effectively solve the problem that
The shortcomings that threephase asynchronous machine and servo motor driving method.Hardware circuit is simple, without braking circuit and corresponding system
Dynamic algorithm, expert PID software algorithm is efficient, highly reliable, accurate positioning, and the driving method is at low cost, failure rate is low and easy
It safeguards.Large torque and explosion-proof characteristic can adapt to the demand for control and environmental demand at most complex working condition scenes, be
Preferred efficient, the reliable driving method of one kind of electrohydraulic actuator.
In embodiment, the stepper motor frequency conversion drive module is driven using independent CPU operation expert PID stepper motors
Dynamic algorithm, independent power-switching circuit receive the control command of control assembly host CPU, Yi Jijin by UART serial line interfaces
Row data exchange.
In embodiment, the control assembly include electrohydraulic actuator host CPU plate component, relay board component,
PROFIBUS bus board components.Host CPU plate component is responsible for the scheduling of entire electrohydraulic actuator system, and relay board is responsible for failure
Feedback and signal conversion etc., PROFIBUS bus boards component be equipped with separate CPU operation PROFIBUS algorithms, by SPI serial ports with
Mainboard communication data.
In embodiment, the operation panel component includes independent CPU control chips, and operation TFT320*240 colours are shown
Display screen driving algorithm drives display system runs the state of each parameter.
The main system is by special purpose interface and a key debugging system is controlled and data exchange.
As shown in figure 5, include the following steps：Self-test is first carried out after the operation of one key debugging system, checks that executing agency is out
Whether pass type or adjustment type, detection executing agency torque have demarcated, and read the essential information of electrohydraulic actuator（Including motor
Rotation direction, maximum control torque value, valve position, which is reached position and closed, arrives place value etc.）, automatic decision needs the function of debugging after self-test success
And the situation of the valve in live electrohydraulic actuator is debugged automatically, the function that need to be debugged is as follows：Valve position stroke mark
Fixed, 4-20mA current feedbacks detection and calibration, the calibration of 4-20mA electric currents input, remote operation detection, No. 6 signal relay inspections
It surveys, debugging signal is sent completely after to be debugged and surrenders controller of the control auto-returned to electrohydraulic actuator.
If switching mode executing agency, then the calibration of debugging 4-20ma inputs is not needed to, adjustment type then needs debugging should
Function；If bus-type executing agency then needs to debug bus functionality, such as profibus buses.Valve position is demarcated：Electro-hydraulic execution
To position is reached, torque at this time stops mechanism automatic running when controlling the 30% of torque for maximum, and record reaches the value of position at this time, together
The value that reason is closed in place is also such.4-20mA current feedbacks are demarcated：Demarcate 4mA, 8mA, 12mA, 16mA, 20mA respectively, valve position from
When 0% operation is to 100% or 100% operation to 0%, detection 0% corresponds to 4mA, and 25% corresponds to 8mA, and 50% corresponds to 12mA, and 75% corresponds to 16
MA, 100% corresponds to 20mA；Remote operation circuit：By sending switching signal to remote operation circuit, whether detection valve position changes
So as to detect whether remote operation circuit works normally；No. 6 signal relay detections：One key automatic debugging system is to 6 road signals
Relay sends close command, and whether detect can normally closed per road relay）, debugging signal is sent completely after to be debugged
And surrender controller of the control auto-returned to electrohydraulic actuator.
One key debugging system remove comprising basic automatic detection, the function of judging and debugged automatically according to valve site it
It outside, can be with the Debugging message at remote on-line monitoring scene also comprising WIFI and GPRS data transfer function.One key is debugged automatically is
System is using modularized design, and independently of main system, intelligence degree is high, and when field adjustable obtains main system control, can be from
It is dynamic to be carried out judging the project that debugged according to the model of each electrohydraulic actuator, can automatically according to each valve characteristic into
The calibration or debugging of other functions such as row valve position greatly improve the field adjustable efficiency of electrohydraulic actuator, without artificial
It participates in, it remotely can real-time radio monitoring debugging process.After the completion of live automatic debugging, main system regains control, a key
Debugging system no longer generates any influence, securely and reliably.The executing agency of an integrated key debugging system function will be following execution
A kind of intelligentized development trend of mechanism.
Claims (8)
1. the electrohydraulic actuator of a key automatic debugging system, the key automatic debugging system includes host CPU plate component, relay
Device plate component and bus board component, the host CPU plate component are responsible for the scheduling of electrohydraulic actuator, and it is anti-that relay board is responsible for failure
Feedback and signal conversion, bus board component passes through SPI serial ports and host CPU plate component communication data, which is characterized in that described electro-hydraulic to hold
Row mechanism include the explosion-proof stepper motor of large torque, gear pump, check valve one, hand-operated valve one, hydraulic cylinder, normally open solenoid valve, manually
Valve two, check valve two, manual pump one, fuel tank one, fuel tank two, fuel tank three, rack-and-pinion and spring, the stepper motor, gear
Pump, check valve one, hand-operated valve one, hydraulic cylinder are sequentially connected, and the gear pump is connect with fuel tank one；
The normally open solenoid valve, hand-operated valve two and fuel tank two are sequentially connected, and the normally open solenoid valve is connected to check valve one and hand
Between dynamic valve one；
The check valve two, manual pump one and fuel tank three are sequentially connected, and the check valve two is connected to hand-operated valve one and hydraulic cylinder
Between；
The spring is located in hydraulic cylinder and one end is fixed on hydraulic cylinder, the rack be located in hydraulic cylinder and with spring
The other end connects, and the wheel and rack is adapted to and stretches out outside hydraulic cylinder.
2. the electrohydraulic actuator of key automatic debugging system according to claim 1, which is characterized in that further include filtering
Device, the filter are located between fuel tank one and gear pump.
3. the electrohydraulic actuator of key automatic debugging system according to claim 1, which is characterized in that further include overflow
Valve, pressure sensor and fuel tank four, the overflow valve are located between gear pump and check valve one, and the pressure sensor is located at list
Between valve one and hand-operated valve one.
4. the electrohydraulic actuator of key automatic debugging system according to claim 1, which is characterized in that further include control
Device, the controller are connect with stepper motor.
5. a kind of driving method of the electrohydraulic actuator of key automatic debugging system described in claim 1, which is characterized in that
Include the following steps：
1）, normally open solenoid valve is closed after energization, controller control large torque stepper motor rotation drives gear pump to extract fuel tank one
Hydraulic oil enter check valve one after filter crosses the partial impurities in oil strain, hydraulic oil is normal by entering after check valve one
The hand-operated valve one opened, finally enter hydraulic cylinder be opened to movement drive rack-and-pinion be opened to rotation so as to drive output shaft valve opening, together
When compress power spring；
2）, the manual pumping of operation the hydraulic oil in fuel tank three is taken to enter check valve two, finally enter hydraulic cylinder and be opened to movement and drive
Rack-and-pinion is opened to rotation so as to drive output shaft valve opening, while compress power spring；
3）, normally open solenoid valve open, hand-operated valve two, power spring is unfolded due to lacking oil pressure and moment, push hydraulic cylinder close to
Movement drives rack-and-pinion to close to rotation so as to which output shaft be driven to close valve.
6. the driving method of the electrohydraulic actuator of key automatic debugging system according to claim 5, which is characterized in that
The step 1）Pressure in middle pressure sensor monitoring oil circuit, overflow valve automatically open emptying when pressure exceeds normal value,
Hydraulic oil is drained to fuel tank four, overflow valve is automatically closed when pressure is in normal value.
7. a kind of adjustment method of key automatic debugging system described in claim 1, which is characterized in that include the following steps：
Self-test is first carried out after the operation of one key debugging system, reads the essential information of electrohydraulic actuator, automatic decision needs after self-test success
The function the to be debugged and situation of the valve in live electrohydraulic actuator is debugged automatically, the function that need to be debugged is such as
Under：The stroke calibration of valve position, the detection of 4-20mA current feedbacks and calibration, the calibration of 4-20mA electric currents input, remote operation detection, 6
Road signal relay detection is sent completely debugging signal and surrenders control auto-returned to electro-hydraulic execution machine after to be debugged
The controller of structure.
8. the adjustment method of key automatic debugging system according to claim 7, which is characterized in that the valve position stroke mark
The method of determining is：Host CPU plate component coordinates the signal of torque sensor to sentence by carrying out valve opening operation automatically to electrohydraulic actuator
Disconnect valve place value in place；The valve place value for obtaining closing after valve operates in place is similarly closed, record reaches the valve place value of position and pass in place, i.e.,
The calibration of valve position finishes.
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| CN110857710A (en) * | 2018-08-23 | 2020-03-03 | 斯泰必鲁斯股份有限公司 | Measurement of operating parameters of an actuator |
| CN112462650A (en) * | 2020-11-17 | 2021-03-09 | 扬州电力设备修造厂有限公司 | Debugging control method and system for electric actuating mechanism |
| CN113027954A (en) * | 2021-03-25 | 2021-06-25 | 玉环思安安全设备股份有限公司 | Piston return structure of brake caliper |
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