CN112462650A - Debugging control method and system for electric actuating mechanism - Google Patents
Debugging control method and system for electric actuating mechanism Download PDFInfo
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- CN112462650A CN112462650A CN202011289304.6A CN202011289304A CN112462650A CN 112462650 A CN112462650 A CN 112462650A CN 202011289304 A CN202011289304 A CN 202011289304A CN 112462650 A CN112462650 A CN 112462650A
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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
- G05B19/0423—Input/output
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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
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
A debugging control method and system for an electric actuating mechanism. The debugging control method and the debugging control system of the electric actuating mechanism for automatically, quickly and reliably calibrating the position of the valve position terminal are provided. The device comprises an ARM control module, a multi-circle absolute encoder, a single-circle encoder, a display driving module, a display screen and a motor driving module; the ARM control module automatically drives the motor to rotate forwards, reversely and stop through the motor driving module according to the multi-circle encoder signal and the single-circle encoder signal. The invention realizes that the electric actuating mechanism drives the valve to automatically finish the calibration work of the terminal position, is convenient for field operators to debug the valve, stops running when the set torque is reached, can protect the valve from being damaged by over torque, and has the characteristic of accurate positioning.
Description
Technical Field
The present disclosure relates to electric actuators, and particularly to a method and a system for debugging and controlling an electric actuator.
Background
The control object of the electric actuating mechanism is a valve, and the existing intelligent electric actuating mechanisms are provided with multi-turn encoders for detecting the position of the valve in real time. However, the terminal position of the valve needs to be recorded, and the percentage of the valve is calculated according to the linear relation of the multi-turn encoder signals of the opening terminal and the closing terminal.
Before the electric actuating mechanism leaves a factory, the electric actuating mechanism generally carries out factory valve position calibration, but the valve position is basically inconsistent with the field use condition. And an operator needs to calibrate the valve position again according to the model and the size of the on-site valve. Meanwhile, the existing valve position calibration can only be manually calibrated by manpower, and the judgment of the terminal position depends on the experience of an operator. For dozens or even hundreds of electric actuating mechanisms on a user site, each electric actuating mechanism needs to be calibrated with a valve position, and the following two problems exist: 1. the valve position calibration work is time-consuming and labor-consuming, one calibration work is completed for 10 minutes, which is shorter than several minutes, and meanwhile, operators cannot leave the site in the calibration process; 2. the precision of the terminal position completely depends on the experience of an operator, and the precision cannot be kept consistent. If the calibration of the closing terminal position is not accurate, the valve position can be not tightly closed when the valve position is in the closing terminal position, and the normal operation of the whole pipeline is further influenced.
Disclosure of Invention
Aiming at the problems, the invention provides a debugging control method and a debugging control system of an electric actuating mechanism for automatically, quickly and reliably calibrating the position of a valve position terminal.
The technical scheme of the invention is as follows: the method comprises the following steps:
1) whether the electric actuating mechanism has a fatal fault is judged,
1.1) if not, debugging is carried out,
1.2) if yes, finishing debugging;
2) the electric actuating mechanism automatically calibrates the open terminal position, and when the moment is greater than the forward set moment AD value, the electric actuating mechanism judges that the valve reaches the open terminal position and records a position signal of the position;
3) the electric actuating mechanism automatically calibrates the position of the closing terminal, and when the torque is smaller than a reverse set torque AD value, the electric actuating mechanism judges that the valve reaches the position of the closing terminal and records a position signal of the position;
4) and after debugging is finished, calculating the whole travel range according to the position signals of the opening and closing terminals, and finally calculating the percentage of the valve position.
The fatal failure in the step 1) includes: the method comprises the following steps of encoder communication fault, open-phase fault, motor overheating fault, valve position fault, motor rotation direction reversal fault and key fault.
The torque AD value in the step 2) and the step 3) is a signal value of a single-turn encoder collected by the ARM control module. The moment AD value of the switch-off terminal is smaller than the moment AD value of the switch-on terminal, and the moment AD value increases in a nonlinear mode from the operation of the switch-off terminal to the operation of the switch-on terminal.
In the step 2), the open terminal position is calibrated, a sectional type torque comparison mode is adopted, and when the torque of the first section is less than the forward 5% torque AD value, the electric actuating mechanism rotates forwards and runs towards the open terminal position; otherwise, carrying out second-stage torque comparison;
comparing the second section of torque, wherein when the torque value is greater than the forward 5% torque AD value and less than the set torque AD value, the electric actuating mechanism rotates forwards and runs towards the open terminal position;
and when the torque value is greater than the forward set torque AD value, stopping the operation of the electric actuating mechanism, and judging that the position is an open terminal position.
Step 3), calibrating the position of the closed terminal, adopting a sectional type torque comparison mode, and when the torque of the first section is greater than a reverse 5% torque AD value, reversing the electric actuating mechanism and operating towards the position of the closed terminal; otherwise, carrying out second-stage torque comparison;
comparing the torque of the second section, and when the torque value is smaller than the reverse 5% torque AD value and larger than the set torque AD value, the electric actuating mechanism reverses and runs to the closed terminal position;
and when the torque value is smaller than the reverse set torque value AD, stopping the operation of the electric actuating mechanism, and judging that the position is the off-terminal position.
A debugging control system of an electric actuating mechanism comprises an ARM control module, a multi-circle absolute encoder, a single-circle encoder, a display driving module, a display screen and a motor driving module;
the ARM control module is respectively connected with the multi-turn absolute encoder, the display driving module and the motor driving module;
the multi-turn absolute encoder is unidirectionally connected with the single-turn encoder, reads signals of the single-turn encoder in real time and collects the signals with the signals of the multi-turn encoder;
the ARM control module is in bidirectional communication with the multi-turn encoder, and detects and updates signals of the multi-turn encoder and signals of the single-turn encoder in real time;
the ARM control module is in two-way communication with the display driving module, and the display driving module drives the display screen to display the information of the electric actuating mechanism;
the ARM control module automatically drives the motor to rotate forwards, reversely and stop through the motor driving module according to the multi-circle encoder signal and the single-circle encoder signal.
During work, an operator does not need to manually calibrate the valve position, and the electric actuating mechanism can automatically and accurately complete calibration work. The ARM control module compares the detected torque value with the opening direction set value torque signal at any moment in the process of calibrating the opening terminal position by detecting the torque signal of the single-turn encoder, and once the torque value is greater than the opening direction set value torque value, the electric actuating mechanism drives the valve to the full-open position; the electric actuator can stop running. And storing the signal value of the multi-turn encoder at the moment into a storage chip, and recording the signal value as an open terminal position. When the terminal is closed and calibrated, the detected torque value is compared with the torque signal of the closing set value at any moment, and once the detected torque value is smaller than the closing set value, the electric actuating mechanism drives the valve to reach the full-closed position; the electric actuator can stop running. And storing the signal value of the multi-turn encoder at the moment into a storage chip, and recording the signal value as the position of the off terminal. The invention realizes that the electric actuating mechanism drives the valve to automatically finish the calibration work of the terminal position, is convenient for field operators to debug the valve, stops running when the set torque is reached, can protect the valve from being damaged by over torque, and has the characteristic of accurate positioning.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention;
FIG. 2 is a flow chart of the terminal in place of the present invention;
FIG. 3 is a detailed flow chart of one-touch debugging of the present invention;
FIG. 4 is a schematic diagram of the relationship between the torque value and the valve position of the present invention.
Detailed Description
The present invention, as shown in fig. 1-4, comprises the following steps:
1) the electric actuating mechanism judges whether a fatal fault exists or not, if the fatal fault does not exist, one-key debugging is carried out, otherwise, the debugging is finished;
2) the electric actuating mechanism automatically calibrates the open terminal position, and when the moment is greater than the forward set moment AD value, the electric actuating mechanism judges that the valve reaches the open terminal position and records a position signal of the position;
3) and then, calibrating the position of the closing terminal by self, and when the torque is smaller than the reverse set torque AD value, judging that the valve reaches the position of the closing terminal by the electric actuating mechanism. Recording a position signal for the location;
4) and after debugging is finished, calculating the whole travel range according to the position signals of the opening and closing terminals, and finally calculating the percentage of the valve position.
Specifically, the open terminal position is calibrated, a sectional type torque comparison mode is adopted, and when the torque of the first section is smaller than the forward 5% torque AD value, the electric actuating mechanism rotates forwards and runs towards the open terminal position. And otherwise, carrying out second-stage torque comparison.
And comparing the second section of moment, and when the moment value is greater than the forward 5% moment AD value and less than the set moment AD value (judging that the terminal opening position is in place), the electric actuating mechanism rotates forwards and runs towards the terminal opening position. And when the torque value is larger than the set torque AD value, the electric actuating mechanism stops running. The position is determined to be an open terminal position.
When the terminal is opened, the ARM control module reads the magnetic induction signals of the multi-turn absolute encoder at the position, converts the magnetic induction signals into turns and records the turns in the storage chip.
And (4) calibrating the position of the closed terminal, similarly adopting a sectional type torque comparison mode, and when the torque of the first section is greater than the reverse 5% torque AD value, reversely rotating the electric actuating mechanism and operating towards the position of the closed terminal. And otherwise, carrying out second-stage torque comparison.
And comparing the second section of torque, and when the torque value is less than reverse 5% and greater than a set torque AD value (judging that the position of the closing terminal is in place), reversing the electric actuating mechanism and operating towards the position of the closing terminal. And when the torque value is smaller than the set torque AD value, the electric actuating mechanism stops running. The position is determined to be an off terminal position.
And defining a valve position calibration sequence, firstly carrying out open terminal position calibration, and then carrying out closed terminal position calibration.
When the position of the terminal is closed, the ARM control module reads magnetic induction signals of the multi-turn absolute encoder at the position, converts the magnetic induction signals into turns and records the turns in the storage chip.
The electric actuator needs to detect the self fault state before carrying out one-key debugging, and when the electric actuator is in the fault state, the one-key debugging function does not work. The fault conditions include: EEPROM fault, encoder communication fault, open-phase fault, motor overheat fault, valve position fault, motor rotation direction reverse fault and key fault.
The moment AD value used for moment comparison is a signal value of a single-turn encoder collected by the ARM control module, the precision of the single-turn encoder is 360 degrees/4096, the resolution can reach 0.088 degrees, and high-precision moment data provides an important basis for terminal in-place judgment. The moment AD value of the switch-off terminal is smaller than the moment AD value of the switch-on terminal, and the moment AD value increases in a nonlinear mode from the operation of the switch-off terminal to the operation of the switch-on terminal.
The electric actuating mechanism detects the signal of the single-ring encoder in real time, calculates the signal of the single-ring encoder into a torque value, and confirms the terminal position of valve position debugging when the set torque value is reached by identifying the change of the torque value.
When the moment value is larger than the set moment value, multiple comparison judgment needs to be carried out, after the multiple judgment, the moment value is always larger than the set moment value, the valve is finally judged to reach the terminal position, and the multiple moment comparison is carried out to prevent misjudgment of the terminal position of the valve position caused by moment mutation at a certain time.
The electric actuator detects signals of the multi-turn encoder in real time, converts the signals of the multi-turn encoder into the number of turns of the encoder, and judges the change of the opening degree of the valve position through the change of the number of turns of the encoder.
The moment value authority is set in the human-computer setting interface on the display screen in an open mode, and the optimal moment value can be set according to the actual condition of the valve. The one-key debugging function of the electric actuating mechanism can automatically set a set torque value for judging the in-place of the terminal according to the model and the size of the valve, and the electric actuating mechanism with the one-key debugging function can realize the automatic valve position calibration function aiming at different models and different types of valve positions, so that the universality of the one-key debugging function is improved.
A debugging control system of an electric actuating mechanism comprises an ARM control module, a multi-circle absolute encoder, a single-circle encoder, a display driving module, a display screen and a motor driving module;
the ARM control module is respectively connected with the multi-turn absolute encoder, the display driving module and the motor driving module, and adopts a 32-bit MCU STM32F429IGT6 chip of a cortex-M4 kernel of an ST-meaning semiconductor;
the multi-turn absolute encoder is unidirectionally connected with the single-turn encoder, reads signals of the single-turn encoder in real time and collects the signals with the signals of the multi-turn encoder, and the multi-turn encoder reads torque signals of the single-turn encoder in an analog IIC communication mode;
the ARM control module is in data communication with the multi-turn encoder through a serial port, detects and updates signals of the multi-turn encoder and signals of the single-turn encoder in real time, calculates the percentage of the valve positions according to the linear relation of the signals of the multi-turn encoder in the MCU, and calculates the percentage of the torque according to the signals of the single-turn encoder;
the ARM control module is in data communication with the display driving module through a serial port, and the display driving module reads information of the electric actuating mechanism and drives the display screen to display the information.
The ARM control module controls the motor driving module, and the ARM control module controls the electric driving module to drive the motor to rotate forwards, backwards and stop according to the comparison between the feedback torque value and the set torque value.
The multi-circle encoder detects a stroke signal, a non-contact magnetic rotary encoder AS5045 is arranged in the multi-circle encoder, the stroke displacement of the electric actuating mechanism is converted into a magnetic induction signal of AS5045, and the MCU reads the magnetic induction signal of the AS5045 to calculate the valve position percentage.
4 single-circle coding detection is a moment signal, a non-contact magnetic rotary encoder AS5045 is arranged in the single-circle coding detection, the stress deformation of the electric actuating mechanism is converted into a magnetic induction signal of AS5045, and the MCU reads the magnetic induction signal of the AS5045 to calculate the moment percentage.
And the ARM control module exchanges data with the multi-turn encoder through a serial port.
The ARM control module exchanges data with the display driving module through a serial port, and the display driving module drives the display screen to display information of the electric actuating mechanism.
In the process of one-key debugging, the ARM control module detects the signal values of the multi-turn absolute encoder and the single-turn encoder once every 10ms, detects the multi-turn absolute encoder and the single-turn encoder at high frequency, and ensures that the position calibration of the valve position terminal is accurate for the moment value and the valve position value calculated by the MCU to be consistent with the actual condition of the valve position after one-key debugging is finished.
During work, an operator does not need to manually calibrate the valve position, and the electric actuating mechanism can automatically and accurately complete calibration work. The MCU in the ARM control module detects a torque signal of the single-turn encoder, when the terminal opening position is calibrated, the MCU compares a detected torque value with a torque signal of an opening set value at any moment, and once the detected torque value is larger than the torque value of the opening set value, the fact that the electric actuating mechanism drives the valve to the full-open position is shown. The electric actuator can stop running. And the MCU stores the signal value of the multi-turn encoder at the moment into a storage chip and records the signal value as the position of the open terminal. When the terminal is closed and calibrated, the MCU compares the detected torque value with the torque signal of the closing set value at any moment, and once the detected torque value is smaller than the closing set value, the electric actuating mechanism drives the valve to reach the full-closed position. The electric actuator can stop running. And the MCU stores the signal value of the multi-turn encoder at the moment into a storage chip and records the signal value as the position of the off terminal. The invention realizes that the electric actuating mechanism drives the valve to automatically finish the calibration work of the terminal position. The valve can be conveniently debugged by field operators and can be stopped running when the set torque is reached, so that the valve can be protected from being damaged by the excessive torque. The terminal is prevented from being judged to be in place by experience, and the positioning device has the characteristic of accurate positioning.
Claims (6)
1. A debugging control method of an electric actuating mechanism is characterized by comprising the following steps:
1) whether the electric actuating mechanism has a fatal fault is judged,
1.1) if not, debugging is carried out,
1.2) if yes, finishing debugging;
2) the electric actuating mechanism automatically calibrates the open terminal position, and when the moment is greater than the forward set moment AD value, the electric actuating mechanism judges that the valve reaches the open terminal position and records a position signal of the position;
3) the electric actuating mechanism automatically calibrates the position of the closing terminal, and when the torque is smaller than a reverse set torque AD value, the electric actuating mechanism judges that the valve reaches the position of the closing terminal and records a position signal of the position;
4) and after debugging is finished, calculating the whole travel range according to the position signals of the opening and closing terminals, and finally calculating the percentage of the valve position.
2. The debugging control method for the electric actuator according to claim 1, wherein the fatal failure in step 1) includes: the method comprises the following steps of encoder communication fault, open-phase fault, motor overheating fault, valve position fault, motor rotation direction reversal fault and key fault.
3. The debugging control method of the electric actuator as claimed in claim 1, wherein the torque AD value in step 2) and step 3) is a signal value of a single-turn encoder collected by the ARM control module.
4. The debugging control method of the electric actuator as claimed in claim 1, wherein in step 2), the open terminal position is calibrated, a sectional type torque comparison mode is adopted, and when the torque is smaller than the forward 5% torque AD value, the electric actuator rotates forward and runs towards the open terminal position in the first section; otherwise, carrying out second-stage torque comparison;
comparing the second section of torque, wherein when the torque value is greater than the forward 5% torque AD value and less than the set torque AD value, the electric actuating mechanism rotates forwards and runs towards the open terminal position;
and when the torque value is greater than the forward set torque AD value, stopping the operation of the electric actuating mechanism, and judging that the position is an open terminal position.
5. The debugging control method of the electric actuator as claimed in claim 1, wherein in step 3), the off-terminal position is calibrated, a segmented torque comparison mode is adopted, and when the torque of the first segment is greater than the reverse 5% torque AD value, the electric actuator reversely rotates and runs to the off-terminal position; otherwise, carrying out second-stage torque comparison;
comparing the torque of the second section, and when the torque value is smaller than the reverse 5% torque AD value and larger than the set torque AD value, the electric actuating mechanism reverses and runs to the closed terminal position;
and when the torque value is smaller than the reverse set torque value AD, stopping the operation of the electric actuating mechanism, and judging that the position is the off-terminal position.
6. A debugging control system of an electric actuating mechanism is characterized in that: the device comprises an ARM control module, a multi-circle absolute encoder, a single-circle encoder, a display driving module, a display screen and a motor driving module;
the ARM control module is respectively connected with the multi-turn absolute encoder, the display driving module and the motor driving module;
the multi-turn absolute encoder is unidirectionally connected with the single-turn encoder, reads signals of the single-turn encoder in real time and collects the signals with the signals of the multi-turn encoder;
the ARM control module is in bidirectional communication with the multi-turn encoder, and detects and updates signals of the multi-turn encoder and signals of the single-turn encoder in real time;
the ARM control module is in two-way communication with the display driving module, and the display driving module drives the display screen to display the information of the electric actuating mechanism;
the ARM control module automatically drives the motor to rotate forwards, reversely and stop through the motor driving module according to the multi-circle encoder signal and the single-circle encoder signal.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113685601A (en) * | 2021-08-24 | 2021-11-23 | 厦门华夏国际电力发展有限公司 | Non-stop valve electric actuator replacement method, debugging assembly and electric actuator |
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Application publication date: 20210309 |