CN112484757B - Automatic calibration method for valve position sensor of servo card in digital electro-hydraulic control system - Google Patents
Automatic calibration method for valve position sensor of servo card in digital electro-hydraulic control system Download PDFInfo
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- CN112484757B CN112484757B CN202011288027.7A CN202011288027A CN112484757B CN 112484757 B CN112484757 B CN 112484757B CN 202011288027 A CN202011288027 A CN 202011288027A CN 112484757 B CN112484757 B CN 112484757B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/22—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature differentially influencing two coils
- G01D5/2291—Linear or rotary variable differential transformers (LVDTs/RVDTs) having a single primary coil and two secondary coils
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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Abstract
The invention discloses an automatic calibration method for a valve position sensor of a servo card in a digital electro-hydraulic control system, which comprises the steps of firstly issuing an instruction to start an automatic calibration flow, immediately entering a 'pre-valve closing' stage, outputting valve closing current by the servo card, and closing a valve tightly; after the valve passes the stability judgment, entering a full-scale calibration stage, and outputting a valve opening current by a servo card to open the valve; and recording the full-scale calibration value after the valve passes the stability judgment. Entering a zero calibration stage; after the valve passes the stability judgment, entering a zero calibration stage, outputting a valve closing current by the servo card, and closing the valve; and recording a zero calibration value after the valve passes the stability judgment. The invention can be integrated into the built-in function of the servo card of the digital electro-hydraulic control system, realizes one-key automatic calibration of the valve position sensor and greatly improves the debugging efficiency of the digital electro-hydraulic control system.
Description
Technical Field
The invention belongs to the field of DEH control of a digital electro-hydraulic control system, and particularly relates to an automatic calibration method for a valve position sensor of a servo card in the digital electro-hydraulic control system.
Background
At present, most of digital electro-hydraulic control systems DEH adopt a valve position sensor in the form of an LVDT (abbreviation of linear variable differential transformer), which belongs to a linear displacement sensor. In the DEH debugging stage of the digital electro-hydraulic control system, zero position and full position calibration of the LVDT valve position sensor is indispensable work content. At the current stage, the calibration process of the valve position sensor is generally set by engineering debugging personnel manually, the position of the valve is stable at a zero position or a full position when being observed, and then recording is carried out, so that the calibration process is relatively complex.
Disclosure of Invention
The invention aims to solve the problem that the zero position/full position manual calibration process of an LVDT valve position sensor is complicated in the DEH debugging stage of a digital electro-hydraulic control system, and further provides an automatic calibration method of the valve position sensor of a servo card in the digital electro-hydraulic control system, which can realize one-key automatic calibration of the valve position sensor and greatly improve the debugging efficiency of the DEH system.
The purpose of the invention is realized by the following technical scheme:
an automatic calibration method for a valve position sensor of a servo card in a digital electro-hydraulic control system comprises the following steps:
connecting a servo output terminal of a servo card of a digital electro-hydraulic control system to an input terminal of a servo valve of an oil servomotor, and connecting an LVDT valve position sensor to be calibrated to a sampling terminal of the servo card of the digital electro-hydraulic control system; setting a functional mode in servo card parameters of the digital electro-hydraulic control system as 'automatic calibration'; issuing a short pulse instruction to the servo card as an automatic calibration starting instruction;
step two, after receiving the automatic calibration starting instruction pulse, the servo card enters a stage of pre-closing a valve; the servo card continuously outputs the valve closing current at this stage, and the oil motor acts T 0 Second to full off position, servo card T 0 +1 second Start judgmentIf the engine is stable, if T 1 If the valve positions are stable within seconds, the next step is carried out, and if T is reached 1 If the servomotor is not stable within seconds, the automatic calibration process is exited, and an 'automatic calibration failure' is reported in a monitoring background;
step three, after the stage of pre-closing the valve is finished, entering a stage of full-position calibration; at this stage, the servo card continuously outputs the valve opening current, and the servomotor acts T 0 Second to full open position, servo card T 0 Starting to judge whether the servomotor is stable at +1 second, if T 1 And if the valve positions are stable within seconds, automatically recording the voltage effective value difference value of the secondary side coil of the LVDT as the full position calibration of the valve position sensor by the servo card, and then entering the next step, if T is equal to the effective value of the secondary side coil of the LVDT 1 If the servomotor is not stable within seconds, the automatic calibration process is exited, and an automatic calibration failure is reported in a monitoring background;
step four, entering a zero calibration stage after the full calibration stage is finished; the servo card continuously outputs the valve closing current at this stage, and the oil motor acts T 0 Second to full off position, servo card T 0 Starting to judge whether the servomotor is stable at +1 second, if T 1 And if the valve positions are stable within seconds, the servo card automatically records the voltage effective value difference value of the secondary side coil of the LVDT at the moment and is used as the zero calibration of the valve position sensor, and if T is detected, the T is 1 If the servomotor is not stable within seconds, the automatic calibration is quitted, and the 'automatic calibration failure' is reported in a monitoring background;
and step five, after the zero calibration stage is completed, the output of the servo card is restored to zero, and the servo card stores the recorded difference value of the effective values of the secondary side coil voltage of the LVDT at the full position and the zero position into an electronic disc of the servo card to serve as a final calibration result of the valve position sensor.
Further, the automatic calibration starting instruction in the step one is issued through a monitoring background or a configuration tool.
Furthermore, in the second step and the fourth step, the valve closing current is 50% of the maximum valve closing current, so that overlarge impact is prevented.
Furthermore, in the third step, the valve opening current is 50% of the maximum valve opening current, so that the impact is prevented from being too large.
Further, step (ii)2. III, IV, judge T 1 The criterion of whether the servomotor is stable in seconds is as follows: t is a unit of 1 Within seconds, comparing the effective value difference value of the secondary coil voltage sampled by the LVDT once per second and whether the effective value difference value is smaller than the valve position stable threshold value in the last second or not, and continuously comparing T 1 And if the seconds all meet the conditions, the servomotor is considered to be stable.
Further, the valve position stability threshold value is 0.5% of the effective value of the LVDT source side excitation voltage.
Further, the secondary side coil voltage effective value sampled by the LVDT is obtained by sampling through a Field Programmable Gate Array (FPGA) and performing trapezoidal integration.
The beneficial effects of the invention are: by adopting the technical scheme of the invention, the limitation that engineering debugging personnel artificially observe and judge whether the valve position is stable or not in the process of manually calibrating the valve position sensor can be solved, the operation of the calibration process is simplified, one-key calibration can be realized, and the debugging efficiency of the digital electro-hydraulic control system is improved.
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FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, specific embodiments of the technical solutions of the present invention will be described in more detail and clearly with reference to the accompanying drawings and the embodiments. However, the specific embodiments and examples described below are for illustrative purposes only and are not limiting of the invention. It is intended that the present invention cover only some embodiments of the invention and not all embodiments of the invention, and that other embodiments obtained by various modifications of the invention by those skilled in the art are intended to be within the scope of the invention.
The specific steps of the embodiment are as follows:
the method comprises the steps that a servo output terminal of the servo card of the digital electro-hydraulic control system is connected to an input terminal of a servo valve of the servomotor, and an LVDT valve position sensor to be calibrated is connected to a sampling terminal of the servo card of the digital electro-hydraulic control system. And setting the functional mode in the servo card parameters of the digital electro-hydraulic control system in the configuration as 'automatic calibration'. And sending a short pulse instruction to the servo card to start automatic calibration.
And step two, the servo card enters a pre-valve closing stage. In the stage, the servo card continuously outputs valve closing current, the valve closing current adopts 50% of the maximum valve closing current to prevent overlarge impact, the servomotor moves for 3 seconds to a full-closed position, the servo card starts to judge whether the servomotor is stable at the 4 th second, the difference value of the voltage effective value of the secondary side coil sampled by the LVDT once per second in 10 seconds is compared with whether the difference value of the voltage effective value of the secondary side coil sampled by the LVDT is smaller than the valve position stable threshold value in the last second, the servomotor is considered to be stable if the conditions are met, the next step is entered, otherwise, the automatic calibration process is exited, and the automatic calibration failure is reported in a monitoring background. The valve position stability threshold value is 0.5% of the effective value of the source side excitation voltage of the LVDT, and the effective value of the secondary side coil voltage sampled by the LVDT is obtained after sampling by a Field Programmable Gate Array (FPGA) and performing trapezoidal integration.
And step three, after the stage of pre-closing the valve is finished, entering a stage of full-position calibration. The servo card continuously outputs valve opening current at the stage, the valve opening current adopts 50% of the maximum valve opening current to prevent overlarge impact, the servomotor operates for 3 seconds to a full-open position, the servo card starts to judge whether the servomotor is stable at the 4 th second, the change of the effective value difference of the secondary side coil voltage sampled by the LVDT once every second within 10 seconds is compared with whether the effective value difference of the secondary side coil voltage sampled by the LVDT is smaller than a valve position stability threshold value in the last second or not, the stability is judged if the conditions are met, the servo card automatically records the effective value difference of the secondary side coil voltage of the LVDT at the moment to be used as full position calibration of a valve position sensor, then the next step is started, if the servomotor is not stable within 10 seconds, the automatic calibration process is exited, and automatic calibration failure is reported in a monitoring background.
And step four, entering a zero calibration stage after the full calibration stage is finished. In the stage, the servo card continuously outputs valve closing current, the servomotor acts for 3 seconds to a full-closing position, the servo card starts to judge whether the servomotor is stable or not in the 4 th second, the difference value of the secondary side coil voltage sampled every second within 10 seconds is compared with whether the difference value of the secondary side coil voltage sampled in the last second is smaller than a valve position stable threshold value or not, if the difference value meets the condition, the servo card is considered to be stable, the servo card automatically records the difference value of the secondary side coil voltage of the LVDT at the moment and is used as zero position calibration of a valve position sensor, if the servomotor is not stable within 10 seconds, the servo card quits the automatic calibration, and the monitoring background reports 'automatic calibration failure'.
And step five, after the zero calibration stage is completed, the servo output is recovered to zero, and the servo card stores the recorded effective value difference value of the LVDT secondary side coil voltage at the full position and the zero position into an electronic disc of the servo card to be used as a final calibration result of the valve position sensor, so that automatic calibration is completed.
Claims (5)
1. An automatic calibration method for a valve position sensor of a servo card in a digital electro-hydraulic control system is characterized by comprising the following steps: the method comprises the following steps:
connecting a servo output terminal of a servo card of a digital electro-hydraulic control system to an input terminal of a servo valve of an oil servomotor, and connecting an LVDT valve position sensor to be calibrated to a sampling terminal of the servo card of the digital electro-hydraulic control system; setting a functional mode in servo card parameters of the digital electro-hydraulic control system as 'automatic calibration'; issuing a short pulse instruction to the servo card as an automatic calibration starting instruction;
step two, after receiving the automatic calibration starting instruction pulse, the servo card enters a stage of pre-closing a valve; the servo card continuously outputs the valve closing current at this stage, and the oil motor acts T 0 Second to full off position, servo card T 0 Starting to judge whether the servomotor is stable at +1 second, and if T is 1 If the valve positions are stable within seconds, entering the next step, and if T is reached 1 If the servomotor is not stable within seconds, the automatic calibration process is exited, and an 'automatic calibration failure' is reported in a monitoring background;
step three, after the stage of pre-closing the valve is finished, entering a stage of full-position calibration; at this stage, the servo card continuously outputs the valve opening current, and the servomotor acts T 0 Second to full open position, servo card T 0 Starting to judge whether the servomotor is stable at +1 second, if T 1 And if the valve positions are stable within seconds, automatically recording the voltage effective value difference value of the secondary side coil of the LVDT as the full position calibration of the valve position sensor by the servo card, and then entering the next step, if T is equal to the effective value of the secondary side coil of the LVDT 1 If the servomotor is not stable within seconds, the automatic calibration process is exited and monitoring is carried outThe background reports 'automatic calibration failure';
step four, entering a zero calibration stage after the full calibration stage is finished; the servo card continuously outputs the valve closing current at this stage, and the oil motor acts T 0 Second to full off position, servo card T 0 Starting to judge whether the servomotor is stable at +1 second, and if T is 1 And if the valve positions are stable within seconds, the servo card automatically records the voltage effective value difference value of the secondary side coil of the LVDT at the moment and is used as the zero calibration of the valve position sensor, and if T is detected, the T is 1 If the servomotor is not stable within seconds, the automatic calibration is quitted, and the 'automatic calibration failure' is reported in a monitoring background;
step five, after the zero calibration stage is completed, the output of the servo card is restored to zero, and the servo card stores the recorded difference value of the effective values of the secondary side coil voltage of the LVDT at the full level and the zero level into an electronic disc of the servo card to serve as a final calibration result of the valve position sensor;
in the second, third and fourth steps, T is judged 1 The criterion of whether the servomotor is stable in seconds is as follows: t is 1 Within a second, comparing the effective value difference value of the secondary coil voltage sampled by the LVDT once per second and comparing whether the effective value difference value is smaller than the valve position stable threshold value or not in the last second, and continuously comparing T 1 If the seconds meet the conditions, the servomotor is considered to be stable;
the valve position stability threshold value is 0.5% of the effective value of the LVDT source side excitation voltage.
2. The method for automatically calibrating the valve position sensor of the servo card in the digital electro-hydraulic control system according to claim 1, wherein the method comprises the following steps: and the automatic calibration starting instruction in the step one is issued by a monitoring background or a configuration tool.
3. The method for automatically calibrating the valve position sensor of the servo card in the digital electro-hydraulic control system according to claim 1, wherein the method comprises the following steps: in the second step and the fourth step, the valve closing current is 50% of the maximum valve closing current, and the overlarge impact is prevented.
4. The method for automatically calibrating the valve position sensor of the servo card in the digital electro-hydraulic control system according to claim 1, wherein the method comprises the following steps: in the third step, the valve opening current is 50% of the maximum valve opening current, so that overlarge impact is prevented.
5. The method for automatically calibrating the valve position sensor of the servo card in the digital electro-hydraulic control system according to claim 1, wherein the method comprises the following steps: and the voltage effective value of the secondary side coil sampled by the LVDT is obtained by sampling through a Field Programmable Gate Array (FPGA) and performing trapezoidal integration.
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| CN113515047B (en) * | 2021-07-30 | 2024-04-05 | 杭州和利时自动化有限公司 | Fault detection method, device and equipment of displacement sensor |
| CN116991147B (en) * | 2023-09-26 | 2024-01-19 | 西安热工研究院有限公司 | Calibration method and system for LVDT calibration value of servo card, servo card and storage medium |
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| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN201269738Y (en) * | 2008-08-22 | 2009-07-08 | 哈尔滨汽轮机厂有限责任公司 | Intelligent converter of LVDT displacement transducer |
| CA2750152A1 (en) * | 2011-08-22 | 2011-11-02 | Kenneth G. Hilliam | Omni-wave dc/ac transformer: hysteresis loop free, variable, lvdt, rvdt |
| US10247579B2 (en) * | 2017-03-01 | 2019-04-02 | Honeywell International Inc. | Linear variable differential transformer (LVDT) calibration mechanism for precision rigging with vibration and accuracy tracking robustness |
| CN109932180A (en) * | 2017-12-17 | 2019-06-25 | 福建华电可门发电有限公司 | A kind of steam turbine pitch online calibration method |
| CN110307389B (en) * | 2019-06-28 | 2020-12-18 | 国网浙江省电力有限公司电力科学研究院 | Steam turbine hydraulic valve fault diagnosis method based on state feedback |
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| A new calibration method for industrial robots;Bjrn Karlsson等;《Robotica》;20010930(第06期);第691-693页 * |
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